wheeled robot

Abstract

This utility model discloses a wheeled robot, comprising: a frame, at least two first wheel sets, and at least two second wheel sets. Each first wheel set includes a first rotating member rotatable relative to the frame about a first axis and first wheel feet capable of rolling along a working surface. Each second wheel set includes a fourth rotating member rotatable relative to the frame about a fourth axis and second wheel feet capable of rolling along the working surface. The first rotating member rotates about the first axis to adjust the rolling direction of the first wheel feet, and the fourth rotating member rotates relative to the frame about the fourth axis to adjust the distance between adjacent second wheel feet. In this utility model, the first wheel sets improve the flexibility of the wheeled robot, and the second wheel sets enhance its stability, thus achieving a balance between stability and flexibility.

Description

Technical Field

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

[0002] Wheel-legged robots are robots that combine the locomotion capabilities of wheels and legs. Their design integrates the speed advantages of wheeled robots with the obstacle-crossing abilities of legged robots, representing a significant innovative direction in the field of mobile robotics. Compared to traditional single-mode locomotion robots, wheel-legged robots achieve multimodal motion through unique structural design, significantly improving their adaptability to complex environments and bringing more possibilities for expanding robot application scenarios.

[0003] However, the flexibility and posture stability of existing wheeled robots are not well compatible. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by this utility model is to propose a wheeled robot to solve the problems of flexibility and posture stability that are difficult to achieve in the prior art.

[0005] The technical solution adopted by this utility model to solve its technical problem is a wheeled robot, including:

[0006] Frame;

[0007] At least two first wheel sets, including a first rotating member that can rotate relative to the frame about a first axis of rotation and a first wheel foot that can roll along the working surface;

[0008] At least two second wheel sets, including a fourth rotating member rotatable about a fourth pivot relative to the frame and second wheel feet rotatable along the working surface;

[0009] The wheeled robot has a first motion mode. In the first motion mode, the first wheel and the second wheel are supported on the working surface together, and the wheeled robot has a first posture. In the first posture, the first rotating member rotates around the first axis to adjust the rolling direction of the first wheel, and the fourth rotating member rotates relative to the frame around the fourth axis to adjust the distance between two adjacent second wheels.

[0010] This utility model has at least the following beneficial effects:

[0011] The first rotating component rotates relative to the frame around a first axis, enabling the first wheel to steer and ensuring the robot's flexibility. The fourth rotating component rotates relative to the frame around a fourth axis, increasing or decreasing the distance between two adjacent second wheel segments. This allows the second wheel assembly to support the frame at an inclined angle, providing lateral support (Y-axis direction) and enhancing the robot's stability. Thus, the first wheel assembly improves the robot's flexibility, while the second wheel assembly enhances its stability, achieving a balance between both.

[0012] Furthermore, the first wheel assembly also includes a second rotating member, which is rotatable relative to the first rotating member about a second rotating axis, and the first wheel is rotatably disposed on the second rotating member.

[0013] Furthermore, the second wheel assembly also includes a third rotating member, which is rotatable relative to the fourth rotating member about a third axis, and the second wheel is rotatably disposed on the third rotating member.

[0014] Furthermore, when the wheeled robot is in the first posture, the first wheel and the second wheel jointly support the frame, the first axis of rotation is parallel to the Z-axis, the second axis of rotation is parallel to the Y-axis, the third axis of rotation is parallel to the Y-axis, and the fourth axis of rotation is parallel to the X-axis.

[0015] Furthermore, the wheeled robot has a second motion mode, in which the second wheel is supported independently on the working surface, and the wheeled robot has a second posture in the second posture;

[0016] In the second posture, the first rotation axis is parallel to the X-axis direction, the second rotation axis is parallel to the Z-axis direction, the third rotation axis is parallel to the X-axis direction, and the fourth rotation axis is parallel to the Z-axis direction.

[0017] Furthermore, the second rotating member includes a first connecting segment and a second connecting segment rotatably connected. The first connecting segment has a first connecting end and a second connecting end that are opposite to each other. The second connecting segment has a third connecting end and a fourth connecting end that are opposite to each other. The first connecting end is rotatably connected to the first rotating member, the second connecting end is rotatably connected to the third connecting end, and the fourth connecting end is rotatably connected to the first wheel foot.

[0018] In the second motion mode, the second connecting end has a first displacement along the Y-axis relative to the first connecting end, and the fourth connecting end has a second displacement along the Y-axis relative to the third connecting end, the second displacement being opposite to the direction of the first displacement.

[0019] Furthermore, the second rotating component includes a first connecting section and a second connecting section that are rotatably connected. The first connecting section is rotatably connected to the frame, and the two ends of the second connecting section are respectively rotatably connected to the first connecting section and the first wheel foot.

[0020] In the second motion mode, the motion trajectory of the first connecting segment includes a first trajectory segment and two second trajectory segments connected to both ends of the first trajectory segment. In the first trajectory segment, the rotation direction of the second connecting segment relative to the first connecting segment is opposite to the rotation direction of the first connecting segment relative to the frame. In the second trajectory segment, the rotation direction of the second connecting segment relative to the first connecting segment is the same as the rotation direction of the first connecting segment relative to the frame.

[0021] Furthermore, the wheeled robot has a third motion mode, in which the first wheel is supported on the working surface alone, and the wheeled robot has a third posture;

[0022] In the third posture, the third axis of rotation is parallel to the Y-axis direction.

[0023] Furthermore, in the third posture, the center of gravity of the second wheel set and the center of gravity of the frame are located on opposite sides of the vertical plane where the contact position between the first wheel foot and the working surface is located.

[0024] Furthermore, the third rotating member also includes a third connecting segment and a fourth connecting segment that are rotatably connected. The end of the third connecting segment away from the fourth connecting segment is rotatably connected to the fourth rotating member, and the second wheel foot is rotatably connected to the end of the fourth connecting segment away from the third connecting segment.

[0025] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0027] Figure 1 This is a schematic diagram of the wheeled robot in its first posture according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the wheeled robot in the second posture in an embodiment of this utility model;

[0029] Figure 3 This is a schematic diagram of the wheeled robot in the third posture in an embodiment of this utility model;

[0030] Reference numerals: 100, frame; 200, first wheel assembly; 210, first rotating component; 220, second rotating component; 221, first connecting section; 222, second connecting section; 230, first wheel foot; 300, second wheel assembly; 310, third rotating component; 311, third connecting section; 312, fourth connecting section; 320, fourth rotating component; 330, second wheel foot. Detailed Implementation

[0031] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0032] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and 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 this utility model.

[0033] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0034] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0035] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0036] Please refer to Figure 1This embodiment discloses a wheeled robot, including: a frame 100, at least two first wheel sets 200, and at least two second wheel sets 300. Each first wheel set 200 includes a first rotating member 210 rotatable about a first axis relative to the frame 100, a second rotating member 220 rotatable about a second axis relative to the first rotating member 210, and first wheel feet 230 capable of rolling along a working surface. Each second wheel set 300 includes a fourth rotating member 320 rotatable about a fourth axis relative to the frame 100, and a second wheel foot 230 capable of rolling along a working surface. The wheeled robot has a third rotating component 310 that rotates around a third axis and a second wheel 330 that can roll along the working surface. The wheeled robot has a first motion mode in which the first wheel 230 and the second wheel 330 are supported on the working surface together, and the wheeled robot has a first posture. In the first posture, the first rotating component 210 rotates around the first axis to adjust the rolling direction of the first wheel 230, and the fourth rotating component 320 rotates relative to the frame 100 around the fourth axis to adjust the distance between two adjacent second wheel 330s.

[0037] In this embodiment, the first rotating member 210 rotates relative to the frame 100 around a first axis, which can drive the first wheel 230 to turn, thus ensuring the flexibility of the wheeled robot. The fourth rotating member 320 rotates relative to the frame 100 around a fourth axis, which can increase or decrease the distance between two adjacent second wheel 330s, thereby enabling the second wheel set 300 to support the frame 100 at an inclined angle, giving the second wheel set 300 a lateral supporting force (Y-axis direction) on the frame 100, and enhancing the stability of the wheeled robot. In this way, the first wheel set 200 improves the flexibility of the wheeled robot, and the second wheel set 300 enhances the stability of the wheeled robot, so as to simultaneously achieve both stability and flexibility.

[0038] Regarding the second wheel assembly 300, the principle of enhancing stability is as follows: by rotating the fourth rotating member 320 outward around the fourth rotating axis, not only can the distance between the two second wheel feet 330 be increased, thereby enhancing its stability, but the second wheel assembly 300 can also support the frame 100 at an inclined angle, so that it has a lateral (Y-axis direction) supporting force on the frame 100, further enhancing the stability of the frame 100.

[0039] Further, please refer to Figure 1When the wheeled robot is in its first posture, the first wheel 230 and the second wheel 330 jointly support the frame 100. The first axis of rotation is parallel to the Z-axis, the second axis of rotation is parallel to the Y-axis, the third axis of rotation is parallel to the Y-axis, and the fourth axis of rotation is parallel to the X-axis. Any two of the X-axis, Y-axis, and Z-axis are perpendicular to each other, representing the three coordinate axes in three-dimensional space. For example, the X-axis can be understood as the length direction (front-back direction) of the wheeled robot, the Y-axis as the width direction (left-right direction), and the Z-axis as the height direction (up-down direction).

[0040] In the first posture, the first wheel 230 and the second wheel 330 roll to move the wheeled robot along the X-axis. The first rotating member 210 can rotate around a first axis parallel to the Z-axis to rotate the first wheel 230, thus enabling the wheeled robot to turn. Simultaneously, the second rotating member 220 rotates around a second axis parallel to the Y-axis, adjusting the height of the first wheel 230 to adapt to uneven terrain.

[0041] Furthermore, the third rotating member 310 also includes a third connecting segment 311 and a fourth connecting segment 312 that are rotatably connected. The end of the third connecting segment 311 away from the fourth connecting segment 312 is rotatably connected to the fourth rotating member 320, and the second wheel 330 is rotatably connected to the end of the fourth connecting segment 312 away from the third connecting segment 311. Specifically, the relative rotation of the third connecting segment 311 and the fourth connecting segment 312 can adjust the height of the second wheel 330, thereby adapting to uneven road surfaces and enabling the wheeled robot to move stably.

[0042] Further, please refer to Figure 2 The wheeled robot has a second motion mode. In the second motion mode, the second wheel 330 is supported on the working surface alone, and the wheeled robot has a second posture. In the second posture, the first axis of rotation is parallel to the X-axis, the second axis of rotation is parallel to the Z-axis, the third axis of rotation is parallel to the X-axis, and the fourth axis of rotation is parallel to the Z-axis.

[0043] Based on the second motion mode, this embodiment provides a control method for a wheeled robot. The control method includes the following steps: S1, switching the wheeled robot from a first posture to a second posture; wherein, during the process of switching the wheeled robot from the first posture to the second posture, the frame 100 rotates around a third axis, the second rotating component 220 rotates around the second axis, and the first rotating component 210 rotates around the first axis; S2, acquiring the posture information of the frame 100 in real time; S3, controlling the second rotating component 220 to rotate around the second axis according to the posture information of the frame 100, so as to maintain the dynamic balance of the wheeled robot.

[0044] In this embodiment, when the wheeled robot is in the second posture, the second axis of rotation is at an angle parallel to or approximately parallel to the Z-axis direction. This allows the first wheel 230 to be displaced along the X-axis when the second rotating member 220 rotates around the second axis of rotation. This helps to balance the sway of the frame 100 in the X-axis direction, so that the entire wheeled robot can maintain dynamic balance in the X-axis direction when moving along the Y-axis direction.

[0045] For example, the transition from the first posture to the second posture is described below: Please refer to... Figure 1-2 First, keeping the second wheel foot 330 on the working surface, the frame 100 rotates relative to the second wheel foot 330 around the third axis, thereby lifting the first wheel foot 230 away from the working surface until the frame 100 and the second wheel group 300 are approximately above the first wheel group 200. Simultaneously, during this process, the first rotating component 210 rotates relative to the frame 100 around the first axis, causing the second axis, originally parallel to the Y-axis, to gradually become parallel to or approximately parallel to the Z-axis, thus completing the switch from the first posture to the second posture.

[0046] Furthermore, each second wheel foot 330 has a contact position with the working surface, and a plane passing through the center of at least two contact positions and perpendicular to the X-axis is defined as the support plane. The attitude information of the frame 100 includes the position, direction of movement, speed of movement, and yaw angle of the frame 100 relative to the support plane. The attitude information of the frame 100 can be obtained through sensor measurement or by algorithm calculation. For example, sensors such as gyroscopes are installed on the frame 100, which can directly acquire or indirectly acquire the above parameters through calculation. The installation position of the gyroscope or other sensors can be adaptively set at the geometric center and / or center of gravity of the frame 100, or other specific positions. Thus, the position information acquired by these sensors is the information of the geometric center and / or center of gravity of the frame 100, which has greater reference value for controlling the movement of the first wheel foot 230 in the next step.

[0047] Regarding the attitude information of the frame 100, the position of the frame 100 relative to the supporting plane refers to the frame 100 being located on one side or the other side of the supporting plane, or exactly on the supporting plane; the direction of movement of the frame 100 refers to the direction of movement of the frame 100 relative to the supporting plane, such as towards or away from the supporting plane; the speed of movement of the frame 100 refers to the speed of movement of the frame 100 relative to the supporting plane; and the yaw angle of the frame 100 refers to the angle between the plane in which the frame 100 is located and the supporting plane. The plane in which the frame 100 is located can be understood as a plane parallel to the length and width directions of the frame 100.

[0048] It should also be noted that the contact position between the second wheel foot 330 and the working surface may be the contact surface, contact line, or contact point. The supporting plane should be understood as a vertical plane passing through the center of the contact surface, the midpoint of the contact line, or the contact point mentioned above.

[0049] Furthermore, when the frame 100 moves to one side of the support plane, the second wheel 330 moves to the other side of the support plane. Specifically, the frame 100 and the second wheel 330 are located on opposite sides of the support plane, such that the torque of the first wheel set 200 about the location of the support plane is opposite to the torque of the frame 100 (which may also include the second wheel set 300) about the support plane, thereby balancing the sway of the wheeled robot along the X-axis and maintaining dynamic balance.

[0050] Furthermore, the direction of motion of the second wheel foot 330 relative to the supporting plane is opposite to the direction of motion of the frame 100 relative to the supporting plane. The speed of motion of the second wheel foot 330 relative to the supporting plane increases as the speed of motion of the frame 100 relative to the supporting plane increases, and decreases as the speed of motion of the frame 100 relative to the supporting plane decreases. The minimum distance from the center of the second wheel foot 330 to the supporting plane is defined as the offset distance; in step S3, the offset distance increases as the sway angle of the frame 100 increases, and decreases as the sway speed of the frame 100 decreases.

[0051] First, it should be noted that the total weight of the frame 100 and the second wheel assembly 300 is constant, but the lever arm between the center of gravity and the supporting plane changes continuously as the frame 100 sways. Similarly, since the weight of the first wheel assembly 200 is constant, the lever arm between its center of gravity and the supporting plane changes continuously as the first wheel assembly 200 moves. Therefore, in order to make the torques of the frame 100 and the second wheel assembly 300 on the supporting plane cancel each other out with the force of the first wheel assembly 200 on the supporting plane, the first lever arm of the first wheel assembly 200 on the supporting plane needs to be associated with the second lever arm of the frame 100 and the second wheel assembly 300 on the supporting plane. That is, the first lever arm increases as the second lever arm increases, and decreases as the second lever arm decreases.

[0052] Following the above, in order to make the first lever arm change with the change of the second lever arm, it is necessary to control the position, direction of movement, speed and displacement of the second wheel 330 to change with the frame 100, and finally achieve the dynamic balance of the wheeled robot.

[0053] It should also be noted that since the first wheel foot 230 accounts for the majority of the weight of the first wheel group 200, and the movement amplitude of the second wheel group 300 is very small during the swaying process of the frame 100, the influence of this part of the weight can be ignored. Therefore, the movement speed of the first wheel foot 230 can be directly related to the movement speed of the frame 100. Furthermore, although the weight of the first wheel foot 230 is less than the weight of the entire second wheel group 300, the movement amplitude of the first wheel foot 230 is greater than that of the second wheel group 300. Therefore, the weight of the portion of the first wheel group 200 excluding the first wheel foot 230 and the weight of the second wheel group 300 can cancel each other out in their impact on maintaining dynamic balance.

[0054] Furthermore, the second rotating member 220 includes a first connecting segment 221 and a second connecting segment 222 rotatably connected. The first connecting segment 221 has a first connecting end and a second connecting end that are opposite to each other. The second connecting segment 222 has a third connecting end and a fourth connecting end that are opposite to each other. The first connecting end is rotatably connected to the first rotating member 210, the second connecting end is rotatably connected to the third connecting end, and the fourth connecting end is rotatably connected to the first wheel foot 230. In the second motion mode, the second connecting end has a first displacement along the Y-axis direction relative to the first connecting end, and the fourth connecting end has a second displacement along the Y-axis direction relative to the third connecting end. The second displacement is opposite to the direction of the first displacement.

[0055] Specifically, when the first connecting segment 221 rotates relative to the first rotating member 210, the second connecting segment 222 can also rotate relative to the first connecting segment 221. When the first connecting segment 221 rotates and causes the second connecting end to move outward to generate a first displacement in the positive Y-axis direction, the second connecting segment 222 can rotate relative to the first connecting segment 221 and cause the first wheel leg 230 connected to the fourth connecting end to move inward to generate a second displacement in the negative Y-axis direction. Thus, the second displacement partially or completely cancels out the first displacement, allowing the movement trajectory of the first wheel leg 230 to be closer to the first connecting end. In this way, the distance between the first wheel leg 230 and the first connecting end is shortened. This distance constitutes the lever arm that drives the first wheel leg 230 to move. Shortening this lever arm reduces the load on the actuator that drives the first connecting end to rotate, allowing it to drive the first rotating member 210 to rotate with less force. This facilitates more precise control of the position of the first wheel leg 230 and enhances the stability of the wheeled robot.

[0056] It should also be noted that during the second motion mode of the wheeled robot, the trajectories of the two first wheels 230 are not necessarily completely symmetrical along the Y-axis, and the torques of the two first wheels 230 on the frame 100 in the Y-axis direction cannot be completely canceled out. Although the two second wheels 330 provide lateral support to the frame 100 in the Y-axis direction, if the difference in torque between the two first wheels 230 on the frame 100 in the Y-axis direction is too large, the wheeled robot still faces the risk of tipping over in the Y-axis direction.

[0057] To overcome the aforementioned shortcomings, this embodiment utilizes the synergistic effect of the first connecting segment 221 and the second connecting segment 222 to bring the movement trajectory of the first wheel 230 closer to the frame 100. This reduces the lever arm of the first wheel 230 relative to the frame 100 and decreases the torque exerted by the first wheel 230 on the frame 100 in the Y-axis direction. By reducing the magnitude of the torque exerted by each first wheel 230 on the frame 100 in the Y-axis direction, the difference between the two first torques is reduced. Ultimately, the lateral torque on the frame 100 in the Y-axis direction can be offset by the lateral support force of the two second wheels 330, preventing the wheeled robot from tipping over along the Y-axis.

[0058] Furthermore, the second rotating component 220 includes a first connecting segment 221 and a second connecting segment 222 rotatably connected. The first connecting segment 221 is rotatably connected to the frame 100, and the two ends of the second connecting segment 222 are rotatably connected to the first connecting segment 221 and the first wheel foot 230, respectively. In the second motion mode, the motion trajectory of the first connecting segment 221 includes a first trajectory segment and two second trajectory segments connected to the two ends of the first trajectory segment. In the first trajectory segment, the rotation direction of the second connecting segment 222 relative to the first connecting segment 221 is opposite to the rotation direction of the first connecting segment 221 relative to the frame 100. In the second trajectory segment, the rotation direction of the second connecting segment 222 relative to the first connecting segment 221 is the same as the rotation direction of the first connecting segment 221 relative to the frame 100.

[0059] Specifically, in the first trajectory segment, the second connecting segment 222 and the first connecting segment 221 rotate in opposite directions, causing the first wheel 230 to move closer to the frame 100. In the second trajectory segment, the second connecting segment 222 and the first connecting segment 221 rotate in the same direction. When the tilt angle of the frame 100 is too large, the first wheel 230 needs to extend a greater length. At this time, the first connecting segment 221 and the second connecting segment 222 rotate in the same direction, which can drive the first wheel 230 to a position farther away from the frame 100, increasing the lever arm of the first wheel 230 to the frame 100, thereby increasing the torque of the first wheel 230 on the frame 100.

[0060] Further, please refer to Figure 3The wheeled robot has a third motion mode. In this mode, the first wheel 230 is supported solely on the working surface, and the robot exhibits a third posture. In this third posture, the third axis of rotation is parallel to the Y-axis, and the center of gravity of the second wheel assembly 300 and the frame 100 are located on opposite sides of the vertical plane where the first wheel 230 contacts the working surface. In this third posture, the first wheel 230 supports the frame 100 alone and travels along the X-axis and / or the Y-axis.

[0061] During the transition from the first posture to the third posture of the wheeled robot, the first rotating member 210 rotates relative to the second rotating member 220 around the second axis; the first wheel 230 rolls to drive the wheeled robot to move along the X-axis; and / or, the first rotating member 210 in the two first wheel sets 200 rotates alternately around the first axis, so that the two first wheel 230s take alternating steps along the Y-axis. In the third posture, the two first wheel 230s are supported independently on the working surface, and the two second wheel 330s are lifted off the working surface. At this time, the rolling of the first wheel 230s can drive the entire wheeled robot to move along its rolling direction (X-axis).

[0062] Simultaneously, the two first-legged robots 230 can also move along the Y-axis in a stepping motion. Specifically, one first-legged robot 230 remains in contact with the working surface, while the other first-legged robot 230 is lifted off the ground and rotated around the first axis via the first rotating member 210, causing the lifted first-legged robot 230 to move toward or away from the other first-legged robot 230. Then, the lifted first-legged robot 230 is lowered and supported on the working surface, and the other first-legged robot 230 is lifted off the working surface, repeating the above steps. In this way, the wheeled robot can achieve stepping movement along the Y-axis.

[0063] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A locomotive robot, characterized by, include: Frame; At least two first wheel sets, including a first rotating member that can rotate relative to the frame about a first axis of rotation and a first wheel foot that can roll along the working surface; At least two second wheel sets, including a fourth rotating member rotatable about a fourth pivot relative to the frame and second wheel feet rotatable along the working surface; The wheeled robot has a first motion mode. In the first motion mode, the first wheel and the second wheel are supported on the working surface together, and the wheeled robot has a first posture. In the first posture, the first rotating member rotates around the first axis to adjust the rolling direction of the first wheel, and the fourth rotating member rotates relative to the frame around the fourth axis to adjust the distance between two adjacent second wheels.

2. The wheel-legged robot according to claim 1, characterized in that, The first wheel assembly further includes a second rotating member, which is rotatable relative to the first rotating member about a second rotating axis, and the first wheel is rotatably disposed on the second rotating member.

3. The wheel-legged robot according to claim 2, characterized in that, The second wheel assembly further includes a third rotating member, which is rotatable relative to the fourth rotating member about a third axis, and the second wheel is rotatably disposed on the third rotating member.

4. The wheeled robot according to claim 3, characterized in that, When the wheeled robot is in the first posture, the first wheel and the second wheel jointly support the frame. The first axis of rotation is parallel to the Z-axis, the second axis of rotation is parallel to the Y-axis, the third axis of rotation is parallel to the Y-axis, and the fourth axis of rotation is parallel to the X-axis.

5. The wheel-legged robot according to claim 3, characterized in that, The wheeled robot has a second motion mode, in which the second wheel is supported on the working surface alone, and the wheeled robot has a second posture in the second posture; In the second posture, the first rotation axis is parallel to the X-axis direction, the second rotation axis is parallel to the Z-axis direction, the third rotation axis is parallel to the X-axis direction, and the fourth rotation axis is parallel to the Z-axis direction.

6. The wheel-legged robot according to claim 5, characterized in that, The second rotating member includes a first connecting segment and a second connecting segment rotatably connected. The first connecting segment has a first connecting end and a second connecting end that are opposite to each other. The second connecting segment has a third connecting end and a fourth connecting end that are opposite to each other. The first connecting end is rotatably connected to the first rotating member, the second connecting end is rotatably connected to the third connecting end, and the fourth connecting end is rotatably connected to the first wheel foot. In the second motion mode, the second connecting end has a first displacement along the Y-axis relative to the first connecting end, and the fourth connecting end has a second displacement along the Y-axis relative to the third connecting end, the second displacement being opposite to the direction of the first displacement.

7. The wheeled robot according to claim 5, characterized in that, The second rotating component includes a first connecting section and a second connecting section that are rotatably connected. The first connecting section is rotatably connected to the frame, and the two ends of the second connecting section are respectively rotatably connected to the first connecting section and the first wheel foot. In the second motion mode, the motion trajectory of the first connecting segment includes a first trajectory segment and two second trajectory segments connected to both ends of the first trajectory segment. In the first trajectory segment, the rotation direction of the second connecting segment relative to the first connecting segment is opposite to the rotation direction of the first connecting segment relative to the frame. In the second trajectory segment, the rotation direction of the second connecting segment relative to the first connecting segment is the same as the rotation direction of the first connecting segment relative to the frame.

8. The wheel-legged robot according to claim 3, characterized in that, The wheeled robot has a third motion mode, in which the first wheel is supported on the working surface alone, and the wheeled robot has a third posture. In the third posture, the third axis of rotation is parallel to the Y-axis direction.

9. The wheel-legged robot according to claim 8, characterized in that, In the third posture, the center of gravity of the second wheel set and the center of gravity of the frame are located on opposite sides of the vertical plane where the first wheel foot contacts the working surface.

10. The wheel-legged robot according to claim 3, characterized in that, The third rotating component further includes a third connecting segment and a fourth connecting segment that are rotatably connected. The end of the third connecting segment away from the fourth connecting segment is rotatably connected to the fourth rotating component, and the second wheel foot is rotatably connected to the end of the fourth connecting segment away from the third connecting segment.

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