Patent Description:
The robot refers to a robot having both footed and wheeled movement modes. A common robot is a robot with two, three, four, or six mechanical legs.

A quadruped robot is provided in the related art. Four mechanical legs are mounted on the quadruped robot. Traveling wheels are mounted at ends of calves of the four mechanical legs, to enable the quadruped robot to have both footed and wheeled movement modes.

Because the end of the calf of the foregoing mechanical leg is a wheeled structure, the end of the calf has poor grip and balance.

<CIT> provides a wheel-footed dual-purpose mobile robot, which adopts footed and wheeled movement modes. <CIT> provides a wheel-leg composite structure and a wheel-leg composite four-foot bio-robot.

Embodiments of this application provide a wheel-footed bimodal mechanical leg and a robot. The technical solutions are as follows:
According to an aspect of this application, a wheel-footed bimodal mechanical leg is provided according to claim <NUM>. Optional features are set out in dependent claims <NUM> to <NUM>.

According to an aspect of this application, a robot is provided according to claim <NUM>.

The technical solutions provided in the embodiments of this application produce at least the following beneficial effects:
The traveling wheel is arranged at a joint between the thigh unit and the calf unit. In the footed mode, the calf unit is fixedly connected to the rotary shaft by the locking component, and the calf unit is driven by the rotary shaft to implement footed traveling. Because the traveling wheel is located at the j oint between the thigh unit and the calf unit and do not touch the ground, the calf unit may maintain better grip and balance. In the wheeled mode, all or some of the calf units are rotatably connected to the rotary shafts. The traveling wheels on the rotary shafts implement wheeled traveling. Because the length of the thigh unit can ensure a ground clearance of the body part, the passing ability and passing speed of the robot in the wheeled mode are improved. On the whole, the foregoing robot features a compact structure, high dexterity, and a light weight. Environmental adaptability of the robot may be enhanced to a large extent by flexibly switching between the wheeled mode and the footed mode.

To describe the technical solutions in the embodiments of this application more clearly, the accompanying drawings required for describing the embodiments are briefly described hereinafter. Apparently, the accompanying drawings in the following descriptions show merely some embodiments of this application, and a person of ordinary skill in the art may obtain other accompanying drawings according to these accompanying drawings without creative efforts.

Embodiments of this application provide a robot. The robot can travel in a wheeled mode or a footed mode.

<FIG> is a schematic diagram of a robot <NUM> according to an exemplary embodiment of this application. The robot <NUM> includes: a body part <NUM> and n wheel-footed bimodal mechanical legs <NUM> connected to the body part <NUM>, where n is a positive integer not less than <NUM>.

The wheel-footed bimodal mechanical leg <NUM> includes a driving apparatus <NUM>, a thigh unit <NUM>, and a calf unit <NUM>. A joint end of the thigh unit <NUM> is hingedly connected to a joint end of the calf unit <NUM> by a rotary shaft <NUM>. The rotary shaft <NUM> is transmission-connected to the traveling wheel <NUM>.

The calf unit <NUM> includes a locking component for locking or unlocking relative positions of the calf unit <NUM> and the rotary shaft <NUM>. When the locking component locks the relative positions of the calf unit <NUM> and the rotary shaft <NUM>, the calf unit <NUM> is fixedly connected to the rotary shaft <NUM>. The movement of the calf unit <NUM> is controlled by the rotation of the rotary shaft <NUM> and switches from the wheeled mode to the footed mode. When the locking component unlocks the relative positions of the calf unit <NUM> and the rotary shaft <NUM>, the movement of the calf unit <NUM> is not controlled by the rotation of the rotary shaft <NUM> and switches from the footed mode to the wheeled mode.

In the footed mode, the calf units <NUM> and the rotary shafts <NUM> in the n wheel-footed bimodal mechanical legs <NUM> are fixedly connected to each other. The robot <NUM> drives, through the rotary shafts <NUM>, the calf units <NUM> to travel in a footed movement mode. When the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate forward, the calf unit <NUM> is also driven to rotate forward. When the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate backward, the calf unit <NUM> is also driven to rotate backward. The footed movement can be implemented by repeatedly performing the foregoing process.

In the wheeled mode, the calf units <NUM> and the rotary shafts <NUM> in at least two wheel-footed bimodal mechanical legs <NUM> are rotatably connected to each other. The rotary shaft <NUM> and the traveling wheel <NUM> may freely rotate relative to the calf unit <NUM>. Therefore, the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate forward, thereby implementing the wheeled movement.

In one example, in a process of switching from the footed mode to the wheeled mode, because the robot <NUM> touches the ground using an end of the calf unit <NUM> in the footed mode, the rotary shaft <NUM> first drives the calf unit <NUM> to rotate in a first direction of approaching the thigh unit <NUM>. After the traveling wheel <NUM> touches the ground, the rotary shaft <NUM> continues to drive the calf unit <NUM> toward the thigh unit <NUM> for folding them together. After the calf unit <NUM> and the thigh unit <NUM> are folded together, the end of the calf unit <NUM> is in an off-ground state. The locking component unlocks the relative positions of the calf unit <NUM> and the rotary shaft <NUM>. The footed mode is switched to the wheeled mode. Subsequently, in the wheeled mode, the rotary shaft <NUM> drives the traveling wheel <NUM> to perform the wheeled movement forward or backward.

In one example, in a process of switching from the wheeled mode to the footed mode, because the robot <NUM> touches the ground using the traveling wheel <NUM> to the wheeled mode, the rotary shaft <NUM> first drives the calf unit <NUM> to rotate in a second direction away from the thigh unit <NUM>. After the end of the calf unit <NUM> touches the ground, the rotary shaft <NUM> continues to drive the calf unit <NUM> to rotate in the second direction, thereby supporting the body part <NUM> of the robot <NUM> to rise, and then the traveling wheel <NUM> is in an off-ground state. The locking component locks the relative positions of the calf unit <NUM> and the rotary shaft <NUM>. In this case, the wheeled mode is switched to the footed mode. Subsequently, in the footed mode, the rotary shaft <NUM> drives the calf unit <NUM> to perform the footed movement forward or backward.

Based on the above, in the robot provided in this embodiment, the traveling wheel is arranged at a joint between the thigh unit and the calf unit. In the footed mode, the calf unit is fixedly connected to the rotary shaft, and the calf unit is driven by the rotary shaft to implement footed traveling. Because the traveling wheel is located at the joint between the thigh unit and the calf unit and do not touch the ground, the calf unit may maintain better grip and balance. In the wheeled mode, all or some of the calf units are rotatably connected to the rotary shafts. The traveling wheels on the rotary shafts implement wheeled traveling. Because the length of the thigh unit can ensure a ground clearance of the body part, the passing ability of the robot in the wheeled mode is improved.

The number of the wheel-footed bimodal mechanical legs <NUM> of the robot <NUM> may be two, three, four, six, etc., and the present application does not limit the number of the wheel-footed bimodal mechanical legs <NUM>. An example in which the quantity of the wheel-footed bimodal mechanical legs <NUM> is four is used for description. <FIG> shows a three-dimensional view of a robot <NUM> according to another exemplary embodiment of this application. The robot <NUM> includes: a body part <NUM>, and <NUM> wheel-footed bimodal mechanical legs <NUM> connected to the body part <NUM>.

Referring to <FIG>, for each wheel-footed bimodal mechanical leg <NUM>, the wheel-footed bimodal mechanical leg <NUM> includes a driving apparatus <NUM>, a thigh unit <NUM>, and a calf unit <NUM>.

The driving apparatus <NUM> includes at least one of a first thigh driving apparatus <NUM>, a second thigh driving apparatus <NUM>, or a calf driving apparatus <NUM>. Exemplarily, the first thigh driving apparatus <NUM>, the second thigh driving apparatus <NUM>, and the calf driving apparatus <NUM> constitute a combined driving apparatus. The calf driving apparatus <NUM> is further connected to a root end <NUM> of the thigh unit <NUM>. A joint end <NUM> of the thigh unit <NUM> is connected to a joint end <NUM> of the calf unit <NUM>. An auxiliary wheel <NUM> is disposed on a side surface of the calf unit <NUM> close to the ground (referred to as a near-ground side). A sole portion <NUM> is disposed at an end <NUM> of the calf unit <NUM>.

Exemplarily, the first thigh driving apparatus <NUM>, the second thigh driving apparatus <NUM>, and the calf driving apparatus <NUM> are all motors. Each motor includes a stator portion and a rotor portion. The rotor portion can rotate relative to the stator portion.

Referring to <FIG> and <FIG> in combination, <FIG> is a top view of the robot <NUM>, and <FIG> is a side view of the robot <NUM>.

The first thigh driving apparatus <NUM> is configured to drive the thigh unit <NUM> to rotate along two sides of the body part <NUM>. A first stator portion of the first thigh driving apparatus <NUM> is connected to the body part <NUM>. A first rotor portion of the first thigh driving apparatus <NUM> is connected to a side surface of a second stator portion of the second thigh driving apparatus <NUM>. In some embodiments, a central axis of a first rotor portion is parallel to a central axis of the body part <NUM>.

The second thigh driving apparatus <NUM> is configured to drive the thigh unit <NUM> to swing along the front/rear of the body part <NUM>. A second rotor portion of the second thigh driving apparatus <NUM> is connected to a third stator portion of the calf driving apparatus <NUM>. In some embodiments, the second rotor portion faces an outer side of the body part <NUM>. The second stator portion faces an inner side of the body part <NUM>. A central axis of the second rotor portion is perpendicular to the central axis of the body part <NUM>.

The third stator portion of the calf driving apparatus <NUM> is connected to the root end <NUM> of the thigh unit <NUM>. A third rotor portion of the calf driving apparatus <NUM> is connected to the rotary shaft <NUM> by a transmission apparatus. In some embodiments, a central axis of the third rotor portion coincides with or is parallel to the central axis of the second rotor portion.

The robot <NUM> has at least three movement modes: a footed mode, a first wheeled mode, and a second wheeled mode.

In a footed mode shown in <FIG>, the calf unit <NUM> and the rotary shaft <NUM> in each wheel-footed bimodal mechanical leg <NUM> are fixedly connected to each other. The second rotor portion of the second thigh driving apparatus <NUM> drives the thigh unit <NUM> to swing along the front/rear of the body part <NUM>. The third rotor portion of the calf driving apparatus <NUM> rotates, and drives the traveling wheel <NUM> and the calf unit <NUM> through the rotary shaft <NUM> to travel in the footed movement mode. When the calf driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to rotate forward, the calf unit <NUM> is also driven to rotate forward. When the calf driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to rotate backward, the calf unit <NUM> is also driven to rotate backward. The footed movement can be implemented by repeatedly performing the foregoing process.

In a first wheeled mode shown in <FIG>, the calf unit <NUM> and the rotary shaft <NUM> in each wheel-footed bimodal mechanical leg <NUM> are rotatably connected to each other. The calf driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to rotate without driving the calf unit <NUM> to rotate.

In an exemplary design, as shown in <FIG>, the calf unit <NUM> may include a first magnetic component <NUM> thereon, and the thigh unit <NUM> may include a second magnetic component <NUM> thereon. One of the first magnetic component <NUM> and the second magnetic component <NUM> is a magnet, and the other of the first magnetic component <NUM> and the second magnetic component <NUM> is a magnet or an iron block.

In the first wheeled mode, the first magnetic component <NUM> may be attracted to the second magnetic component <NUM>. Exemplarily, when the calf unit <NUM> and the thigh unit <NUM> are in a contracted and closed state, the calf unit <NUM> and the thigh unit <NUM> are fixed by a magnetic force between the magnetic components, thereby reducing interference of the calf unit <NUM> in the first wheeled mode. When the calf unit <NUM> and the thigh unit <NUM> are in the contracted and closed state, the end of the calf unit <NUM> faces upward, so that the body part <NUM> has a relatively appropriate ground clearance, less wind resistance, better passing ability, and a higher passing speed. The contracted and closed state means that after the calf unit <NUM> is contracted in a direction of the thigh unit <NUM>, the calf unit <NUM> and the thigh unit <NUM> are in a state of being close to each other and folded together.

An auxiliary wheel <NUM> is further disposed on a near-ground side of the calf unit <NUM>. In a second wheeled mode, the calf units <NUM> and the rotary shafts <NUM> in m wheel-footed bimodal mechanical legs <NUM> located at a same end <NUM> (a front end or a rear end) of the body part <NUM> are rotatably connected to each other. The calf units <NUM> and the rotary shafts <NUM> in the remaining n-m wheel-footed bimodal mechanical legs <NUM> located at an other end <NUM> of the body part <NUM> are fixedly connected to each other.

Schematically, as shown in <FIG>, the calf units <NUM> and the rotary shafts <NUM> in two wheel-footed bimodal mechanical legs <NUM> located at the rear end <NUM> of the body part <NUM> are rotatably connected to each other. The calf units <NUM> and the rotary shafts <NUM> in two wheel-footed bimodal mechanical legs <NUM> located at the front end <NUM> of the body part <NUM> are fixedly connected to each other.

In the second wheeled mode, the robot <NUM> may be supported by only <NUM> mechanical legs to move forward or backward in the wheeled mode. The auxiliary wheels <NUM> provide support and the ability to assist rolling during wheeled forward or backward movement. For example, the auxiliary wheels <NUM> and the traveling wheels <NUM> on the calf units <NUM> in the two wheel-footed bimodal mechanical legs <NUM> located at the rear end <NUM> of the body part <NUM>, that is, a total of four wheels, touch the ground. The two traveling wheels <NUM> move under the driving of a driving force. The two auxiliary wheels <NUM> move with the movement of the traveling wheels <NUM>. The two traveling wheels <NUM> and the two auxiliary wheels <NUM> provide four force application points to ensure the stability of the robot <NUM> during traveling.

In the second wheeled mode, the calf units <NUM> and the thigh units <NUM> in the two wheel-footed bimodal mechanical legs <NUM> located at the rear end <NUM> of the body part <NUM> may be attracted to each other through the magnetic components.

The robot <NUM> performs wheeled forward or backward movement through the two wheel-footed bimodal mechanical legs <NUM> located at the rear end <NUM> of the body part <NUM>. During the wheeled forward or backward movement, the robot <NUM> may further perform other actions, such as opening a door, transporting an object, or photographing, etc., through the two wheel-footed bimodal mechanical legs <NUM> located at the front end <NUM> of the body part <NUM>.

It can be seen from the foregoing embodiments that, for the foregoing wheel-footed bimodal mechanical leg, the calf unit <NUM> and the rotary shaft <NUM> may be switched between a fixed connection and a rotatable connection, or, in other words, switched between a fixed state and a rotatable state or switched between the footed mode and the wheeled mode. In some embodiments, the calf unit <NUM> includes a locking component <NUM> (or a pin component <NUM>) therein. The locking component <NUM> is configured to implement the switching between the fixed connection and the rotatable connection.

<FIG> is a schematic diagram of a wheel-footed bimodal mechanical leg <NUM> according to an exemplary embodiment of this application. The mechanical leg includes a driving apparatus <NUM>, a thigh unit <NUM>, and a calf unit <NUM>.

A root end <NUM> of the thigh unit <NUM> is connected to the driving apparatus <NUM>. A joint end <NUM> of the thigh unit <NUM> is hingedly connected (e.g., hinged) to a joint end <NUM> of the calf unit <NUM> by a rotary shaft <NUM>. The rotary shaft <NUM> is transmission-connected to a traveling wheel <NUM>. The driving apparatus <NUM> is connected to the traveling wheel <NUM> by a transmission apparatus <NUM>. Exemplarily, a traveling wheel <NUM> is fixed on at least one position of two ends or a middle position of the rotary shaft <NUM>. There may be one or more traveling wheels <NUM>.

The calf unit <NUM> includes a locking component (not shown in <FIG>, refer to <FIG> or <FIG>).

When the locking component is in a locked state, the calf unit <NUM> and the traveling wheel <NUM> are locked to each other. The calf unit <NUM> is fixedly connected to the rotary shaft <NUM> by the traveling wheel <NUM>, so that the driving apparatus <NUM> drives the traveling wheel <NUM> and the calf unit <NUM> through the rotary shaft <NUM> to travel in the footed movement mode.

When the locking component is in an unlocked state, the calf unit <NUM> and the traveling wheel <NUM> are unlocked from each other. The calf unit <NUM> is rotatably connected to the rotary shaft <NUM>, so that the driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to travel in the wheeled movement mode without driving the calf unit <NUM> to move.

The working principles of the foregoing wheel-footed bimodal mechanical leg <NUM> include:
When the locking component is in the locked state, the calf unit <NUM> is fixedly connected to the rotary shaft <NUM> through the traveling wheel <NUM>. When the driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to rotate forward, the calf unit <NUM> is also driven to rotate forward. When the driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to rotate backward, the calf unit <NUM> is also driven to rotate backward. The footed movement can be implemented by repeatedly performing the foregoing process.

When the locking component is in the unlocked state, the calf unit <NUM> is rotatably connected to the rotary shaft <NUM>. That is, the rotary shaft <NUM> and the traveling wheel <NUM> can freely rotate relative to the calf unit <NUM>. The driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to rotate forward, thereby implementing the wheeled movement.

Based on the above, in the wheel-footed bimodal mechanical leg provided in this embodiment, the locking component is arranged in the calf unit, so that the calf unit and the traveling wheel are locked to each other when the locking component is in the locked state. The calf unit is fixedly connected to the rotary shaft by the traveling wheel, so that the driving apparatus drives the traveling wheel through the rotary shaft to drive the calf unit to travel in the footed mode. When the locking component is in the unlocked state, the calf unit and the traveling wheel are unlocked from each other. The calf unit is rotatably connected to the rotary shaft, so that the driving apparatus drives the traveling wheel through the rotary shaft to travel in the wheeled mode. In this application, only one driving apparatus is needed to implement the wheel-footed bimodal mechanical leg, which simplifies the structure of the mechanical leg, and is beneficial to the miniaturization and portability of the mechanical leg.

There are at least two implementations for the design of the locking component <NUM>:
First implementation: The locking component <NUM> includes a flat pin, and a pin hole is designed on the traveling wheel <NUM>, as shown in <FIG>.

Second implementation: The locking component <NUM> includes a double-shaft pin. The pin hole is designed on the rotary shaft <NUM>, as shown in <FIG>.

<FIG> is a structural diagram of a locking component <NUM> according to an exemplary embodiment of this application. The locking component <NUM> is configured for locking or unlocking between the calf unit <NUM> and traveling wheel <NUM>. The locking component <NUM> includes a linear motor <NUM> and a flat pin <NUM>.

The linear motor <NUM> is a transmission apparatus that converts electrical energy into mechanical energy for a linear movement. In some embodiments, the calf unit <NUM> includes a motor fixing base <NUM> therein. The motor fixing base <NUM> fixes the linear motor <NUM> to an inner wall of the calf unit <NUM>.

The flat pin <NUM> is fixed to an output end of the linear motor <NUM>. The traveling wheel <NUM> includes at least one pin groove <NUM> thereon. The flat pin <NUM> is inserted into the pin groove <NUM> or pulled out from the pin groove <NUM> under the driving of the linear motor <NUM>.

The locking component <NUM> is in the locked state when the flat pin <NUM> is inserted into the pin groove <NUM>. The calf unit <NUM> and the traveling wheel <NUM> are locked to each other. The calf unit <NUM> is fixedly connected to the rotary shaft <NUM> by the traveling wheel <NUM>, as shown in <FIG>. When the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate, the calf unit <NUM> also rotates with the traveling wheel <NUM>.

When the flat pin <NUM> is pulled out from the pin groove <NUM>, the locking component <NUM> is in the unlocked state. The calf unit <NUM> and the traveling wheel <NUM> are unlocked from each other. The calf unit <NUM> is rotatably connected to the rotary shaft <NUM>. When the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate, the calf unit <NUM> does not rotate with the traveling wheel <NUM>.

In some embodiments, there are at least two pin grooves <NUM>. Each pin groove <NUM> is distributed along a radial direction of the traveling wheel <NUM>. That is, the traveling wheel <NUM> includes at least two pin grooves <NUM> distributed in the radial direction thereon. The at least two pin grooves <NUM> may be uniformly distributed or non-uniformly distributed.

In some embodiments, the traveling wheel <NUM> includes at least one traveling wheel. An example in which the traveling wheel includes a first traveling wheel <NUM> and a second traveling wheel <NUM> is used for description in this embodiment. The first traveling wheel <NUM> and the second traveling wheel <NUM> are relatively fixed. The pin groove <NUM> is formed on a first wheel surface of the first traveling wheel <NUM> facing the second traveling wheel <NUM>. The pin groove <NUM> is formed on a second wheel surface of the second traveling wheel <NUM> facing the first traveling wheel <NUM>. The number and grooving positions of the pin grooves <NUM> on the first wheel surface and the second wheel surface are the same.

Based on the above, the locking component provided in this embodiment is locked by inserting the flat pin <NUM> into the pin groove <NUM> of the traveling wheel <NUM> under the driving of the linear motor <NUM>, and is unlocked by pulling the flat pin <NUM> out from the pin groove <NUM> of the traveling wheel <NUM> under the driving the linear motor <NUM>. The linear motor <NUM> is hidden inside the calf unit <NUM>, so that the structure is relatively simple, which can better ensure the miniaturization and portability of the calf unit <NUM>.

<FIG> and <FIG> are respectively exploded views of a wheel-footed bimodal mechanical leg <NUM> according to another exemplary embodiment of this application from two viewing angles. The wheel-footed bimodal mechanical leg <NUM> includes at least a driving apparatus <NUM>, a thigh unit <NUM>, a calf unit <NUM>, a rotary shaft <NUM>, a traveling wheel <NUM>, a transmission apparatus <NUM>, and a locking component <NUM>.

The driving apparatus <NUM> includes a third stator portion <NUM> and a third rotor portion <NUM>. The third stator portion <NUM> is configured to provide a rotational driving force. A transmission wheel <NUM> is fixed to an output end of the third rotor portion <NUM>. The transmission wheel <NUM> is connected to the transmission apparatus <NUM>. The transmission apparatus <NUM> is a belt or a chain. An example in which the transmission apparatus <NUM> is the belt is used for description in this embodiment. In some embodiments, a gear is further formed on a surface of the transmission wheel <NUM> to increase a transmission force between the transmission wheel <NUM> and the belt.

A root end <NUM> of the thigh unit <NUM> is fixed to the third stator portion <NUM>. A joint end <NUM> of the thigh unit <NUM> is hingedly connected to a joint end <NUM> of the calf unit <NUM> by the rotary shaft <NUM>. In some embodiments, the thigh unit <NUM> includes a first thigh portion <NUM> and a second thigh portion <NUM> that are detachably connected to each other. The first thigh portion <NUM> and the second thigh portion <NUM> are in a plugged connection, or are connected by using a screw or a nut. The first thigh portion <NUM> and the second thigh portion <NUM> enclose a casing portion of the thigh unit <NUM>, and form an inner accommodation cavity of the thigh unit <NUM>. In some embodiments, the first thigh portion <NUM> is located on a first side of the transmission apparatus <NUM>. The second thigh portion <NUM> is located on a second side of the transmission apparatus <NUM>. For example, the first thigh portion <NUM> is located on an outer side of the transmission apparatus <NUM>. The second thigh portion <NUM> is located on an inner side of the transmission apparatus <NUM>. In some embodiments, the thigh unit <NUM> further includes a belt pressing apparatus <NUM> inside. The belt pressing apparatus <NUM> is in pressing contact with an outer surface of the belt.

The calf unit <NUM> includes a first calf portion <NUM> and a second calf portion <NUM> that are detachably connected to each other. The first calf portion <NUM> and the second calf portion <NUM> are in plugged connection, or are connected by using a screw or a nut. The first calf portion <NUM> and the second calf portion <NUM> enclose a casing portion of the calf unit <NUM>, and form an inner accommodation cavity of the calf unit <NUM>. In some embodiments, the first calf portion <NUM> is located on a first side of the transmission apparatus <NUM>. The second calf portion <NUM> is located on a second side of the transmission apparatus <NUM>. Referring to <FIG>, the first calf portion <NUM> is located on an outer side of the transmission apparatus <NUM>, and the second calf portion <NUM> is located on an inner side of the transmission apparatus <NUM>. Referring to <FIG>, an end <NUM> of the calf unit <NUM> is configured to connect a sole portion <NUM>. The material of the sole portion <NUM> may be a wear-resistant material such as rubber or wood. In some embodiments, the sole portion <NUM> is in a semicircular hoof shape. In some other embodiments, the sole portion <NUM> is spherical.

Schematically, the first thigh portion <NUM>, the second thigh portion <NUM>, the first calf portion <NUM>, and the second calf portion <NUM> are sleeved on the rotary shaft <NUM> through bearings. A first spacer <NUM> is further sleeved between the first thigh portion <NUM> and the first calf portion <NUM>. The first spacer <NUM> is configured to separate a bearing inner ring of the bearing corresponding to the first thigh portion <NUM> from a bearing inner ring of the bearing corresponding to the first calf portion <NUM>, to avoid direct friction between the two. A second spacer <NUM> is further sleeved between the second thigh portion <NUM> and the second calf portion <NUM>. The second spacer <NUM> is configured to separate a bearing inner ring of the bearing corresponding to the second thigh portion <NUM> from a bearing inner ring of the bearing corresponding to the second calf portion <NUM>, to avoid direct friction between the two. In addition, the first spacer <NUM> and the second spacer <NUM> also play an axial positioning role.

Exemplarily, the joint end <NUM> of the calf unit <NUM> is clamped between the first thigh portion <NUM> and the second thigh portion <NUM>. The rotary shaft <NUM> is clamped between the first calf portion <NUM> and the second calf portion <NUM>. The traveling wheel <NUM> is clamped between the first calf portion <NUM> and the second calf portion <NUM>.

The traveling wheel <NUM> includes a first traveling wheel <NUM> and a second traveling wheel <NUM>. The first traveling wheel <NUM> and the second traveling wheel <NUM> and the driving wheel <NUM> are fixedly connected. Illustratively, the traveling wheel includes the first traveling wheel <NUM> and the second traveling wheel <NUM>. The pin groove <NUM> is formed on a first wheel surface of the first traveling wheel <NUM> facing the second traveling wheel <NUM>. The pin groove <NUM> is formed on a second wheel surface of the second traveling wheel <NUM> facing the first traveling wheel <NUM>. The number and grooving positions of the pin grooves <NUM> on the first wheel surface and the second wheel surface are the same. In some embodiments, there are at least two pin grooves <NUM>. Each pin groove <NUM> is distributed along a radial direction of the traveling wheel <NUM>. That is, the traveling wheel <NUM> includes at least two pin grooves <NUM> distributed in the radial direction thereon. The at least two pin grooves <NUM> may be uniformly distributed or non-uniformly distributed. In some other embodiments, the number of traveling wheels <NUM> may be one, or more than three, which is not limited in this application.

In some other embodiments, the traveling wheel <NUM> may alternatively be disposed an outer side of a joint of the joint end <NUM> relative to the robot <NUM>, or disposed an inner side of the joint of the joint end <NUM> relative to the robot <NUM>. As shown in <FIG>, in addition to the first traveling wheel <NUM> and the second traveling wheel <NUM>, the traveling wheel <NUM> further includes a third traveling wheel <NUM> located on the outer side of the joint. A wheel diameter of a third traveling wheel <NUM> is the same as or different from that of the first traveling wheel <NUM> (and/or the second traveling wheel <NUM>).

A driving wheel <NUM> is further fixed to the rotary shaft <NUM>. Schematically, the driving wheel <NUM> is located between the first traveling wheel <NUM> and the second traveling wheel <NUM>. The driving wheel <NUM> is connected to the transmission wheel <NUM> by the transmission apparatus <NUM>. Using an example in which the transmission apparatus <NUM> is a belt, the driving wheel <NUM> is connected to the transmission wheel <NUM> by the belt. When the third rotor portion <NUM> of the calf driving apparatus <NUM> rotates, the transmission wheel <NUM> also rotates. The driving wheel <NUM> drives the driving wheel <NUM> to rotate through the belt. The driving wheel <NUM> drives the rotary shaft <NUM> and the traveling wheel <NUM> to rotate simultaneously, thereby transmitting a driving force.

The inner accommodating cavity of the calf unit <NUM> further includes a locking component <NUM> therein. The locking component <NUM> is configured to lock or unlock the calf unit <NUM> and the traveling wheel <NUM>, to switch between the wheeled mode and the footed mode. In some embodiments, the locking component <NUM> includes a linear motor <NUM> and a flat pin <NUM>.

The locking component <NUM> is in the locked state when the flat pin <NUM> is inserted into the pin groove <NUM>. The calf unit <NUM> and the traveling wheel <NUM> are locked. The calf unit <NUM> is fixedly connected to the rotary shaft <NUM> by the traveling wheel <NUM>, as shown in <FIG>. When the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate, the calf unit <NUM> also rotates with the traveling wheel <NUM>.

When the flat pin <NUM> is pulled out from the pin groove <NUM>, the locking component <NUM> is in the unlocked state. The calf unit <NUM> and the traveling wheel <NUM> are unlocked. The calf unit <NUM> is rotatably connected to the rotary shaft <NUM>. When the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate, the calf unit <NUM> does not rotate with the traveling wheel <NUM>.

Regardless of whether the locking component <NUM> is in a locked state or an unlocked state, the thigh unit <NUM> and the rotary shaft <NUM> are always rotatably connected. The traveling wheel <NUM> can rotate forward or backward relative to the thigh unit <NUM>.

Schematically, the calf unit <NUM> includes a first magnetic component <NUM> thereon, and the thigh unit <NUM> includes a second magnetic component <NUM> thereon. When the locking component <NUM> is in the unlocked state, and the thigh unit <NUM> and the calf unit <NUM> are in a contracted and closed state, the first magnetic component <NUM> and the second magnetic component <NUM> are attracted to each other, so that the thigh unit <NUM> and the calf unit <NUM> keep the contracted and closed state during the wheeled movement, to avoid the calf unit <NUM> from shaking in a bumping process and affecting a movement posture of the robot <NUM>. The contracted and closed state means that, after the calf unit <NUM> is contracted in a direction of the thigh unit <NUM>, the calf unit <NUM> and the thigh unit <NUM> are in a state of being close to each other and folded together. One of the first magnetic component <NUM> and the second magnetic component <NUM> is a magnet, and the other of the first magnetic component <NUM> and the second magnetic component <NUM> is a magnet or an iron block. In this embodiment, an example in which the first magnetic component <NUM> is a magnet and the second magnetic component <NUM> is an iron block is used for description. In some embodiments, a magnetic attraction force between the first magnetic component <NUM> and the second magnetic component <NUM> is smaller than a maximum driving force provided by the calf driving apparatus <NUM>.

Based on the above, in the wheel-footed bimodal mechanical leg provided in this embodiment, the locking component is arranged in the calf unit, so that the calf unit and the traveling wheel are locked to each other when the locking component is in the locked state. The calf unit is fixedly connected to the rotary shaft by the traveling wheel, so that the driving apparatus drives the traveling wheel through the rotary shaft to drive the calf unit to travel in the footed mode. When the locking component is in the unlocked state, the calf unit and the traveling wheel are unlocked from each other. The calf unit is rotatably connected to the rotary shaft, so that the driving apparatus drives the traveling wheel through the rotary shaft to travel in the wheeled mode. In this application, only one driving apparatus is needed to implement bimodal driving of the wheel-footed bimodal mechanical leg, which simplifies the structure of the wheel-footed bimodal mechanical leg, and is beneficial to the miniaturization and portability of the wheel-footed bimodal mechanical leg.

The locking component provided in this embodiment is locked by inserting the flat pin into the pin groove of the traveling wheel under the driving of the linear motor, and is unlocked by pulling the flat pin out from the pin groove of the traveling wheel under the driving of the linear motor. The linear motor is hidden inside the calf unit, so that the structure is relatively simple, which can better ensure the miniaturization and portability of the calf unit.

A belt pressing apparatus provided in this embodiment can ensure that the belt in the transmission apparatus is kept in a pressed state, thereby ensuring the driving force applied by the driving apparatus to the traveling wheel.

The first magnetic component and the second magnetic component provided in this embodiment can fix the thigh unit and the calf unit when the wheel-footed bimodal mechanical leg is in the wheeled mode, so that the calf unit does not affect normal traveling of the traveling wheel.

For the second implementation: The pin hole is designed on the rotary shaft <NUM>.

<FIG> is a schematic diagram of a wheel-footed bimodal mechanical leg <NUM> according to an exemplary embodiment of this application. The wheel-footed bimodal mechanical leg includes a driving apparatus <NUM>, a thigh unit <NUM>, and a calf unit <NUM>.

A root end <NUM> of the thigh unit <NUM> is connected to the driving apparatus <NUM>. A joint end <NUM> of the thigh unit <NUM> is hingedly connected to a joint end <NUM> of the calf unit <NUM> by a rotary shaft <NUM>. The rotary shaft <NUM> is transmission-connected to a traveling wheel <NUM>. A pin hole is formed on the rotary shaft <NUM>. The driving apparatus <NUM> is connected to the traveling wheel <NUM> by a transmission apparatus <NUM>. Exemplarily, a traveling wheel <NUM> is fixed on at least one position of two ends or a middle position of the rotary shaft <NUM>. There may be one or more traveling wheels <NUM>.

The calf unit <NUM> includes a locking component. Schematically, the locking component (not shown in <FIG>, refer to <FIG>) is provided inside the calf unit <NUM>.

In a first mode (or a locked state) in which the locking component is inserted into the pin hole on the rotary shaft <NUM>, the calf unit <NUM> and the rotary shaft <NUM> are locked to each other. The calf unit <NUM> is fixedly connected to the rotary shaft <NUM>, so that the calf driving apparatus <NUM> drives the calf unit <NUM> through the rotary shaft <NUM> to travel in the footed movement mode.

In a second mode (or an unlocked state) in which the locking component is pulled out from the pin hole on the rotary shaft <NUM>, the calf unit <NUM> and the rotary shaft <NUM> are unlocked from each other. The calf unit <NUM> is rotatably connected to the rotary shaft <NUM>, so that the calf driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to travel in the wheeled movement mode without driving the calf unit <NUM> to move.

Working principles of the foregoing wheel-footed bimodal mechanical leg <NUM> include:
In the first mode in which the locking component is inserted into the pin hole on the rotary shaft <NUM>, the calf unit <NUM> is fixedly connected to the rotary shaft <NUM>. When the driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to rotate forward, the calf unit <NUM> is also driven to rotate forward. When the driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to rotate backward, the calf unit <NUM> is also driven to rotate backward. The footed movement can be implemented by repeatedly performing the foregoing process.

In the second mode in which the locking component is pulled out from the pin hole on the rotary shaft, the calf unit <NUM> is rotatably connected to the rotary shaft <NUM>, that is, the rotary shaft <NUM> and the traveling wheel <NUM> may freely rotate relative to the calf unit <NUM>. The driving apparatus <NUM> drives the traveling wheel <NUM> through the rotary shaft <NUM> to rotate forward, thereby implementing the wheeled movement.

Based on the above, in the wheel-footed bimodal mechanical leg provided in this embodiment, the locking component is arranged in the calf unit. When the locking component is inserted into the pin hole of the rotary shaft, the calf unit and the rotary shaft are locked. The calf unit is fixedly connected to the rotary shaft, so that the driving apparatus drives the calf unit through the rotary shaft to travel in the footed mode. When the locking component is pulled out from the pin hole on the rotary shaft, the calf unit and the rotary shaft are unlocked from each other. The calf unit is rotatably connected to the rotary shaft, so that the driving apparatus drives the traveling wheel through the rotary shaft to travel in the wheeled mode. In this application, only one driving apparatus is needed to implement the wheel-footed bimodal mechanical leg, which simplifies the structure of the wheel-footed bimodal mechanical leg, and is beneficial to the miniaturization and portability of the wheel-footed bimodal mechanical leg.

<FIG> is a structural diagram of a locking component <NUM> according to an exemplary embodiment of this application. The locking component <NUM> is configured to perform locking or unlocking between the calf unit <NUM> and rotary shaft <NUM>. The locking component <NUM> includes a linear motor <NUM> and a flat pin <NUM>.

The linear motor <NUM> is a transmission apparatus that converts electrical energy into mechanical energy for a linear movement. In some embodiments, the calf unit <NUM> includes a motor fixing base therein. The motor fixing base fixes the linear motor <NUM> to an inner wall of the calf unit <NUM>.

The flat pin <NUM> is fixed to an output end of the linear motor <NUM>. When the flat pin <NUM> is inserted into the pin hole <NUM> on the rotary shaft <NUM>, the calf unit <NUM> is fixedly connected to the rotary shaft <NUM>. When the flat pin <NUM> is pulled out from the pin hole <NUM> on the rotary shaft <NUM>, the calf unit <NUM> is rotatably connected to the rotary shaft <NUM>.

In the first mode in which the flat pin <NUM> is inserted into the pin hole <NUM>, the calf unit <NUM> and the rotary shaft <NUM> are locked to each other, and the calf unit <NUM> is fixedly connected to the rotary shaft <NUM>. When the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate, the calf unit <NUM> also rotates correspondingly.

In the second mode in which the flat pin <NUM> is pulled out from the pin hole <NUM>, the calf unit <NUM> and the rotary shaft <NUM> are unlocked from each other, and the calf unit <NUM> is rotatably connected to the rotary shaft <NUM>. When the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate, the calf unit <NUM> does not rotate correspondingly.

In some embodiments, at least two sets of the pin holes <NUM> are distributed on the rotary shaft along a radial direction. Each set of pin holes <NUM> includes two parallel pin holes <NUM>. In <FIG>, using four sets of pin holes <NUM> as an example, an angle between each set of pin holes <NUM> is <NUM> degrees.

In some embodiments, the flat pin <NUM> includes two parallel pin shafts <NUM>. The pin shaft <NUM> corresponds to the pin hole. That is, a spacing (e.g., distance, separation etc.) between the two parallel pin shafts <NUM> is equal to a spacing between two parallel pin holes <NUM>. An end shape of the pin shaft <NUM> matches the pin hole shape of the pin hole <NUM>. At least two sets of pin holes <NUM> may be uniformly distributed or non-uniformly distributed along a radial direction of the rotary shaft.

In some embodiments, the traveling wheel <NUM> includes at least one traveling wheel. An example in which the traveling wheel <NUM> includes a first traveling wheel <NUM> and a second traveling wheel <NUM> is used in <FIG>.

Based on the above, the locking component provided in this embodiment is locked by inserting the flat pin <NUM> into the pin hole <NUM> of the traveling wheel <NUM> under the driving of the linear motor <NUM>, and is unlocked by pulling the flat pin <NUM> out from the pin hole <NUM> of the traveling wheel <NUM> under the driving of the linear motor <NUM>. The linear motor <NUM> is hidden inside the calf unit <NUM>, so that the structure is relatively simple, which can better ensure the miniaturization and portability of the calf unit <NUM>.

<FIG> are respectively a front view and a top view of a pin shaft <NUM> according to an exemplary embodiment of this application. The pin shaft <NUM> includes an end <NUM> and a fixed end <NUM>.

An end shape of the end <NUM> is a first wedge shape for the end <NUM> to be inserted into the pin hole <NUM>. A fixed hole is formed on the fixed end <NUM>. The fixed end <NUM> is configured to be fixed on a base of the flat pin <NUM> of the linear motor <NUM>. Referring to <FIG>, the base of the flat pin <NUM> may include <NUM> parallel fixed beams. The two fixed beams clamp the fixed ends <NUM> of the two pin shafts <NUM> on the upper and lower sides, and are fixed with a rivet or a screw. Middle portions of the two fixed beams are fixed to an output end of the linear motor <NUM>.

<FIG> and <FIG> are respectively a cross-sectional view and a front view of a rotary shaft <NUM> according to an exemplary embodiment of this application. A driving wheel <NUM> is fixed to or formed in a middle portion of the rotary shaft <NUM>. Four sets of pin holes <NUM> are formed on shaft bodies located on both sides of the driving wheel <NUM>. Each set of pin holes <NUM> includes two pin holes <NUM>. The pin holes <NUM> are in a shape of a second wedge shape. The first wedge shape and the second wedge shape match each other.

The pin hole shape of the pin hole <NUM> matches the end shape of the pin shaft <NUM>. That is, the pin hole shape of the pin hole <NUM> snugly fits the end shape of the pin shaft <NUM>.

Based on the above, the pin shaft <NUM> and the pin hole <NUM> that are provided in this embodiment and that are of wedge-shaped structures (<NUM> and <NUM>) that match each other can ensure that the pin shaft and the rotary shaft implement snug fitting without a gap. In this way, the robot dog does not loosen or has a gap during the wheeled or footed movement.

<FIG> and <FIG> are respectively exploded views of a wheel-footed bimodal mechanical leg <NUM> according to another exemplary embodiment of this application from two viewing angles. The wheel-footed bimodal mechanical leg includes: a driving apparatus <NUM>, a thigh unit <NUM>, a calf unit <NUM>, a rotary shaft <NUM>, a traveling wheel <NUM>, a transmission apparatus <NUM>, a locking component <NUM>, and a sole portion <NUM>.

The driving apparatus <NUM> includes a rotary motor <NUM> and a transmission wheel <NUM>. The rotary motor <NUM> is fixedly connected to the transmission wheel <NUM>. The rotary motor <NUM> is configured to provide a rotational driving force. The transmission wheel <NUM> is connected to the transmission apparatus <NUM>. The transmission apparatus <NUM> is a belt or a chain. The belt is used as an example for description in this embodiment.

One end <NUM> of the thigh unit <NUM> is fixed to the calf driving apparatus <NUM>. The other end <NUM> of the thigh unit <NUM> is hingedly connected to a joint end <NUM> of the calf unit <NUM> by the rotary shaft <NUM>. In some embodiments, the thigh unit <NUM> includes a first thigh portion <NUM> and a second thigh portion <NUM> that are detachably connected to each other. The first thigh portion <NUM> and the second thigh portion <NUM> are in a plugged connection, or are connected by using a screw or a nut. The first thigh portion <NUM> and the second thigh portion <NUM> enclose a casing portion of the thigh unit <NUM>, and form an inner accommodation cavity of the thigh unit <NUM>. In some embodiments, the first thigh portion <NUM> is located on a first side of the transmission apparatus <NUM>. The second thigh portion <NUM> is located on a second side of the transmission apparatus <NUM>. In some embodiments, the thigh unit <NUM> further includes a belt pressing apparatus <NUM> inside. The belt pressing apparatus <NUM> is in pressing contact with an outer surface of the belt.

The calf unit <NUM> includes a first calf portion <NUM> and a second calf portion <NUM> that are detachably connected to each other. The first calf portion <NUM> and the second calf portion <NUM> are in plugged connection, or are connected by using a screw or a nut. The first calf portion <NUM> and the second calf portion <NUM> enclose a casing portion of the calf unit <NUM>, and form an inner accommodation cavity of the calf unit <NUM>. In some embodiments, the first calf portion <NUM> is located on a first side of the transmission apparatus <NUM>. The second calf portion <NUM> is located on a second side of the transmission apparatus <NUM>. An other end of the calf unit <NUM> is connected to a sole portion <NUM>. The material of the sole portion <NUM> may be a wear-resistant material such as rubber or wood.

Illustratively, at least one of the first thigh portion <NUM>, the second thigh portion <NUM>, the first calf portion <NUM>, or the second calf portion <NUM> is formed by splicing two plate-like structures belonging to a same side. The two plate-like structures are in a riveted, snap-fit plugged, or screwed connection. For example, the first thigh portion <NUM> in the figure includes the two plate-like structures, to facilitate maintenance and replacement.

Illustratively, the first thigh portion <NUM>, the second thigh portion <NUM>, the first calf portion <NUM>, and the second calf portion <NUM> are sleeved on the rotary shaft <NUM> through bearings. A first shaft sleeve <NUM> is further sleeved between the first thigh portion <NUM> and the first calf portion <NUM>. The shaft sleeve <NUM> is configured to separate a bearing inner ring of the bearing corresponding to the first thigh portion <NUM> from a bearing inner ring of the bearing corresponding to the first calf portion <NUM>, to avoid direct friction between the two. A second shaft sleeve <NUM> is further sleeved between the second thigh portion <NUM> and the second calf portion <NUM>. The second shaft sleeve <NUM> is configured to separate a bearing inner ring of the bearing corresponding to the second thigh portion <NUM> from a bearing inner ring of the bearing corresponding to the second calf portion <NUM>, to avoid direct friction between the two. In addition, the first shaft sleeve <NUM> and the shaft sleeve <NUM> further play an axial positioning role.

Exemplarily, the joint end <NUM> of the calf unit <NUM> is clamped between the first thigh portion <NUM> and the second thigh portion <NUM>. The rotary shaft <NUM> is clamped between the first calf portion <NUM> and the second calf portion <NUM>. The traveling wheel <NUM> is clamped between the first calf portion <NUM> and the second <NUM>.

A driving wheel <NUM> is fixed to or formed in a middle portion of the rotary shaft <NUM>. The driving wheel <NUM> is connected to the calf driving apparatus <NUM> by the transmission apparatus <NUM>. Using an example in which the transmission apparatus <NUM> is a belt, the driving wheel <NUM> is connected to the transmission wheel <NUM> by the belt. Four sets of pin holes <NUM> are formed on shaft bodies located on both sides of the driving wheel <NUM>. Each set of pin holes <NUM> includes two pin holes <NUM>.

The traveling wheel <NUM> includes a first traveling wheel <NUM> and a second traveling wheel <NUM>. The first traveling wheel <NUM> and the second traveling wheel <NUM> and the driving wheel <NUM> are fixedly connected. In some other embodiments, the traveling wheel <NUM> may alternatively be disposed an outer side of a joint of the joint end <NUM> relative to the robot <NUM>, or disposed an inner side of the joint of the joint end <NUM> relative to the robot <NUM>. As shown in <FIG>, in addition to the first traveling wheel <NUM> and the second traveling wheel <NUM>, the traveling wheel <NUM> further includes a third traveling wheel <NUM> located on the outer side of the joint. A wheel diameter of a third traveling wheel <NUM> is the same as or different from that of the first traveling wheel <NUM> (and/or the second traveling wheel <NUM>).

The calf unit <NUM> further includes a locking component <NUM>. The locking component <NUM> includes a linear motor <NUM> and a flat pin <NUM>.

The linear motor <NUM> is a transmission apparatus that converts electrical energy into mechanical energy for a linear movement. In some embodiments, the calf unit <NUM> includes a motor fixing base <NUM> therein. The motor fixing base <NUM> fixes the linear motor <NUM> to an inner wall of the calf unit <NUM>. In an example, an end of the sole portion <NUM> is in a plug connection with an end of the linear motor <NUM>, and is clamped and fixed by the first calf portion <NUM> and the second calf portion <NUM>, as shown in <FIG>.

The flat pin <NUM> is fixed to an output end of the linear motor <NUM>. A base of the flat pin <NUM> may include two parallel fixed beams. The two fixed beams clamp the fixed ends <NUM> of the two pin shafts <NUM> on the upper and lower sides, and are fixed with a rivet or a screw. Middle portions of the two fixed beams are fixed to an output end of the linear motor <NUM>.

The two pin shafts <NUM> on the flat pin <NUM> are inserted or pulled out from the pin hole <NUM> under the driving of the linear motor <NUM>. In some embodiments, a magnetic encoder <NUM> is further provided on the rotary shaft <NUM>. As shown in <FIG>, the magnetic encoder <NUM> is configured to record a rotational position of the rotary shaft <NUM> in real time, so that a controller electrically connected to the magnetic encoder <NUM> can perform control to accurately insert the two pin shafts <NUM> into the pin hole <NUM>.

When the flat pin <NUM> is inserted into the pin hole <NUM>, the locking component <NUM> is inserted into the pin hole on the rotary shaft. The calf unit <NUM> and the traveling wheel <NUM> are locked to each other, and the calf unit <NUM> is fixedly connected to the rotary shaft <NUM>. When the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate, the calf unit <NUM> also rotates with the traveling wheel <NUM>.

When the flat pin <NUM> is pulled out from the pin hole <NUM>, the locking component <NUM> is pulled out from the pin hole on the rotary shaft. The calf unit <NUM> and the traveling wheel <NUM> are unlocked. The calf unit <NUM> is rotatably connected to the rotary shaft <NUM>. When the rotary shaft <NUM> drives the traveling wheel <NUM> to rotate, the calf unit <NUM> does not rotate with the traveling wheel <NUM>.

Regardless of whether the locking component <NUM> is inserted into or pulled out from the pin hole on the rotary shaft, the thigh unit <NUM> and the rotary shaft <NUM> are always rotatably connected. The traveling wheel <NUM> can rotate forward or backward relative to the thigh unit <NUM>.

In an exemplary design, referring to <FIG>, the calf unit <NUM> may include a first magnetic component <NUM> thereon, and the thigh unit <NUM> may include a second magnetic component <NUM> thereon. When the locking component <NUM> is pulled out from the pin hole on the rotary shaft, and the thigh unit <NUM> and the calf unit <NUM> are in a contracted and closed state, the first magnetic component <NUM> and the second magnetic component <NUM> may be attracted to each other. One of the first magnetic component <NUM> and the second magnetic component <NUM> is a magnet, and the other of the first magnetic component <NUM> and the second magnetic component <NUM> is a magnet or an iron block.

Based on the above, in the wheel-footed bimodal mechanical leg provided in this embodiment, the locking component is arranged in the calf unit, so that when the locking component is inserted into the pin hole of the rotary shaft, the calf unit and the rotary shaft are locked. The calf unit is fixedly connected to the rotary shaft, so that the driving apparatus drives the calf unit through the rotary shaft to travel in the footed mode. When the locking component is pulled out from the pin hole on the rotary shaft, the calf unit and the rotary shaft are unlocked from each other. The calf unit is rotatably connected to the rotary shaft, so that the driving apparatus drives the traveling wheel through the rotary shaft to travel in the wheeled mode. In this application, only one driving apparatus is needed to implement the wheel-footed bimodal mechanical leg, which simplifies the structure of the wheel-footed bimodal mechanical leg, and is beneficial to the miniaturization and portability of the wheel-footed bimodal mechanical leg.

The locking component provided in this embodiment locks by driving the flat pin to be inserted into the pin hole of the traveling wheel through the linear motor, and unlocks by driving the flat pin to be pulled out from the pin hole of the traveling wheel through the linear motor. The linear motor is hidden inside the calf unit, so that the structure is relatively simple, which can better ensure the miniaturization and portability of the calf unit.

The sequence numbers of the foregoing embodiments of this application are merely for description purpose, and are not intended to indicate the preference among the embodiments.

A person of ordinary skill in the art may understand that all or some of the steps of the foregoing embodiments may be implemented by hardware, or may be implemented a program instructing related hardware. The program may be stored in a computer-readable storage medium. The storage medium may be: a ROM, a magnetic disk, or an optical disc.

Claim 1:
A wheel-footed bimodal mechanical leg (<NUM>), comprising: a driving apparatus (<NUM>), a thigh unit (<NUM>), and a calf unit (<NUM>),
a joint end (<NUM>) of the thigh unit (<NUM>) is hingedly connected to a joint end (<NUM>) of the calf unit (<NUM>) by a rotary shaft (<NUM>), the rotary shaft (<NUM>) being fixedly connected to a traveling wheel (<NUM>) for performing wheel-mode movement when the traveling wheel (<NUM>) touches the ground, and the driving apparatus (<NUM>) is connected to the rotary shaft (<NUM>) by a transmission apparatus (<NUM>);
the calf unit (<NUM>) comprises a locking component (<NUM>);
the calf unit (<NUM>) is fixedly connected to the rotary shaft when the locking component (<NUM>) is in a locked state; and
the calf unit (<NUM>) is rotatably connected to the rotary shaft when the locking component (<NUM>) is in an unlocked state;
characterized in that the calf unit (<NUM>) is fixedly connected to the rotary shaft (<NUM>) by the traveling wheel (<NUM>) when the locking component (<NUM>) is in the locked state; or,
a pin hole (<NUM>) is formed on the rotary shaft (<NUM>), the calf unit (<NUM>) is fixedly connected to the rotary shaft (<NUM>) in a locked state in which the locking component (<NUM>) is inserted into the pin hole (<NUM>), and the calf unit (<NUM>) is rotatably connected to the rotary shaft (<NUM>) in an unlocked state in which the locking component (<NUM>) is pulled out from the pin hole (<NUM>).