Wheel-legged weight-bearing device

Abstract

The present application provides a wheel-leg type load-bearing carrying device, which includes a backpack, a shoulder strap connected to the backpack, and a leg-wrapped structure that supports the backpack movably on the ground, and the wheel-legged structure includes a support plate that supports and fixes the backpack, a leg-wrapped structure connected to the support plate, and casters installed at the bottom of the leg-wrapped structure. When a user carries the backpack and walks, the backpack can be movably supported on the ground through the leg-wrapped structure and the support plate only by contacting the ground with the casters, so that the backpack can be well supported in the vertical direction for the backpack loaded with heavy objects, which can not only reduce the amplitude of the backpack's reciprocating up and down shaking in the vertical direction, but also allow part of the weight of the backpack to be directly transferred to the ground through the wheel-legged structure. In this way, the load weight on the user's shoulders can be effectively reduced, and the user's comfort when carrying the backpack can be improved, so that the user can walk with the backpack easily and freely.

Description

Technical Field

[0001] The present application belongs to the technical field of carrying devices, and more specifically, to a wheel-leg type load-bearing carrying device. Background Art

[0002] Backpacks have the advantages of simple structure and large load capacity, and have become one of the load-bearing equipment commonly used in people's daily lives. When a person carries a backpack with a heavy load, the weight of the backpack is mainly transferred to the shoulders of the person through the shoulder straps, which can easily cause shoulder muscle soreness. In particular, when a person walks with a backpack carrying a heavy load, due to the effect of inertia, the backpack usually also produces a large degree of up and down reciprocating shaking in the vertical direction, causing the shoulders to bear a large impact and pressure force, increasing the person's sense of weight, reducing the comfort of walking with the backpack, and making it difficult to walk with the backpack. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a wheel-leg type load-bearing device to solve the technical problem in the prior art that when a person walks with a backpack on his back, the backpack shakes significantly in the vertical direction, increasing the weight on the person.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted in this application is: to provide a wheel-leg type load-bearing carrying device, comprising:

[0005] Backpack;

[0006] a shoulder strap connected to the backpack; and

[0007] The wheel-leg structure is used to support the backpack on the ground so that it can move along the ground, so that the backpack can follow the walking movement of the human body; the wheel-leg structure includes a support plate, a bag leg and a caster, the backpack is supported and fixed on the support plate, the bag leg is connected to the support plate, and the caster is installed at the bottom end of the bag leg.

[0008] Optionally, the wheel-leg type load-bearing backpack further comprises a first driving device for driving the leg wrap to move up and down, the first driving device is connected to the support plate, and the leg wrap is connected to an output end of the first driving device.

[0009] Optionally, the wheel-leg type weight-bearing carrying device further comprises:

[0010] A pressure detector, used to obtain the pressure of the backpack on the wheel-leg structure; and

[0011] The controller is used to receive the pressure information fed back by the pressure detector and send a control instruction to control the operation of the first driving device.

[0012] Optionally, the first driving device includes a support seat, a screw rotatably mounted on the support seat, a motor driving the screw to rotate, a nut mounted on the screw, a slide that drives the leg wrap to move up and down, and a linear guide rail that guides the slide to move; the support seat is connected to the support plate, the linear guide rail is mounted on the support seat, the slide is slidably mounted on the linear guide rail, the slide is connected to the nut, and the leg wrap is fixedly connected to the slide.

[0013] Optionally, the wheel-leg type load-bearing carrying device also includes a connecting seat connecting the leg bag with the slide, and the connecting seat includes a horizontal plate arranged horizontally, a vertical plate connected to the horizontal plate, and a reinforcing plate arranged on one side of the vertical plate, and the reinforcing plate is respectively connected to the horizontal plate and the vertical plate.

[0014] Optionally, the caster is a triangular wheel, which includes a caster frame, a wheel frame shaft, a tripod, a wheel axle and three wheels. The caster frame is connected to the bottom end of the leg wrap, and the tripod is rotatably mounted on the caster frame via the wheel frame shaft. The three wheels are respectively rotatably mounted on the tripod via the wheel axles, and the three wheels are respectively arranged at the three corners of the tripod.

[0015] Optionally, the leg wrap includes a first supporting leg, a second supporting leg and a pivot that rotatably connects the first end of the second supporting leg to the first end of the first supporting leg, and the wheel-leg type load-bearing carrying device also includes a second driving device that drives the second supporting leg to rotate around the pivot, the second end of the first supporting leg is connected to the support plate, and the caster is installed on the second end of the second supporting leg.

[0016] Optionally, the wheel-leg type weight-bearing carrying device further comprises:

[0017] An inertial measurement unit to monitor and provide feedback on the user’s gait phase; and

[0018] The controller is used to receive the gait phase information fed back by the inertial measurement unit and send a control instruction to control the operation of the second driving device.

[0019] Optionally, the inertial measurement unit comprises:

[0020] A first inertial sensor for placement at a foot position of one leg of a user; and

[0021] The second inertial sensor is arranged at the foot position of the other leg of the user.

[0022] Optionally, the wheel-leg structure further includes a shock absorbing mechanism provided at the connection between the caster and the leg cover.

[0023] Compared with the prior art, the above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0024] The wheel-leg type load-bearing device provided in the embodiment of the present application is provided with a shoulder strap for carrying a backpack on the shoulders of the user and a wheel-leg structure for supporting the backpack on the ground movably along the ground, wherein the wheel-leg structure includes a support plate for supporting the backpack, a bag leg connected to the support plate, and a caster installed at the bottom end of the bag leg. When the user is walking with the backpack on his back, the bag leg and the support plate can provide good support for the backpack loaded with heavy objects in the vertical direction, only by contacting the ground with the caster, which can not only reduce the amplitude of the backpack's reciprocating shaking in the vertical direction, reduce the impact force and pressure on the user's shoulders, but also allow part of the weight of the backpack to be directly transferred to the ground through the wheel-leg structure. In this way, the load weight on the user's shoulders can be effectively reduced, fatigue damage to the shoulder muscles can be avoided, the comfort of the user walking with the backpack on his back can be improved, and the user can walk with the backpack on his back easily and freely. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 A schematic diagram of the structure of the wheel-leg type load-bearing carrying device provided in Example 1 of the present application;

[0027] Figure 2 for Figure 1 A schematic diagram of the partially enlarged structure;

[0028] Figure 3 A schematic diagram of the three-dimensional structure of a first driving device is provided for an embodiment of the present application;

[0029] Figure 4 A schematic side view of the structure of the wheel-leg type load-bearing carrying device provided in the second embodiment of the present application;

[0030] Figure 5 A schematic diagram of the three-dimensional structure of the wheel-leg structure provided in the second embodiment of the present application;

[0031] Figure 6 A schematic diagram of the side view of the wheel-leg structure provided in the second embodiment of the present application;

[0032] Figure 7 for Figure 6 A schematic diagram of the partially enlarged structure;

[0033] Figure 8 A schematic diagram of the three-dimensional structure of the wheel-leg type load-bearing carrying device provided in the second embodiment of the present application;

[0034] Fig. 9 This is a schematic diagram of the three-dimensional structure of the caster provided in Example 2 of the present application.

[0035] Among them, the reference numerals in the figure are:

[0036] 1-Backpack;

[0037] 2- Straps;

[0038] 3-wheel-leg structure; 31-support plate; 32-leg; 321-first support leg; 322-second support leg; 323-pivot; 33-castor; 331-castor frame; 332-wheel frame shaft; 333-tripod; 334-wheel axle; 335-wheel; 34-shock absorbing mechanism;

[0039] 4-first driving device; 41-support seat; 42-screw; 43-motor; 44-nut; 45-slide; 46-linear guide; 47-bearing seat; 48-slider; 49-coupling;

[0040] 5-connecting seat; 51-horizontal plate; 52-vertical plate; 53-reinforcement plate;

[0041] 6- Second drive device. DETAILED DESCRIPTION

[0042] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] It should be noted that when an element is referred to as being "connected to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" means two or more, unless otherwise clearly and specifically defined. "Several" means one or more, unless otherwise clearly and specifically defined.

[0045] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0047] Please also read Figures 1 to 3 , the wheel-leg type load-bearing carrying device provided in the first embodiment of the present application is now described. The wheel-leg type load-bearing carrying device provided in the first embodiment of the present application includes a backpack 1, a shoulder strap 2 and a wheel-leg structure 3, and the backpack 1 is used to accommodate the items to be carried. The shoulder strap 2 is connected to the backpack 1, and the backpack 1 that accommodates and carries the items can be carried on the shoulders of the user through the shoulder strap 2. It can be understood that the backpack 1 can be but not limited to an ordinary backpack for daily use. For example, the backpack 1 can also be replaced by a back frame, a back frame or a back bag that can carry heavy objects for the human body to carry. The shoulder strap 2 can be provided but not limited to two to form a backpack that is convenient for the user to carry. The wheel-leg structure 3 is used to support and roll the backpack 1. The backpack 1 carried on the shoulders of the user is supported on the ground by the wheel-leg structure 3, and the backpack 1 can be moved along the ground, so that the backpack 1 can follow the walking movement of the human body under the rolling support of the wheel-leg structure 3. Please refer to Figure 1 The wheel-leg structure 3 includes a support plate 31, a leg 32 and a caster 33, and the backpack 1 is supported and fixed on the support plate 31. It can be understood that the bottom of the backpack 1 can be fixedly connected to the support plate 31 by fasteners such as bolts, screws or snap-on structures to enhance the stability of the support of the backpack 1 by the support plate 31. The leg 32 is connected to the support plate 31, and the caster 33 is installed at the bottom of the leg 32. The leg 32 can support the backpack 1 on the support plate 31, and the caster 33 installed at the bottom of the leg 32 can realize that the backpack 1 can roll along the ground following the user's walking movement.

[0048] The wheel-leg type load-bearing device provided in the first embodiment of the present application is compared with the prior art. By providing a shoulder strap 2 for carrying a backpack 1 on the shoulders of a user and a wheel-leg structure 3 for supporting the backpack 1 on the ground movably along the ground, the wheel-leg structure 3 includes a support plate 31 for supporting the backpack 1, a leg 32 connected to the support plate 31, and a caster 33 installed at the bottom end of the leg 32. When the user carries the backpack 1 and walks, only the caster 33 needs to contact the ground, and the leg 32 and the support plate 31 can play a good supporting role in the vertical direction for the backpack 1 loaded with heavy objects, which can not only reduce the amplitude of the up and down reciprocating shaking of the backpack 1 in the vertical direction, reduce the impact force and pressure force on the user's shoulders, but also allow part of the weight of the backpack 1 to be directly transferred to the ground through the wheel-leg structure 3. In this way, the load weight on the user's shoulders can be effectively reduced, fatigue damage to the shoulder muscles can be avoided, the comfort of the user carrying the backpack can be improved, and the user can walk with the backpack easily and freely.

[0049] Further, in the first embodiment of the present application, please refer to Figure 1 and Figure 2 The wheel-leg type load-bearing backpack device also includes a first driving device 4 for driving the leg wrap 32 to move up and down. The first driving device 4 is connected to the support plate 31, and the leg wrap 32 is connected to the output end of the first driving device 4.

[0050] By adopting the above scheme, a first driving device 4 is provided to drive the leg 32 to move up and down, and the leg 32 can be driven by the first driving device 4 to move up and down in the vertical direction, and the leg 32 drives the caster 33 to move up and down, so that the wheel-leg type load-bearing backpack can adapt to the use needs of users of different heights, and has good versatility. In addition, the leg 32 is driven by the first driving device 4 to move up and down in the vertical direction, and the length of the leg 32 is fine-tuned to increase or decrease the length of the leg 32. In this way, under the premise that the amplitude of the backpack 1 to reciprocate up and down in the vertical direction is allowed, combined with the different weights of the load in the backpack 1, the leg 32 drives the caster 33 to move up and down a small distance, so that the caster 33 can form a good contact with the ground, and the size of the support force of the wheel-leg structure 3 on the backpack 1 can be adjusted, so that the pressure on the user's shoulder and the support force of the wheel-leg structure 3 are balanced, the comfort of the user carrying the backpack is improved, and the user can walk with the backpack easily and freely. In addition, when encountering complex terrain or bumpy roads, the first driving device 4 can drive the bag leg 32 to move upward in the vertical direction, and the bag leg 32 can quickly and automatically drive the caster 33 to rise, avoiding a strong collision between the wheel-leg structure 3 and an obstacle, thereby preventing the user from walking with the backpack 1.

[0051] Furthermore, in the first embodiment of the present application, the wheel-leg type load-bearing device further includes a pressure detector (not shown in the figure) for obtaining the pressure of the backpack 1 on the wheel-leg structure 3 and a controller (not shown in the figure) electrically connected to the pressure detector. After receiving the pressure information fed back by the pressure detector, the controller sends a corresponding control instruction to control the operation of the first drive device 4 according to the pressure information fed back by the pressure detector. The pressure detector and the first drive device 4 are electrically connected to the controller respectively.

[0052] By adopting the above scheme, when the user is walking with a backpack on his back, when the road condition is good, the pressure detector detects and obtains the pressure of the backpack 1 on the wheel-leg structure 3, and the controller sends corresponding control instructions to automatically control the operation of the first drive device 4 according to the pressure information fed back in real time by the pressure detector. The first drive device 4 drives the wheel leg to drive the caster 33 to move up and down, so that the caster 33 can form a good contact with the ground, and achieve effective support for the backpack 1, and can adjust the support force of the wheel-leg structure 3 on the backpack 1, so that the pressure on the user's shoulder is balanced with the support force of the wheel-leg structure 3. It can be understood that the pressure detector in this embodiment can also be a tension detector, or a pressure detector and a tension detector are simultaneously set on the wheel-leg structure 3 to further improve the accuracy of the support force of the wheel-leg structure 3 on the backpack 1, which is conducive to the controller to accurately and efficiently control the operation of the first drive device 4.

[0053] Furthermore, in the first embodiment of the present application, the wheel-leg type weight-bearing backpack device further includes an inertial measurement unit (not shown in the figure) for monitoring and feeding back the user's gait phase and a controller (not shown in the figure) electrically connected to the inertial measurement unit. The controller is electrically connected to the first drive device 4, and the controller is used to receive the gait phase information fed back by the inertial measurement unit, and send a control instruction to control the operation of the first drive device 4.

[0054] By adopting the above scheme, the inertial measurement unit is used to obtain the walking state and characteristics of the human body, such as the gait cycle, the moment when the foot lands, the moment when the foot leaves the ground, and other gait phase information. The controller receives the gait phase information fed back by the inertial measurement unit, and the control algorithm stored in the controller uses the kinematic gait parameters obtained from the inertial measurement unit in the pre-step period of the gait cycle to determine the real-time road conditions. If the controller obtains the walking state and characteristics of the human body according to the inertial measurement unit and determines that the user is walking on the ground with good road conditions, the controller automatically controls the first drive device 4 to drive the wheel leg to drive the caster 33 to move up and down, so that the caster 33 can form a good contact with the ground, and effectively support the backpack 1. If the controller obtains the walking state and characteristics of the human body according to the inertial measurement unit and determines that the user is walking on the ground with poor road conditions or with high obstacles, the controller automatically controls the first drive device 4 to drive the bag leg 32 to move upward in the vertical direction, and the bag leg 32 can quickly and automatically drive the caster 33 to rise, so as to avoid the wheel leg structure 3 and the obstacle from colliding strongly and interfering with the walking movement of the user carrying the backpack 1.

[0055] Further, in the first embodiment of the present application, please refer to Figure 2 and Figure 3 The first driving device 4 includes a support seat 41, a screw 42 rotatably installed on the support seat 41, a motor 43 driving the screw 42 to rotate, a nut 44 installed on the screw 42, a slide 45 driving the leg 32 to move up and down, and a linear guide 46 guiding the slide 45 to move. The support seat 41 is connected to the support plate 31, the linear guide 46 is installed on the support seat 41, the slide 45 is slidably installed on the linear guide 46, the slide 45 is connected to the nut 44, and the leg 32 is fixedly connected to the slide 45.

[0056] By adopting the above scheme, the first driving device 4 includes a support seat 41, a lead screw 42, a motor 43, a nut 44, a slide 45 and a linear guide 46. The support seat 41 is connected to the support plate 31, the linear guide 46 is installed on the support seat 41, the slide 45 is slidably installed on the linear guide 46, the lead screw 42 is rotatably installed on the support seat 41, the nut 44 is installed on the lead screw 42, the slide 45 is connected to the nut 44, and the leg 32 is fixedly connected to the slide 45. When in use, the lead screw 42 is driven to rotate by the motor 43, and the nut 44 installed on the lead screw 42 drives the slide 45 to reciprocate along the linear guide 46. When the road condition is good, the slide 45 can drive the wheel leg and the caster 33 installed at the bottom of the wheel leg to move up and down during the reciprocating linear motion along the linear guide rail 46, so that the caster 33 can form a good contact with the ground, realize effective support for the backpack 1, and adjust the support force of the wheel leg structure 3 on the backpack 1, so that the pressure on the user's shoulder and the support force of the wheel leg structure 3 are balanced. When the road condition is poor or encounters a high obstacle, the slide 45 can drive the wheel leg and the caster 33 installed at the bottom of the wheel leg to rise a corresponding distance during the reciprocating linear motion along the linear guide rail 46, so as to avoid the wheel leg and the caster 33 installed at the bottom of the wheel leg colliding with the obstacle and interfering with the walking movement of the user carrying the backpack 1.

[0057] It can be understood that in the embodiment 1 of the present application, please refer to Figure 3 , the two ends of the lead screw 42 are rotatably mounted on the support seat 41 through bearings and bearing seats 47 respectively, and one end of the lead screw 42 is connected to the output shaft of the motor 43 through a coupling 49 to enhance the stability of the lead screw 42 driving the nut 44 mounted on the lead screw 42 to move, thereby improving the stability of the leg backpack device. It can be understood that in order to reduce friction and improve the stability of the linear reciprocating motion of the slide 45 along the linear guide 46, a slider 48 that slides with the linear guide 46 is correspondingly provided on the slide 45, and the slide 45 is slidably mounted on the linear guide 46 through the slider 48. In addition, the number of sliders 48 can be reasonably selected and set according to actual needs, and is not limited here. It can be understood that in another embodiment of the present application, the first drive device 4 can also adopt one of a hydraulic cylinder, an electric cylinder, a gear rack mechanism, and a linear motor 43, etc., which can be selected and set according to actual use needs, and is not limited here.

[0058] Further, in the first embodiment of the present application, please refer to Figure 2 The wheel-leg type load-bearing carrying device also includes a connecting seat 5 connecting the leg bag 32 with the slide 45, and the connecting seat 5 includes a horizontal plate 51 arranged horizontally, a vertical plate 52 connected to the horizontal plate 51, and a reinforcing plate 53 arranged on one side of the vertical plate 52, and the reinforcing plate 53 is respectively connected to the horizontal plate 51 and the vertical plate 52.

[0059] By adopting the above scheme, a connecting seat 5 is provided to connect the leg 32 and the slide 45, and the connecting seat 5 is set to a horizontal plate 51 arranged horizontally and a vertical plate 52 arranged vertically, and the vertical plate 52 is vertically connected to the horizontal plate 51. It is only necessary to fix the vertical plate 52 and the slide 45 with fasteners such as bolts and screws, and fix the horizontal plate 51 with the top of the leg 32, so that the leg 32 can be conveniently and quickly installed vertically on the slide 45, and the strength of the vertical installation of the leg 32 can be ensured, and the stability and reliability of the leg 32 and the caster 33 installed at the bottom of the leg 32 to support the backpack 1 can be further enhanced. In addition, a reinforcing plate 53 is provided on the side of the vertical plate 52 away from the slide 45, and the reinforcing plate 53 is respectively connected to the horizontal plate 51 and the vertical plate 52, so that the stability of the connecting seat 5 connecting the leg 32 and the slide 45 can be further enhanced, and the stability and reliability of the leg 32 and the caster 33 installed at the bottom of the leg 32 to support the backpack 1 can be enhanced. It is understandable that one or more reinforcing plates 53 may be provided. The specific number of reinforcing plates 53 may be reasonably set according to the required strength of the connecting seat 5, and is not limited here.

[0060] In the second embodiment of the present application, please refer to Figures 8 to 9 The caster 33 is a triangular wheel, which includes a caster frame 331, a wheel frame shaft 332, a tripod 333, a wheel axle 334 and three wheels 335. The caster frame 331 is connected to the bottom end of the leg 32, the tripod 333 is rotatably mounted on the caster frame 331 through the wheel frame shaft 332, and the three wheels 335 are rotatably mounted on the tripod 333 through the wheel axles 334, and the three wheels 335 are respectively arranged at the three corners of the tripod 333.

[0061] By adopting the above scheme, the caster 33 is set as a triangular wheel, and the three wheels 335 are rotated around the corresponding wheel axle 334 respectively, and the tripod 333 drives the three wheels 335 to revolve around the wheel frame axis 332, so as to reduce the impact force of the wheel 335 on the vertical surface of the stair step, so that the triangular wheel can stably roll on the stairs. In this way, by installing the triangular wheel at the bottom end of the bag leg 32, the wheel leg structure 3 can also support the backpack 1 when the user climbs the stairs with a backpack, effectively reducing the load weight on the user's shoulders, improving the comfort of the user climbing the stairs with a backpack, and allowing the user to climb the stairs with a backpack easily and freely. The tripod 333 in this example is an equilateral triangle shape, so that the triangular wheel can roll on the stairs more stably.

[0062] Further, in the second embodiment of the present application, please refer to Figures 6 to 8The leg wrap 32 includes a first support leg 321, a second support leg 322 and a pivot 333 that rotatably connects the first end of the second support leg 322 to the first end of the first support leg 321. The wheel-leg type load-bearing carrying device also includes a second driving device 6 that drives the second support leg 322 to rotate around the pivot 333. The second end of the first support leg 321 is connected to the support plate 31, the caster 33 is installed on the second end of the second support leg 322, and the second driving device 6 is fixedly connected to the first support leg 321.

[0063] By adopting the above solution, the leg wrap 32 includes a first support leg 321 and a second support leg 322. The first end of the second support leg 322 is rotatably connected to the first end of the first support leg 321 through a pivot 333, so that the leg wrap 32 has a leg structure similar to the human knee joint. Figure 8 , when the user is walking down the stairs with a backpack on his back, the second driving device 6 can drive the second support leg 322 to rotate around the pivot 333, so that the second support leg 322 drives the caster 33 to tilt upward, which can prevent the second end caster 33 installed on the second support leg 322 from strongly contacting or colliding with the horizontal surface of the stair step, thereby interfering with the walking movement of the user walking down the stairs with a backpack on his back. It can be understood that the second driving device 6 in the above solution can be a rotary motor 43 but is not limited to a rotary motor 43. For example, the second driving device 6 can also be a rotary cylinder or a cam mechanism.

[0064] Furthermore, in the second embodiment of the present application, the wheel-leg type weight-bearing backpack device further includes an inertial measurement unit (not shown in the figure) for monitoring and feeding back the user's gait phase and a controller (not shown in the figure) electrically connected to the inertial measurement unit. The controller is electrically connected to the second drive device 6, and the controller is used to receive the gait phase information fed back by the inertial measurement unit, and send a control instruction to control the second drive device 6 to work.

[0065] By adopting the above scheme, the inertial measurement unit is used to obtain the walking state and characteristics of the human body, such as the gait cycle, the moment when the foot lands, the moment when the foot leaves the ground, and other gait phase information. The controller receives the gait phase information fed back by the inertial measurement unit, and the control algorithm stored in the controller uses the kinematic gait parameters obtained from the inertial measurement unit in the pre-stride period of the gait cycle to determine the real-time road conditions. If the controller determines that the user is climbing stairs based on the walking state and characteristics of the human body obtained by the inertial measurement unit, the controller automatically controls the second drive device 6 to drive the second support leg 322 to rotate around the pivot 333, so that the second support leg 322 drives the caster 33 to tilt upward, which can prevent the second end caster 33 installed on the second support leg 322 from strongly contacting or colliding with the horizontal surface of the stair step, thereby interfering with the walking movement of the user carrying a backpack down the stairs.

[0066] Further, in the second embodiment of the present application, the inertial measurement unit includes a first inertial sensor (not shown in the figure) for being arranged at the foot position of one leg of the user and a second inertial sensor (not shown in the figure) for being arranged at the foot position of the other leg of the user. By adopting the above scheme, the walking state and characteristics of the human legs can be obtained through the first inertial sensor and the second inertial sensor, and the controller receives the gait phase information fed back by the inertial measurement unit to more accurately determine the real-time road conditions of the user's walking, so as to facilitate the controller to scientifically and reasonably control the first drive device 4 or the second drive device 6.

[0067] Further, in the second embodiment of the present application, please refer to Figure 4 The wheel-leg structure 3 also includes a shock absorbing mechanism 34 disposed at the connection between the caster 33 and the leg 32. By adopting the above scheme, the shock absorbing mechanism 34 is disposed at the connection between the caster 33 and the leg 32, so that the fluctuation of the supporting force of the wheel-leg structure 3 on the backpack can be reduced, so that the wheel-leg structure 3 can stably support the backpack 1, and the backpack 1 can move stably along the ground following the walking movement of the human body, so that the user can walk with the backpack on his back easily and freely. It can be understood that the shock absorbing mechanism 34 in the above scheme can be but is not limited to a spring shock absorbing mechanism. For example, the shock absorbing mechanism 34 in the above scheme can also be a hydraulic shock absorber or an inflatable shock absorber. Since the specific structure and working principle of the spring shock absorbing mechanism, hydraulic shock absorber or inflatable shock absorber are well known to those skilled in the art, they are not described here.

[0068] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A wheel-leg type load-bearing carrying device, characterized in that: include: Backpack; a shoulder strap connected to the backpack; as well as The wheel-leg structure is used to support the backpack on the ground so that it can move along the ground, so that the backpack can follow the walking movement of the human body; the wheel-leg structure includes a support plate, a bag leg and a caster, the backpack is supported and fixed on the support plate, the bag leg is connected to the support plate, the caster is installed at the bottom end of the bag leg, the caster is a triangular wheel, the triangular wheel includes a caster frame, a wheel frame shaft, a tripod, a wheel shaft and three wheels, the caster frame is connected to the bottom end of the bag leg, the tripod is rotatably installed on the caster frame through the wheel frame shaft, the three wheels are rotatably installed on the tripod through the wheel shaft, and the three wheels are respectively arranged at the three corners of the tripod; The first driving device drives the leg wrap to move up and down, the first driving device is connected to the support plate, and the leg wrap is connected to the output end of the first driving device, the first driving device includes a support seat, a screw rotatably installed on the support seat, a motor driving the screw to rotate, a nut installed on the screw, a slide table that drives the leg wrap to move up and down, and a linear guide rail that guides the movement of the slide table, the support seat is connected to the support plate, the linear guide rail is installed on the support seat, the slide table is slidably installed on the linear guide rail, the slide table is connected to the nut, and the leg wrap is fixedly connected to the slide table, the leg wrap includes a first support leg, a second support leg and a pivot that rotatably connects the first end of the second support leg to the first end of the first support leg, the wheel-leg type load-bearing carrying device also includes a second driving device that drives the second support leg to rotate around the pivot, the second end of the first support leg is connected to the support plate, and the caster is installed at the second end of the second support leg; Inertial measurement unit, used to monitor and provide feedback on the user's gait phase; as well as A controller, the controller being electrically connected to the second driving device, and configured to receive gait phase information fed back by the inertial measurement unit, and to send a control instruction to control the operation of the second driving device; A connecting seat is used to connect the leg wrap to the slide, wherein the connecting seat includes a horizontal plate arranged horizontally, a vertical plate connected to the horizontal plate, and a reinforcing plate arranged on one side of the vertical plate, and the reinforcing plate is respectively connected to the horizontal plate and the vertical plate.

2. The wheel-leg type load-bearing carrying device according to claim 1, characterized in that: The wheel-leg type load-bearing carrying device also includes: A pressure detector, used to obtain the pressure of the backpack on the wheel-leg structure; The controller is also used to receive pressure information fed back by the pressure detector and send control instructions to control the operation of the first driving device.

3. The wheel-leg type weight-bearing carrying device according to claim 1, characterized in that: The inertial measurement unit comprises: A first inertial sensor for placement at a foot position of one leg of a user; and The second inertial sensor is arranged at the foot position of the other leg of the user.

4. The wheel-leg type load-bearing carrying device according to any one of claims 1 to 3, characterized in that: The wheel-leg structure also includes a shock-absorbing mechanism arranged at the connection between the caster and the leg.

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