Wheeled-legged Centaur robot

Abstract

The present invention discloses a wheel-legged centaur robot. The wheel-legged centaur robot of the present invention includes a load-bearing component, a driving component and a connecting component. The load-bearing component is used to carry goods; the driving component includes two mechanical arms, and the two mechanical arms are respectively connected to the two sides of the load-bearing component along the first direction; the connecting component is arranged at one end of the load-bearing component along the first direction, and the connecting component includes an adjusting member and a connecting member for connecting to a human body, and the connecting member is connected to the load-bearing component through the adjusting member; wherein the adjusting member includes a first degree of freedom adjusting part, and the first degree of freedom adjusting part can rotate relative to the load-bearing component, and the rotation axis of the first degree of freedom adjusting part is arranged along the first direction. The wheel-legged centaur robot of the present invention is provided with a first degree of freedom adjusting part so that the load-bearing component and the connecting member of the wheel-legged centaur robot can rotate relative to each other, thereby offsetting the impact of the left and right shaking of the robot during movement on the human body.

Description

Technical Field

[0001] The present invention relates to the field of exoskeleton power-assisted robots, and in particular to a wheel-legged centaur robot. Background Art

[0002] Human augmentation technology is a highly sought-after area of ​​current scientific and technological development, and exoskeleton-assisted robotics is a subcategory of this technology. Exoskeleton-assisted robotics are wearable devices that combine human and mechanical capabilities. Using sensors to determine the user's intentions, the robot follows and provides assistance, alleviating fatigue from heavy and prolonged lifting.

[0003] Exoskeleton-assisted robots are currently categorized as upper limb robots, lower limb robots, and waist-mounted robots, depending on where they are worn. Some waist-mounted robots have a horizontally extending support structure for carrying cargo, connected to the human body at the front end. Two mechanical legs are located at the rear end of the support structure, creating a centaur-like structure when worn on the human body. Consequently, these exoskeleton-assisted robots are also known as "centaurs."

[0004] At present, the human body and the centaur robot are hard-connected. The centaur robot is directly connected to the human body through straps or buckles. Since the main function of the centaur robot is to carry weight, when the centaur robot is carrying weight, when the robot walks in a point-foot walking mode, the centaur robot will sway from side to side, thereby directly causing the human body to sway, which directly affects the stability of the human body's movement, the human-machine coordination is poor, and it is easy to cause the problem of rollover. Summary of the Invention

[0005] The present invention aims to address at least one of the technical problems existing in the prior art. To this end, the present invention provides a wheeled-legged centaur robot. By providing a first degree of freedom adjustment unit, the robot's load-bearing assembly and connecting member are enabled to rotate relative to each other, thereby offsetting the effects of the robot's side-to-side swaying on the human body during movement.

[0006] A wheeled-legged centaur robot according to an embodiment of the first aspect of the present invention comprises:

[0007] A load-bearing assembly, the load-bearing assembly being used to carry cargo;

[0008] A driving assembly, the driving assembly comprising two mechanical arms, the two mechanical arms being respectively connected to two sides of the carrying assembly along a first direction;

[0009] a connecting assembly, the connecting assembly being arranged at one end of the carrying assembly along the first direction, the connecting assembly comprising an adjusting member and a connecting member for connecting to a human body, the connecting member being connected to the carrying assembly via the adjusting member;

[0010] The adjusting member includes a first degree of freedom adjusting portion, the first degree of freedom adjusting portion is rotatable relative to the bearing assembly, and a rotation axis of the first degree of freedom adjusting portion is arranged along the first direction.

[0011] The wheeled-legged centaur robot according to the embodiment of the present invention has at least the following beneficial effects:

[0012] The wheel-legged Centaur robot in the embodiment of the present application has good load-bearing performance, and by providing a first degree of freedom adjustment part, relative rotation can occur between the load-bearing component and the connecting part of the wheel-legged Centaur robot, thereby offsetting the impact of the robot's twisting during movement on the human body, improving the stability, comfort and safety of the human body walking after wearing the wheel-legged Centaur robot, and achieving better human-machine coordination.

[0013] According to some embodiments of the present invention, the adjusting member further includes a second degree of freedom adjusting portion, which is rotatable relative to the bearing assembly, and a rotation axis of the second degree of freedom adjusting portion is arranged along the second direction.

[0014] According to some embodiments of the present invention, the supporting assembly includes two supporting members arranged in parallel along the second direction, the second degree of freedom adjustment portion is arranged between the two supporting members and is rotatably connected to the supporting members, and the first degree of freedom adjustment portion is arranged at one end of the second degree of freedom adjustment portion along the first direction and away from the supporting assembly.

[0015] According to some embodiments of the present invention, the supporting assembly includes a rotating base, the first degree of freedom adjustment part is rotatably connected to the rotating base, and the second degree of freedom adjustment part is arranged on the first degree of freedom adjustment part and rotatably connected to the first degree of freedom adjustment part.

[0016] According to some embodiments of the present invention, the first degree of freedom adjusting portion is connected to the connecting member, the second degree of freedom adjusting portion is connected to the supporting assembly, and the adjusting member further includes a buffer portion, which is respectively connected to the first degree of freedom adjusting portion and the second degree of freedom adjusting portion so that the first degree of freedom adjusting portion can move along the first direction relative to the second degree of freedom adjusting portion.

[0017] According to some embodiments of the present invention, the robotic arm includes a rotating wheel and a driving member, the driving member has a driving mode and a locking mode. In the driving mode, the driving member drives the rotating wheel to rotate, and in the locking mode, the driving member limits the rotation of the rotating wheel.

[0018] According to some embodiments of the present invention, the robotic arm includes a connecting seat, a first main transmission rod, a second main transmission rod, a first secondary transmission rod and a second secondary transmission rod, one end of the first main transmission rod is fixedly connected to the connecting seat, and the other end is hinged to the second main transmission rod, one end of the first secondary transmission rod is rotatably connected to the connecting seat, and the other end is hinged to the second secondary transmission rod, and the second secondary transmission rod is hinged to the second main transmission rod, so that the swing of the first secondary transmission rod can drive the swing of the second main transmission rod.

[0019] According to some embodiments of the present invention, a first through hole is provided at one end of the first main transmission rod fixedly connected to the connecting seat, one end of the first auxiliary transmission rod is passed through the first through hole and is rotatably connected to the connecting seat, and a first limiting protrusion is provided on the first main transmission rod, and the first limiting protrusion is extended along the circumference of the first through hole to limit the swing amplitude of the first auxiliary transmission rod.

[0020] According to some embodiments of the present invention, the connecting seat is rotatably connected to the supporting assembly, a second limiting protrusion is provided on the supporting assembly, and a limiting portion is provided on the outer peripheral surface of the connecting seat, and the second limiting protrusion and the limiting portion cooperate to limit the rotation range of the connecting seat.

[0021] According to some embodiments of the present invention, the wheel-legged Centaur robot further includes an electric control component, which is disposed on the supporting component and located between the driving component and the connecting component.

[0022] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0024] Figure 1 This is a schematic structural diagram of a wheeled-legged Centaur robot according to an embodiment of the present invention;

[0025] Figure 2 Schematic diagram of an explosion of a wheeled-legged Centaur robot according to an embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the structure of a robotic arm according to an embodiment of the present invention;

[0027] Figure 4 Schematic diagram of an explosion of a robotic arm according to an embodiment of the present invention.

[0028] Reference numerals:

[0029] Carrying assembly 100; body 110; support member 120; second limiting protrusion 130; driving assembly 200; robotic arm 210; rotating wheel 211; driving member 2111; connecting seat 212; limiting portion 2121; first main transmission rod 213; first through hole 2131; first limiting protrusion 2132; second main transmission rod 214; first auxiliary transmission rod 215; second auxiliary transmission rod 216; connecting assembly 300; connecting member 310; adjusting member 320; first degree of freedom adjusting portion 321; second degree of freedom adjusting portion 322; electronic control assembly 400. DETAILED DESCRIPTION

[0030] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0031] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention 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. Therefore, they cannot be understood as limitations on the present invention.

[0032] In the description of the present invention, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0033] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0034] In the description of the present invention, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0035] like Figure 1 As shown, the wheel-legged centaur robot has two robotic arms 210. The wheel-legged centaur robot has a point-foot travel mode and a wheel group travel mode. When the wheel-legged centaur robot moves forward in the point-foot travel mode, the robotic arms 210 sequentially perform the steps of lifting, moving forward, and lowering, and the two robotic arms 210 perform the steps alternately. Figure 1 Taking the embodiment shown as an example, when the left robotic arm 210 is lifted, the center of gravity of the wheel-legged Centaur robot moves to the right, and when the right robotic arm 210 is lifted, the center of gravity of the wheel-legged Centaur robot moves to the left. Therefore, the center of gravity of the wheel-legged Centaur robot continuously moves left and right during the movement.

[0036] During walking, as the legs are alternately raised and lowered, the center of gravity of the human body will also move left and right. Due to the influence of factors such as the human body posture, gait, walking speed, and walking environment, the frequency and amplitude of the movement of the center of gravity of the human body are often inconsistent. After the human body wears the wheeled-legged Centaur robot, the human body's two feet and the dual mechanical arms 210 of the wheeled-legged Centaur robot form a four-legged structure. It is understandable that since the center of gravity of the human body and the wheeled-legged Centaur robot will both shift left and right when walking, and since the amplitude and frequency of the center of gravity shift of the human body and the wheeled-legged Centaur robot are difficult to keep consistent, when the amplitude or frequency of the center of gravity shift of the wheeled-legged Centaur robot is inconsistent with the amplitude or frequency of the center of gravity shift of the human body, the left and right shift of the center of gravity of the wheeled-legged Centaur robot will directly cause the human body to shake, thereby affecting the stability of the human body's walking.

[0037] In order to solve the above problems, a wheel-legged centaur robot is proposed in the embodiment of the present application. Specifically, Figure 1 and Figure 2 As shown, the wheel-legged centaur robot includes a carrying component 100, a driving component 200 and a connecting component 300. The carrying component 100 can be used to carry goods, such as Figure 2As shown, the carrier assembly 100 includes a main body 110, which can be used to mount the drive assembly 200 and the connection assembly 300, and can also be used to place cargo. For the convenience of subsequent description, the forward and backward directions of the wheeled-legged Centaur robot are defined as the first direction, and the direction within the horizontal plane and perpendicular to the first direction is defined as the second direction. The drive assembly 200 includes two robotic arms 210, which are respectively connected to either side of the carrier assembly 100 along the first direction.

[0038] The connecting component 300 is disposed at one end of the supporting component 100 along the first direction. It is understood that the connecting component 300 can be as follows: Figure 1 As shown, it is arranged at the front end of the support assembly 100, thereby forming a quadruped structure with the human body in front and the robot in the back. The connecting assembly 300 can also be arranged at the rear end of the support assembly 100 (not shown in the figure), thereby forming a quadruped structure with the robot in front and the human body in the back. When the connecting assembly 300 is arranged at one end of the support assembly 100, the driving assembly 200 is often connected to the other end of the support assembly 100, thereby supporting the support assembly 100 and positioning its center of gravity between the driving assembly 200 and the connecting assembly 300, so that the force on the quadruped structure is more uniform.

[0039] The connection assembly 300 includes a connection member 310 and an adjustment member 320. The connection member 310 can be a strap, a harness, a buckle or other structure, and is used to connect the wheeled-legged Centaur robot to the human body. Figure 1 and Figure 2 In the embodiment shown, the connecting member 310 is a belt for tying around the waist of a human body. The connecting member 310 is disposed on the adjusting member 320 and is indirectly connected to the supporting assembly 100 through the adjusting member 320.

[0040] It should be noted that the adjusting member 320 includes a first degree of freedom adjusting portion 321, and the first degree of freedom adjusting portion 321 can rotate relative to the supporting assembly 100, such as Figure 2 As shown, the rotation axis of the first degree of freedom adjustment portion 321 is arranged along the first direction. Due to the arrangement of the first degree of freedom adjustment portion 321, the support assembly 100 of the wheel-legged Centaur robot and the connecting member 310 can rotate relative to each other in a vertical plane perpendicular to the first direction. Furthermore, after the human body and the wheel-legged Centaur robot form a quadruped structure, when the wheel-legged Centaur robot moves in a point-footed walking mode, as the center of gravity of the support assembly 100 swings left and right, the first degree of freedom adjustment portion 321 continuously rotates alternately counterclockwise and clockwise, thereby eliminating the impact of the change in the center of gravity of the wheel-legged Centaur robot on the human body's walking stability.

[0041] Based on the above, the wheel-legged Centaur robot in the embodiment of the present application has good load-bearing performance, and by setting the first degree of freedom adjustment part 321, relative rotation can occur between the load-bearing component 100 and the connecting part 310 of the wheel-legged Centaur robot, thereby offsetting the impact of the torsion of the robot on the human body during movement, improving the stability, comfort and safety of the human body walking after wearing the wheel-legged Centaur robot, and having better human-machine coordination.

[0042] When a person wears a wheeled-legged centaur robot and passes through ups and downslopes, potholes or rugged terrain, there is a certain distance between the feet of the person and the robot's mechanical arm 210, and there is a certain height difference between the center of gravity of the person and the center of gravity of the robot, which affects the movement of the person. To this end, in some embodiments, the adjustment member 320 further includes a second degree of freedom adjustment portion 322, such as Figure 2 As shown, the second degree of freedom adjustment portion 322 is capable of rotating relative to the support assembly 100. Unlike the first degree of freedom adjustment portion 321, the rotation axis of the second degree of freedom adjustment portion 322 is arranged along the second direction, thereby allowing the connector 310 to rotate relative to the support assembly 100 within a vertical plane parallel to the first direction. The second degree of freedom adjustment portion 322 can be used to adjust the center of gravity height. When a person wearing the wheeled Centaur robot travels through uphill slopes, potholes, or rugged terrain, the second degree of freedom adjustment portion 322 can adjust the relative posture of the person and the robot, similar to the curvature of the spine of a quadruped, to reduce the vertical restrictions imposed by the robot on the person, allowing the person to smoothly navigate uphill and downhill sections.

[0043] It is understandable that when a human or a robot walks, the center of gravity will fluctuate up and down. The second degree of freedom adjustment unit 322 can also reduce the impact of the robot on the walking stability of the human body.

[0044] Further, such as Figure 2As shown, the carrier assembly 100 includes two support members 120, which are arranged side by side along the second direction and extend in the first direction to protrude from the main body 110. A second degree of freedom adjustment portion 322 is disposed between the two support members 120 and is rotatably connected to each of the two support members 120, such that the second degree of freedom adjustment portion 322 is positioned between the two support members 120 and is rotatable relative to the main body 110. It is understood that the support members 120 may also be disposed within the main body 110, such that at least a portion of the second degree of freedom adjustment portion 322 is embedded within the main body 110 and is rotatable relative to the main body 110. The first degree of freedom adjustment portion 321 is disposed at one end of the second degree of freedom adjustment portion 322 along the first direction and away from the carrier assembly 100. That is, the first degree of freedom adjustment portion 321 is connected to the carrier assembly 100 via the second degree of freedom adjustment portion 322.

[0045] In other embodiments, the supporting assembly 100 includes a rotating base, the first degree of freedom adjustment portion 321 is rotatably connected to the rotating base, and the second degree of freedom adjustment portion 322 is disposed on the first degree of freedom adjustment portion 321 and rotatably connected to the first degree of freedom adjustment portion 321 .

[0046] In some embodiments, the first degree of freedom adjustment portion 321 is connected to the connector 310, and the second degree of freedom adjustment portion 322 is connected to the support assembly 100. The adjustment portion 320 also includes a buffer portion (not shown in the figure), which is connected to the first degree of freedom adjustment portion 321 and the second degree of freedom adjustment portion 322. Furthermore, when a person wears the wheeled Centaur robot and suddenly brakes or accelerates during travel, the support assembly 100 will apply an impact force or tension to the connector 310 due to inertia, thereby placing a large load on the wearer's waist and easily causing injury to the wearer. The buffer portion is configured so that the first degree of freedom adjustment portion 321 can move in a first direction relative to the second degree of freedom adjustment portion 322. Therefore, when a sudden brake is applied during travel, the buffer portion compresses and the second degree of freedom adjustment portion 322 moves closer to the first degree of freedom adjustment portion 321, thereby offsetting or reducing the impact force of the second degree of freedom adjustment portion 322 on the first degree of freedom adjustment portion 321, thereby reducing the impact on the wearer. When the vehicle accelerates suddenly during travel, the buffer portion stretches and the second degree of freedom adjustment portion 322 moves away from the first degree of freedom adjustment portion 321 to offset or reduce the pulling force of the second degree of freedom adjustment portion 322 on the first degree of freedom adjustment portion 321, thereby reducing the pulling force on the human body.

[0047] In existing technologies, mainstream ground mobile robots are often wheeled or legged. Wheeled robots are extremely efficient on flat ground and feature a simple mechanical structure, good reliability, and ease of control. However, wheeled robots struggle to meet the demands of practical applications in complex, unstructured environments, such as inspections within buildings with stairways or rescue operations in ruins. Legged robots offer improved maneuverability and adaptability in complex, unstructured environments, and their landing point can be selected within a certain range, making them well-suited for working in complex environments. However, legged robots are slow and consume high energy.

[0048] To this end, the wheel-legged centaur robot in the embodiment of the present application combines the advantages of wheeled robots and legged robots. By providing a rotating wheel 211 and a driving member 2111 at the end of the robot arm 210, the centaur robot has a wheel group travel mode (corresponding to a wheeled robot) and a point-foot travel mode (corresponding to a legged robot). Specifically, Figure 2 and Figure 4 As shown, the driving member 2111 can be a driving motor with an electronically controlled brake, thereby having a driving mode and a locking mode. In the driving mode, the driving member 2111 drives the rotating wheel 211 to rotate, and the robotic arm 210 does not swing. The wheel-legged Centaur robot is in the wheel set travel mode. In the locking mode, the driving member 2111 restricts the rotation of the rotating wheel 211. At this time, the robotic arm 210 alternately swings, so that the wheel-legged Centaur robot switches to the point-foot travel mode.

[0049] The wheel-legged Centaur robot combines the high speed and efficiency of a wheeled robot with the strong adaptability of a legged robot to complex terrain, increasing the robot's operating range and environmental adaptability. The wheel-legged Centaur robot uses wheels to move on flat ground, and when encountering obstacles, it switches to point-footed walking mode to jump over or step over the obstacles.

[0050] In some embodiments, as Figure 3 and Figure 4As shown, the robotic arm 210 includes a connecting base 212, a first main transmission rod 213, a second main transmission rod 214, a first secondary transmission rod 215, and a second secondary transmission rod 216. The connecting base 212 is used to connect to the fuselage body 110 of the carrier assembly 100. One end of the first main transmission rod 213 is fixedly connected to the connecting base 212, and the other end is hinged to the second main transmission rod 214. The other end of the second main transmission rod 214 is provided with a rotating wheel 211 and a driving member 2111. One end of the first secondary transmission rod 215 is rotatably connected to the connecting base 212, and the other end is hinged to the second secondary transmission rod 216. The second secondary transmission rod 216 is hinged to the second main transmission rod 214. The first main transmission rod 213 and the second secondary transmission rod 216 are arranged in parallel, and the first secondary transmission rod 215 and the second main transmission rod 214 are arranged in parallel, thereby forming a parallelogram structure. A drive mechanism is housed within the connector 212, driving the first secondary transmission rod 215 to swing. This swinging of the first secondary transmission rod 215 drives the swinging of the second primary transmission rod 214, thereby enabling the wheel-legged Centaur robot to move in a point-to-point manner. This parallelogram-shaped drive structure and control principle are relatively simple, making it easier to debug the wheel-legged Centaur robot.

[0051] Further, such as Figure 3 and Figure 4 As shown, a first through hole 2131 is provided at one end of the first main transmission rod 213 connected to the connecting seat 212, one end of the first auxiliary transmission rod 215 is passed through the first through hole 2131 and is rotatably connected to the connecting seat 212, and a first limiting protrusion 2132 is provided on the first main transmission rod 213, and the first limiting protrusion 2132 is extended along the circumference of the first through hole 2131 to limit the swing amplitude of the first auxiliary transmission rod 215.

[0052] Furthermore, the connecting seat 212 is transmission-connected to the supporting assembly 100, and the supporting assembly 100 is provided with a driving mechanism capable of driving the connecting seat 212 to rotate relative to the supporting assembly 100. In combination with the first auxiliary transmission rod 215 in the above embodiment being capable of rotating relative to the connecting seat 212, the wheel-legged centaur robot has two-stage swing modes in the point-footed walking mode, such as Figure 3 and Figure 4 As shown, the connecting base 212 can undergo a first-stage rotation relative to the supporting assembly 100. Since the first main transmission rod 213 is fixedly connected to the connecting base 212, the first main transmission rod 213 and the second main transmission rod 214 rotate together with the connecting base 212, so that the wheeled-legged Centaur robot has a larger step distance in the point-footed walking mode. The first secondary transmission rod 215 can undergo a second-stage rotation relative to the connecting base 212. The first secondary transmission rod 215 drives the second main transmission rod 214 to swing, so that the second main transmission rod 214 can fine-tune the step distance, thereby accurately controlling the landing point of the robot arm 210 to adapt to walking in complex environments such as stairs.

[0053] like Figure 4 As shown, the support assembly 100 is provided with a second limiting protrusion 130, and the outer circumferential surface of the connecting base 212 is provided with a limiting portion 2121. The limiting portion 2121 cooperates with the second limiting protrusion 130 to limit the rotation range of the connecting base 212 relative to the support assembly 100. It should be noted that the second limiting protrusion 130 extends along the circumference of the connecting base 212, and the arc length of the second limiting protrusion 130 is smaller than the arc length of the first limiting protrusion 2132. This allows the connecting base 212 to have a larger rotational travel during the first stage of rotation, thereby achieving a larger step adjustment range. Since the second stage of rotation is for fine-tuning the landing point position, a larger rotational travel is not required. Therefore, the longer first limiting protrusion 2132 is used to define a smaller rotational travel.

[0054] In some embodiments, as Figure 1 and Figure 2 As shown, the wheel-legged Centaur robot also has an electronic control component 400, which includes a battery, a control module, a data processing and collection module, etc. The electronic control component 400 is arranged on the supporting component 100. Since the electronic control component 400 is heavy, it is arranged between the driving component 200 and the connecting component 300, which is beneficial to control the center of gravity of the entire wheel-legged Centaur robot between the driving component 200 and the connecting component 300, thereby improving the stability of the overall structure.

[0055] While the embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited to the embodiments described above. Various modifications may be made within the scope of knowledge possessed by a person skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof may be combined with one another unless there is a conflict.

Claims

1. A wheel-legged centaur robot, characterized in that: include: A load-bearing assembly (100), the load-bearing assembly (100) being used to carry cargo; A driving assembly (200), the driving assembly (200) comprising two mechanical arms (210), the two mechanical arms (210) being respectively connected to two sides of the supporting assembly (100) along a first direction; a connecting assembly (300), the connecting assembly (300) being arranged at one end of the bearing assembly (100) along the first direction, the connecting assembly (300) comprising an adjusting member (320) and a connecting member (310) for connecting to a human body, the connecting member (310) being connected to the bearing assembly (100) via the adjusting member (320); The adjusting member (320) comprises a first degree of freedom adjusting portion (321), the first degree of freedom adjusting portion (321) is rotatable relative to the bearing assembly (100), and the rotation axis of the first degree of freedom adjusting portion (321) is arranged along the first direction; The adjusting member (320) further comprises a second degree of freedom adjusting portion (322), the second degree of freedom adjusting portion (322) being capable of rotating relative to the bearing assembly (100), and a rotation axis of the second degree of freedom adjusting portion (322) being arranged along a second direction; The first degree-of-freedom adjusting portion (321) is connected to the connecting member (310), the second degree-of-freedom adjusting portion (322) is connected to the bearing assembly (100), and the adjusting member (320) further comprises a buffer portion, the buffer portion being connected to the first degree-of-freedom adjusting portion (321) and the second degree-of-freedom adjusting portion (322), respectively, so that the first degree-of-freedom adjusting portion (321) can move relative to the second degree-of-freedom adjusting portion (322) along the first direction; The mechanical arm (210) comprises a rotating wheel (211) and a driving member (2111), wherein the driving member (2111) has a driving mode and a locking mode. In the driving mode, the driving member (2111) drives the rotating wheel (211) to rotate, and in the locking mode, the driving member (2111) restricts the rotation of the rotating wheel (211).

2. The wheel-legged centaur robot according to claim 1, characterized in that: The bearing assembly (100) comprises two supporting members (120) arranged in parallel along the second direction; the second degree of freedom adjusting portion (322) is arranged between the two supporting members (120) and is rotatably connected to the supporting members (120); and the first degree of freedom adjusting portion (321) is arranged at one end of the second degree of freedom adjusting portion (322) along the first direction and away from the bearing assembly (100).

3. The wheel-legged centaur robot according to claim 1, characterized in that: The bearing assembly (100) comprises a rotating base, the first degree of freedom adjusting portion (321) is rotatably connected to the rotating base, and the second degree of freedom adjusting portion (322) is arranged on the first degree of freedom adjusting portion (321) and rotatably connected to the first degree of freedom adjusting portion (321).

4. The wheel-legged centaur robot according to claim 1, characterized in that: The mechanical arm (210) includes a connecting seat (212), a first main transmission rod (213), a second main transmission rod (214), a first auxiliary transmission rod (215) and a second auxiliary transmission rod (216), wherein one end of the first main transmission rod (213) is fixedly connected to the connecting seat (212), and the other end is hinged to the second main transmission rod (214); one end of the first auxiliary transmission rod (215) is rotatably connected to the connecting seat (212), and the other end is hinged to the second auxiliary transmission rod (216); the second auxiliary transmission rod (216) is hinged to the second main transmission rod (214), so that the swing of the first auxiliary transmission rod (215) can drive the swing of the second main transmission rod (214).

5. The wheel-legged centaur robot according to claim 4, characterized in that: A first through hole (2131) is provided at one end of the first main transmission rod (213) fixedly connected to the connecting seat (212); one end of the first auxiliary transmission rod (215) is passed through the first through hole (2131) and is rotatably connected to the connecting seat (212); a first limiting protrusion (2132) is provided on the first main transmission rod (213); the first limiting protrusion (2132) is extended along the circumference of the first through hole (2131) to limit the swing amplitude of the first auxiliary transmission rod (215).

6. The wheel-legged centaur robot according to claim 4, characterized in that: The connecting seat (212) is rotatably connected to the supporting assembly (100), a second limiting protrusion (130) is provided on the supporting assembly (100), and a limiting portion (2121) is provided on the outer peripheral surface of the connecting seat (212), and the second limiting protrusion (130) cooperates with the limiting portion (2121) to limit the rotation range of the connecting seat (212).

7. The wheel-legged centaur robot according to claim 1, characterized in that: The wheel-legged centaur robot further comprises an electric control component (400), wherein the electric control component (400) is arranged on the bearing component (100) and is located between the driving component (200) and the connecting component (300).

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