Wheel-legged load-carrying robot

Abstract

The invention relates to a wheel-legged load-carrying robot, belongs to the technical field of robots, and solves the problems of small load and easy rollover in the prior art. The wheel-legged load-carrying robot comprises a trunk assembly, a wheel-legged assembly, a sensing assembly and an anti-rolling load mounting assembly. The wheel and leg assembly is installed below the trunk assembly and used for achieving walking of the robot; a sensing assembly and an anti-rolling load mounting assembly are arranged above the trunk assembly; the sensing assembly is used for sensing horizontal state information of the robot and sensing external environment information; the anti-rolling load mounting assembly comprises a load mounting assembly and an anti-rollover protection assembly; the load mounting assembly is arranged above the trunk assembly and is used for loading a load; the two anti-rollover protection assemblies are symmetrically arranged on the two sides of the trunk assembly respectively. The loading capacity and the rollover prevention performance of the robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of foot-type robots, and in particular to a wheel-legged load-bearing robot. Background Art

[0002] There is a great demand for the application of legged robots in logistics, inspection and troubleshooting, emergency rescue and other scenarios. Legged robots can walk on uneven, rugged or obstacle-filled terrain and have strong environmental adaptability; however, the design and control system of legged robots are very complex, requiring precise mechanical structures and advanced control algorithms, which increases the difficulty and cost of development and maintenance; due to the need to continuously adjust the posture and balance of each leg, legged robots usually consume more energy than wheeled and tracked robots; despite high flexibility, legged robots usually move slowly, especially when stable walking is required; compared with wheeled and tracked robots, legged robots usually have lower load capacity, especially in tasks that require high stability and balance. At present, the application of mobile robots is gradually becoming more multifunctional, requiring mobile robots to have high mobility and good off-road passability, and can carry more loads for tasks or transportation. Based on this, wheel-legged composite robots came into being.

[0003] The wheel-leg hybrid robots in the prior art are usually small in size, and have high maneuverability and good passability in off-road scenarios. However, due to the limitations of the overall structural form and the performance of the drive system, the wheel-leg hybrid robots in the prior art do not have the ability to carry large loads, have poor anti-rollover performance and are difficult to right after rolling over.

[0004] Therefore, the present invention improves the design of the wheel-leg composite robot and proposes a wheel-leg load-carrying robot. Summary of the invention

[0005] In view of the above analysis, the present invention aims to provide a wheel-legged load-carrying robot to solve the problems of small load capacity and easy rollover of existing load-carrying robots.

[0006] The purpose of the present invention is mainly achieved through the following technical solutions:

[0007] A wheel-leg load-carrying robot, comprising: a trunk component, a wheel-leg component, a sensing component and an anti-roll load mounting component;

[0008] A wheel-leg assembly is installed below the trunk assembly, and the wheel-leg assembly is used to realize the walking of the robot; a sensing assembly and an anti-roll load installation assembly are arranged above the trunk assembly;

[0009] The perception component is used to realize the perception of the robot's own horizontal state information and external environment information;

[0010] The anti-roll load installation assembly includes: a load installation assembly and an anti-rollover protection assembly; the load installation assembly is arranged above the trunk assembly for loading a load; the anti-rollover protection assembly is arranged on both sides of the trunk assembly.

[0011] Furthermore, the trunk component includes: a trunk protection frame and an electrical component; the trunk protection frame includes: a main frame, a frame connecting crossbeam, a trunk protection longitudinal beam and a transverse protection frame.

[0012] Furthermore, the main frame includes: two left and right annular frames; the two annular frames are respectively arranged on the left and right sides of the electrical component, and the two ends of the annular frames are bent toward the central axis direction of the trunk component.

[0013] Furthermore, the two annular frames are fixedly connected via a frame connecting crossbeam; and the upper and lower trunk protection crossbeams of a single annular frame are fixedly connected via the trunk protection longitudinal beam.

[0014] Furthermore, the transverse protection frame is provided at both the front and rear ends of the electrical component, and the transverse protection frame is provided between the main frame and the electrical component.

[0015] Furthermore, an upper cover plate is fixedly installed on the upper side of the main frame; and side cover plates are fixedly installed on the left and right sides of the main frame.

[0016] Further, the load installation assembly includes: a vertical main carbon tube, a first side plate, a second side plate, a transverse carbon tube and a load support plate;

[0017] There are four vertical main carbon tubes, and two upper and lower transverse carbon tubes are connected between adjacent vertical main carbon tubes. The four vertical main carbon tubes and multiple transverse carbon tubes form a rectangular load frame; the first side plate is fixedly installed on the left and right sides of the rectangular load frame, and the second side plate is fixedly installed on the front and back sides of the rectangular load frame; the load support plate is fixedly installed on the bottom of the rectangular load frame.

[0018] Furthermore, the anti-rollover protection component is a fan-shaped structure arranged on the left and right sides of the trunk component.

[0019] Furthermore, the fan-shaped structure includes: two groups of fan-shaped protection components arranged in parallel and a guardrail structure connected between the two groups of fan-shaped protection components.

[0020] Furthermore, the guardrail structure includes: the carbon tube mounting seat and the outer guardrail carbon tube; the carbon tube mounting seat is fixedly connected to the side of the fan-shaped protection component, and the outer guardrail carbon tube is fixedly connected between the two groups of fan-shaped protection components through the carbon tube mounting seat.

[0021] The technical solution of the present invention can achieve at least one of the following effects:

[0022] 1. The wheel-legged load-carrying robot of the present invention is equipped with a wheel-side motor combination at the end of the leg-foot structure. When the wheel-side motor drives the traveling wheels to rotate, the robot can travel quickly on a flat road; when the traveling wheels are not rotating, the robot's thighs and calves are driven to move by a three-degree-of-freedom driving combination, thereby realizing the robot's walking function; the wheel-legged load-carrying robot of the present invention has two movement modes, namely, traveling wheel driving and leg-foot walking, and has the ability to travel quickly on flat roads and the ability to walk flexibly on rugged roads.

[0023] 2. The wheel-legged load-carrying robot of the present invention has a rectangular load frame formed by a combination of carbon tubes and side panels fixedly installed above the trunk assembly, which can carry more loads and improve the robot's large load-carrying capacity.

[0024] 3. The wheel-legged load-carrying robot of the present invention is provided with fan-shaped anti-rollover protection components on both sides of the trunk component, which provide side support when the robot tilts sideways to prevent the robot from rolling sideways; at the same time, since the anti-rollover protection components are provided on both sides of the trunk component, after the robot falls sideways, its overall tilt leans against the ground, which is convenient for getting up quickly after falling, and can effectively avoid the problem of the robot being unable to get up after falling, resulting in the termination of movement.

[0025] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0027] Figure 1 It is a schematic diagram of the overall structure of the wheel-legged load-carrying robot of the present invention;

[0028] Figure 2 It is a schematic structural diagram of the trunk assembly of the wheel-legged load-carrying robot of the present invention;

[0029] Figure 3 It is a side view of the trunk assembly of the wheel-legged load-carrying robot of the present invention;

[0030] Figure 4It is a schematic diagram of the internal composition of the trunk assembly of the wheel-legged load-carrying robot of the present invention;

[0031] Figure 5 A schematic diagram of the structure of a torso frame of a torso assembly;

[0032] Figure 6 A schematic diagram of the structure of a single ring frame of the main frame of the trunk assembly;

[0033] Figure 7 It is a structural schematic diagram of the wheel-leg assembly of the wheel-leg type load-carrying robot of the present invention;

[0034] Figure 8 It is a schematic diagram of the internal wiring structure of the wheel-leg assembly of the wheel-leg type load-carrying robot of the present invention;

[0035] Fig. 9 It is a schematic structural diagram of the sensing component of the wheel-legged load-carrying robot of the present invention;

[0036] Fig.10 It is a schematic diagram of the axial side of the anti-roll load installation assembly of the wheel-legged load-carrying robot of the present invention;

[0037] Fig.11 A top view of the anti-roll load installation assembly of the wheel-legged load-carrying robot of the present invention;

[0038] Fig.12 A schematic diagram of the structure of a rectangular load frame for mounting components for anti-roll loads;

[0039] Fig.13 Cross-sectional view of a rollover protection assembly with the assembly mounted to protect against roll loads.

[0040] Reference numerals:

[0041] 1-trunk assembly; 101-trunk protection frame; 1011-main frame; 1012-side swing motor fixing flange; 1013-frame connecting crossbeam; 1014-lateral protection frame; 1015-side swing motor fixing frame; 1016-load frame fixing piece; 1017-trunk protection longitudinal beam; 102-upper cover plate; 103-side cover plate; 104-motor drive assembly mounting slot; 105-operation control panel; 106-battery assembly; 107-electronic control assembly; 108-motion control assembly;

[0042] 2-wheel-leg assembly; 201-three-degree-of-freedom drive assembly; 202-thigh; 2021-thigh threading hole; 203-calf; 2031-calf threading hole; 204-wheel-side motor assembly; 205-wire slot cover; 206-crank; 207-connecting rod;

[0043] 3-perception component; 301-perception component mounting frame; 302-laser radar; 303-laser radar protection frame; 304-visual perception component;

[0044] 4-anti-roll load mounting assembly; 401-anti-rollover buffer assembly; 4011-buffer plate; 4012-buffer assembly mounting frame; 4013-buffer spring; 4014-buffer plate shaft; 4015-travel guide hole; 4016-arc boss; 4017-buffer spring guide column; 402-anti-rollover metal splint; 403-anti-rollover fixing bracket; 404-load supporting bottom plate; 405-metal splint fixing clamp; 406-carbon tube tee; 407-vertical main carbon tube; 408-carbon tube mounting seat; 409-outer guardrail carbon tube; 410-first side panel fixing piece; 411-first side panel; 412-side panel pipe clamp; 413-second side panel; 414-lateral carbon tube; 415-load support plate; 416-load mounting frame pipe clamp; 417-vertical auxiliary carbon tube. DETAILED DESCRIPTION

[0045] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0046] Example 1

[0047] A specific embodiment of the present invention discloses a wheel-legged load-carrying robot, such as Figure 1 As shown, it includes: a trunk component 1, a wheel-leg component 2, a sensing component 3 and an anti-roll load installation component 4; the wheel-leg component 2 is installed below the trunk component 1, and the wheel-leg component 2 is used to realize the walking of the robot; the sensing component 3 and the anti-roll load installation component 4 are arranged above the trunk component 1. The sensing component 3 is used to realize the perception of the robot's own horizontal state information and the perception of the external environment information; the anti-roll load installation component 4 includes: a load installation component and an anti-rollover protection component; the load installation component is arranged above the trunk component 1, and is used to load the load; the anti-rollover protection component is provided with two groups, which are symmetrically arranged on both sides of the trunk component 1.

[0048] In a specific embodiment of the present invention, Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the trunk assembly 1 includes: a trunk protection frame 101, an upper cover plate 102, a side cover plate 103 and electrical components.

[0049] Specifically, the trunk protection frame 101 is disposed on the outside of the electrical components.

[0050] Furthermore, if Figure 2 As shown, an upper cover plate 102 is fixedly installed on the upper side of the main frame 1011 ; and side cover plates 103 are fixedly installed on the left and right sides of the main frame 1011 .

[0051] In this embodiment, the upper cover plate 102 is made of a 5mm thick carbon fiber plate. In addition to providing a beautiful cover for the entire trunk, it can also provide corresponding structural strength for the entire trunk. The surface of the upper cover plate 102 is designed with weight-reducing slots to reduce its structural weight as much as possible while maintaining the overall structural strength of the upper cover plate 102. The side cover plate 103 is made of a 3mm thick carbon fiber plate, which mainly covers and protects the entire trunk.

[0052] Specifically, Figure 3 , Figure 4 As shown, the electrical components include: a motor drive component, an operation control panel 105, a battery component 106, an electric control component 107 and a motion control component 108. In this embodiment, the electrical components can adopt the same structure as the electrical components of the existing robot, which will not be described in detail in this embodiment.

[0053] In a specific embodiment of the present invention, Figure 3 , Figure 4 , Figure 5 As shown, the trunk protection frame 101 includes: a main frame 1011, a frame connecting crossbeam 1013, a transverse protection frame 1014 and a trunk protection longitudinal beam 1017.

[0054] like Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the main frame 1011 includes two left and right annular frames.

[0055] Specifically, Figure 2 , Figure 5 As shown, the two annular frames are respectively arranged on the left and right sides of the electrical component, and the two ends of the annular frames are bent toward the central axis direction of the trunk component 1.

[0056] Specifically, Figure 5 As shown, the two annular frames are fixedly connected via a frame connecting crossbeam 1013 ; the upper and lower trunk protection crossbeams of a single annular frame are fixedly connected via the trunk protection longitudinal beam 1017 .

[0057] Furthermore, if Figure 5 As shown, the transverse protection frame 1014 is provided at both the front and rear ends of the electrical component, and the transverse protection frame 1014 is provided between the main frame 1011 and the electrical component.

[0058] like Figure 6 As shown, the annular frame includes: two upper and lower trunk protection beams parallel to each other, and a bending frame connected between the two trunk protection beams; the bending frame is arranged at an angle with the trunk protection beams. When installed, the bending frame bends toward the middle of the trunk assembly 1 and has multiple bending angles. Figure 2 , Figure 3 , Figure 4 As shown, the trunk protection beams of the two groups of the annular frames are arranged on the upper and lower sides of the electrical components, and the bending frames of any group of the annular frames are bent toward the direction of the other group of annular frames. In this embodiment, the bending structures at both ends of the main frame 1011 are arranged at the front and rear ends of the robot trunk component, which can protect the electrical components inside the trunk component 1.

[0059] Furthermore, if Figure 5 As shown, the trunk protection frame 101 also includes: a side swing motor fixing flange 1012, a side swing motor fixing frame 1015 and a load frame fixing part 1016.

[0060] Specifically, the sensing component 3 is fixedly installed on the main frame 1011; the side swing motor fixing frame 1015 is fixedly installed on the front end of the main frame 1011, and the side swing motor fixing flange 1012 is fixedly installed on the outer side of the two trunk protection longitudinal beams 1017 at the front end of the trunk protection frame 101; the side swing motor fixing frame 1015 and the side swing motor fixing flange 1012 are used to install the side swing motor of the fixed wheel-leg assembly 2; the load frame fixing part 1016 is fixedly installed on the top of the trunk protection frame 101, and the load installation assembly is fixedly connected to the trunk assembly 1 through the load frame fixing part 1016.

[0061] In this embodiment, the frame connecting beam 1013 is welded horizontally between the two annular frames of the main frame 1011 so that the two form a whole; a plurality of trunk protection longitudinal beams 1017 are welded vertically between the two trunk protection beams of each main frame 1011, thereby effectively shortening the long rod span of the trunk protection beam of the main frame 1011, reducing the bendability of the trunk protection beam, and improving the structural strength of the single-sided main frame 1011.

[0062] In this embodiment, the trunk protection beams of the two main frames 1011 are connected and fixed via a frame connecting beam 1013 , so that both ends of the frame connecting beam 1013 are respectively fixed to the main frames 1011 .

[0063] Specifically, Figure 5As shown, transverse protection frames 1014 are designed at the left front, left rear, right front and right rear of the trunk protection frame 101. One end of the transverse protection frame 1014 is fixedly connected to the main frame 1011 to form a whole, and the other end is fixedly connected to the trunk protection longitudinal beam 1017.

[0064] In a specific embodiment of the present invention, Figure 3 , Figure 4 As shown, the interior of the trunk component 1 adopts a layered design, and a battery component 106 is arranged in the lower center of the interior. Since the power battery is heavy, placing it in the lower center is conducive to lowering the center of gravity of the whole machine and improving the stability of the whole machine. An electric control component 107 and a motion control component 108 are designed above the battery component 106, wherein the motion control component 108 is located at the front of the whole machine, close to the sensing component 3, which is conducive to the internal wiring layout. The motor drive component mounting groove 104 preset at the front and rear of the whole machine on the upper cover plate 102 is used to install the motor drive component; each motor drive component is used to drive a set of three-degree-of-freedom drive combinations 201, and the corresponding motor drive component installation position is close to the three-degree-of-freedom drive combination it drives, which is conducive to the internal wiring harness layout.

[0065] In a specific embodiment of the present invention, Figure 7 , Figure 8 As shown, the wheel-leg assembly 2 includes: a three-degree-of-freedom drive assembly 201, a thigh 202, a calf 203 and a wheel-side motor assembly 204; one end of the thigh 202 is connected to the trunk assembly 1 through the three-degree-of-freedom drive assembly 201, and the other end is hinged to the upper end of the calf 203; a wheel-side motor assembly 204 is installed at the lower end of the calf 203, and the wheel-side motor assembly 204 includes: a wheel-side motor and a traveling wheel, and the traveling wheel can be driven to rotate by the wheel-side motor.

[0066] Furthermore, the wheel-leg assembly 2 also includes: a crank 206 and a connecting rod 207; one end of the crank 206 is rotatably connected to the thigh 202, and the other end is rotatably connected to one end of the connecting rod 207; the other end of the connecting rod 207 is rotatably connected to the calf 203, and when the crank 206 rotates, the calf 203 can be driven to rotate relative to the thigh 202 through the connecting rod 207.

[0067] Furthermore, the three-degree-of-freedom drive assembly 201 includes: a side swing motor, a thigh motor and a calf motor; the side swing motor is used to drive the thigh 202 to swing sideways relative to the torso assembly 1; the thigh motor is used to swing the thigh 202 forward and backward relative to the torso assembly 1; the calf motor is used to drive the crank 206 to rotate.

[0068] Specifically, the rotation axis of the thigh motor is perpendicular to the rotation axis of the lateral swing motor.

[0069] In this embodiment, the wheel-leg assembly 2 is fixedly connected to the side swing motor fixing flange 1012 and the side swing motor fixing frame 1015 of the trunk protection frame 101 by screws, so that the wheel-leg assembly 2 is connected to the trunk assembly 1 as a whole.

[0070] Specifically, the side swing motor of the three-degree-of-freedom drive assembly 201 is fixedly connected to the trunk protection frame 101 to realize the side swing movement of the wheel-leg assembly 2 as a whole. The thigh 202 in the wheel-leg assembly 2 is fixedly connected to the thigh motor of the three-degree-of-freedom drive assembly 201 to realize the front and back swing movement of the thigh. A crank 206 is designed on the inner side of the thigh 202, and the crank 206 is connected to the calf 203 through a connecting rod 207. The crank 206 is fixedly connected to the calf motor of the three-degree-of-freedom drive assembly 201, so that the calf motor can drive the crank 206 to rotate, thereby driving the calf 230 to swing back and forth through the connecting rod 207.

[0071] Furthermore, the end of the shank 203 of the wheel-leg assembly 2 is designed to be installed with a wheel-side motor combination 204, which includes a wheel-side motor and a traveling wheel. The traveling wheel can serve as the foot end of the robot when locked, so that the robot can achieve foot-like walking; when the traveling wheel is unlocked, the wheel-side motor can drive the traveling wheel to rotate first, thereby achieving the wheeled movement of the entire machine.

[0072] Furthermore, if Figure 7 , Figure 8 As shown, the inner sides of the thigh 202 and the calf 203 of the wheel-leg assembly 2 are respectively designed with a thigh threading hole 2021 and a calf threading hole 2031, wherein the thigh threading hole 2021 and the calf threading hole 2031 are used to provide power supply and signal cable arrangement for the wheel-side motor combination; and, a wire slot cover plate 205 is designed to cover the aforementioned thigh threading hole 2021 and the calf threading hole 2031, so that the power supply and signal wiring harnesses are arranged as a whole inside the wheel-leg assembly 2, which plays a protective display role and improves the overall aesthetics at the same time.

[0073] In a specific embodiment of the present invention, Fig. 9 As shown, the perception component 3 includes: a perception component mounting frame 301, a laser radar 302, a laser radar protection frame 303 and a visual perception component 304.

[0074] like Fig. 9As shown, the laser radar 302 and the visual perception component 304 of the perception component 3 are both fixedly mounted on the perception component mounting frame 301; specifically, the laser radar 302 is fixedly mounted inside the laser radar protection frame 303, and is fixedly connected to the perception component mounting frame 301 through the laser radar protection frame 303. Specifically, two visual perception components 304 are fixedly mounted in front of the perception component mounting frame 301, and the visual perception components 304 provide visual perception function for the whole machine.

[0075] Specifically, Fig. 9 As shown, the perception component 3 has two laser radars 302, one laser radar 302 is vertically arranged, and the other laser radar 302 is inclined forwardly arranged. The two laser radars 302 are respectively responsible for the horizontal environment perception and ground environment perception needs of the whole machine.

[0076] Furthermore, if Figure 1 As shown, the sensing component mounting frame 301 is fixedly connected to the trunk protection frame 101 of the trunk component 1; the entire sensing component 3 is located at the front end of the electrical component of the trunk component 1, and the entire sensing component 3 is installed inside the trunk protection frame 101.

[0077] In a specific embodiment of the present invention, Fig.10 , Fig.11 , Fig.12 As shown, the load installation assembly includes: a vertical main carbon tube 407 , a first side plate 411 , a second side plate 413 , a transverse carbon tube 414 and a load support plate 415 .

[0078] Specifically, there are four vertical main carbon tubes 407, and two upper and lower transverse carbon tubes 414 are connected between adjacent vertical main carbon tubes 407. The four vertical main carbon tubes 407 and the multiple transverse carbon tubes 414 form a rectangular load frame; the first side panel 411 is fixedly installed on the left and right sides of the rectangular load frame, and the second side panel 413 is fixedly installed on the front and back sides of the rectangular load frame; the load support plate 415 is fixedly installed on the bottom of the rectangular load frame.

[0079] Specifically, the length of the vertical main carbon tube 407 is greater than the length of the vertical auxiliary carbon tube 117 ; and thus the portion of the vertical main carbon tube 407 that is longer than the vertical auxiliary carbon tube 117 is used for fixed connection with the trunk assembly 1 .

[0080] In this embodiment, Fig.10As shown, the anti-rollover load mounting assembly 4 is integrally connected to the trunk protection frame 101 of the trunk assembly 1 through an anti-rollover fixing bracket 403. The anti-rollover fixing bracket 403 is in the form of a pipe clamp, which is fixed by holding the vertical main carbon tube 407. Every two anti-rollover fixing brackets 403 form a group, and each group of anti-rollover fixing brackets 403 is respectively fixedly mounted on the upper and lower trunk protection cross beams of the trunk protection frame 101.

[0081] Furthermore, in order to properly fix the four vertical main carbon tubes 407, the metal clamp plate fixing clamp 405 is designed with a tube clamp structure to assist in holding the vertical main carbon tubes 407, and is fixedly connected to the vertical main carbon tubes 407. At the same time, the metal clamp plate fixing clamp 405 is fixedly connected to the load mounting frame tube clamp 416 fixedly connected to the trunk protection frame 101.

[0082] Specifically, Fig.10 As shown, the first side plate 411 serves as a short side guardrail of the rectangular load frame.

[0083] Specifically, Fig.10 As shown, two vertical auxiliary carbon tubes 417 are fixed between two horizontal carbon tubes 414 on the long side of the rectangular load frame through a carbon tube tee 406. A side plate tube clamp 412 is mounted on the vertical auxiliary carbon tube 417, and a plurality of second side plates 413 are fixedly mounted to the rectangular load frame through the side plate tube clamp 412, and the second side plates 413 serve as long side guardrails of the rectangular load frame.

[0084] Furthermore, the vertical main carbon tube 407 and the two transverse carbon tubes 414 are connected via a carbon tube tee 406, the first side panel 411 is fixedly connected to the vertical main carbon tube 407 and the transverse carbon tube 414 via a first side panel fixing member 410, the second side panel 413 is fixedly connected to the vertical auxiliary carbon tube 417 and the vertical main carbon tube 407 via a side panel tube clamp 412, and the load support plate 415 is fixedly connected to the multiple transverse carbon tubes 414 located at the bottom layer.

[0085] Furthermore, three load frame bottom supporting carbon tubes are provided at the bottom of the rectangular load frame, metal tube clamps are installed on the load frame bottom supporting carbon tubes, and the transverse carbon tubes 414 are fixedly connected to the load frame bottom supporting carbon tubes through the metal tube clamps, and the load frame bottom supporting carbon tubes are used to support the load support plate 415; preferably, the load frame bottom supporting carbon tubes are fixedly connected to the load support plate 415.

[0086] In this embodiment, the rectangular load frame as a whole adopts a structure of carbon fiber tubes, carbon fiber plates and aluminum alloy tube clamps. The overall structure is simple and easy to process. Its load loading method is simple and reliable.

[0087] In a specific embodiment of the present invention, Figure 1 , Fig.10 As shown, the anti-rollover protection component is a fan-shaped structure arranged on the left and right sides of the trunk component 1. Fig.10 , Fig.13 As shown, the anti-rollover protection assembly includes: two groups of fan-shaped protection assemblies arranged in parallel and a guardrail structure connected between the two groups of fan-shaped protection assemblies;

[0088] Specifically, Fig.10 As shown, the guardrail structure includes: the carbon tube mounting seat 408 and the outer guardrail carbon tube 409; the carbon tube mounting seat 408 is fixedly connected to the side of the fan-shaped protection component, and the outer guardrail carbon tube 409 is fixedly connected between the two groups of fan-shaped protection components through the carbon tube mounting seat 408.

[0089] like Fig.10 As shown, the guardrail structure is disposed between two groups of sector-shaped protection components of the anti-roll load mounting component 4 and arranged along the edge of the sector-shaped protection components.

[0090] Preferably, the guardrail structure includes a plurality of outer guardrail carbon tubes 409, and the plurality of outer guardrail carbon tubes 409 are arranged in an arc shape; Fig.10 shown.

[0091] Preferably, the guardrail structure is provided with four outer guardrail carbon tubes 409; the distance between every two outer guardrail carbon tubes 409 is less than 60 mm.

[0092] Furthermore, if Fig.10 As shown, the guardrail structure also includes: a load supporting base plate 404; the load supporting base plate 404 is fixedly installed between two groups of fan-shaped protection components, and is arranged perpendicular to the fan-shaped protection components and the trunk component 1; in this embodiment, the guardrail structure and the load supporting base plate 404 can cooperate to form an auxiliary load frame; when the load slides out of the load installation component, it can be received by the auxiliary load frame, which can effectively prevent the load from being spilled.

[0093] In a specific embodiment of the present invention, Fig.10 , Fig.13 As shown, the fan-shaped protection assembly includes: an anti-rollover buffer assembly 401 , an anti-rollover metal clamp plate 402 , an anti-rollover fixing bracket 403 and a metal clamp plate fixing clip 405 .

[0094] Specifically, the anti-rollover buffer component 401 is provided with anti-rollover metal clamps 402 on both the front and rear sides; the metal clamp fixing clamp 405 is used to clamp and fix the anti-rollover buffer component 401 and the double-layer anti-rollover metal clamp 402, and fix the anti-rollover buffer component 401 and the anti-rollover metal clamp 402 into one.

[0095] Furthermore, a slide groove structure is designed on the inner side of the metal clamp plate fixing clamp 405, and the load supporting base plate 404 can be slidably installed in the slide groove structure of the metal clamp plate fixing clamp 405, and then the two are fixedly connected by screws. Fig.10 As shown, the load supporting base plate 404 is installed in the slide groove structure on the inner side of two opposite metal clamp plate fixing clips 405 on the two sets of fan-shaped protection components.

[0096] Furthermore, an anti-rollover fixing bracket 403 is fixedly mounted on the trunk protection frame 101 , and the anti-rollover buffer component 401 and the anti-rollover metal splint 402 are both fixedly mounted on the trunk component 1 through the anti-rollover fixing bracket 403 .

[0097] In a specific embodiment of the present invention, Fig.13 As shown, the anti-rollover buffer component 401 is an elastic structure, and the edge of the anti-rollover buffer component 401 protrudes from the edge of the anti-rollover metal clamping plate 402 .

[0098] like Fig.13 As shown, the anti-rollover buffer assembly 401 includes: a buffer plate 4011, a buffer assembly mounting frame 4012, a buffer spring 4013, a buffer plate rotating shaft 4014, a travel guide hole 4015, an arc boss 4016 and a buffer spring guide column 4017.

[0099] Specifically, the buffer assembly mounting frame 4012 is a plate-like structure arranged parallel to the side of the trunk assembly 1;

[0100] Specifically, the buffer plate 4011 is an arc-shaped plate, one end of the buffer plate 4011 is hingedly connected to the buffer assembly mounting frame 4012 via a buffer plate rotating shaft 4014. The other end of the buffer plate 4011 is a movable end.

[0101] Specifically, an arc-shaped buffer spring guide column 4017 is arranged on the outer side of the buffer assembly mounting frame 4012; an arc-shaped boss 4016 is arranged on the inner side of the buffer plate 4011, and an arc-shaped travel guide hole 4015 is arranged inside the arc-shaped boss 4016; the buffer spring guide column 4017 can slide into the travel guide hole 4015, and then the buffer spring guide column 4017 and the arc-shaped boss 4016 are slidably matched.

[0102] Furthermore, a buffer spring 4013 is mounted on the buffer spring guide column 4017, one end of the buffer spring 4013 is in abutment contact with the end face of the arc-shaped boss 4016, and the other end is in abutment contact with the outer side face of the buffer component mounting frame 2012; when the buffer plate 4011 rotates relative to the buffer component mounting frame 4012 under the action of external impact, the buffer spring guide column 4017 and the arc-shaped boss 4016 slide relative to each other and synchronously compress the buffer spring 4013.

[0103] In this embodiment, by setting the arc-shaped boss 4016 and the arc-shaped buffer spring guide column 4017 for sliding cooperation, the arcs of the two can be relatively slipped, and the rotation of the buffer plate 4011 can be coordinated to achieve flexible buffering of the lateral impact on the robot, thereby avoiding rigid impact to damage the electrical components inside the torso component 1.

[0104] In this embodiment, the arc boss 4016 and the buffer spring guide column 4017 are slidably matched, so that the buffer plate 4011 can rotate around the buffer plate shaft 4014 when it is hit by external force, and the buffer spring 4013 is compressed by the arc boss 4016, so that the buffer spring 4013 absorbs the energy of the external force impact, thereby playing a role in reducing the impact. At the same time, the reverse elastic force of the buffer spring 4013 can promote the robot's trunk component 1 to return to the normal position and assist the robot in posture adjustment.

[0105] In the present embodiment, a group of anti-rollover buffer components 401 are installed on each group of anti-rollover fixed brackets 403, and an anti-rollover metal splint 402 is installed on both sides of the anti-rollover buffer components 401 to form an anti-rollover protection combination. When the robot tends to roll over, the anti-rollover buffer components 401 with elastic buffering function first contact the ground (or other impact components), and the anti-rollover metal splint 402 will contact the ground only after the anti-rollover buffer components 401 are compressed. When the anti-rollover buffer components 401 are compressed, they can provide a certain reverse elastic force to prompt the robot to return to the normal state; at the same time, the elastic structure design of the anti-rollover buffer components 401 can effectively improve the strength of the anti-rollover structure, while reducing the impact on the whole when rolling over.

[0106] Compared with the prior art, the technical solution provided by this embodiment has at least one of the following beneficial effects:

[0107] 1. The wheel-legged load-carrying robot of the present invention has a strong load-bearing capacity, and a traveling wheel is added to the foot end, which can improve the movement speed of the robot on a relatively flat road. At the same time, when the wheel at the foot end is locked, the robot has the high passability of a legged robot on complex roads.

[0108] 2. The wheel-legged load-carrying robot of the present invention has an anti-roll load installation assembly 4, which integrates the robot's anti-roll structure with a frame structure for installing the load, so that the robot can carry more loads while having an anti-rollover function.

[0109] 3. The wheel-legged load-carrying robot of the present invention has an anti-roll load mounting assembly 4 with an anti-impact buffer design, which can mitigate the impact of the robot's overturning on the fuselage and protect the electrical components inside the trunk assembly 1. At the same time, the anti-rollover buffer assembly 401 has an elastic buffer design. The reverse elastic force generated after the anti-rollover buffer assembly 401 is impacted can also provide a restoring torque for the robot to stand up and return to the right position, which is conducive to the robot standing up and returning to the right position after rolling over.

[0110] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A wheel-legged load-carrying robot, characterized in that: include: A trunk assembly (1), a wheel-leg assembly (2), a sensing assembly (3) and an anti-roll load mounting assembly (4); The wheel-leg assembly (2) is installed below the trunk assembly (1), and the wheel-leg assembly (2) is used to realize the walking of the robot; a sensing assembly (3) and an anti-roll load installation assembly (4) are arranged above the trunk assembly (1); The sensing component (3) is used to sense the robot's own horizontal state information and external environment information; The anti-roll load installation component (4) comprises: a load installation component and an anti-rollover protection component; the load installation component is arranged above the trunk component (1) and is used to load the load; the anti-rollover protection component is arranged on both sides of the trunk component (1).

2. The wheel-legged load-carrying robot according to claim 1, characterized in that: The trunk component (1) comprises: a trunk protection frame (101) and an electrical component; the trunk protection frame (101) comprises: a main frame (1011), a frame connecting crossbeam (1013), a trunk protection longitudinal beam (1017) and a transverse protection frame (1014).

3. The wheel-legged load-carrying robot according to claim 2, characterized in that: The main frame (1011) comprises: two left and right annular frames; the two annular frames are respectively arranged on the left and right sides of the electrical component, and the two ends of the annular frames are bent towards the central axis direction of the trunk component (1).

4. The wheel-legged load-carrying robot according to claim 3, characterized in that: The two annular frames are fixedly connected via a frame connecting crossbeam (1013); and the upper and lower trunk protection crossbeams of a single annular frame are fixedly connected via the trunk protection longitudinal beam (1017).

5. The wheel-legged load-carrying robot according to claim 4, characterized in that: The transverse protection frame (1014) is provided at both the front and rear ends of the electrical component, and the transverse protection frame (1014) is provided between the main frame (1011) and the electrical component.

6. The wheel-legged load-carrying robot according to claim 5, characterized in that: An upper cover plate (102) is fixedly mounted on the upper side of the main frame (1011); and side cover plates (103) are fixedly mounted on the left and right sides of the main frame (1011).

7. The wheel-legged load-carrying robot according to claim 1, characterized in that: The load installation assembly comprises: a vertical main carbon tube (407), a first side plate (411), a second side plate (413), a transverse carbon tube (414) and a load support plate (415); Four vertical main carbon tubes (407) are provided, and two upper and lower transverse carbon tubes (414) are connected between adjacent vertical main carbon tubes (407), and the four vertical main carbon tubes (407) and the plurality of transverse carbon tubes (414) form a rectangular load frame; the first side plate (411) is fixedly installed on the left and right sides of the rectangular load frame, and the second side plate (413) is fixedly installed on the front and rear sides of the rectangular load frame; the load support plate (415) is fixedly installed on the bottom of the rectangular load frame.

8. The wheel-legged load-carrying robot according to claim 1 or 7, characterized in that: The anti-rollover protection component is a fan-shaped structure arranged on the left and right sides of the trunk component (1).

9. The wheel-legged load-carrying robot according to claim 8, characterized in that: The fan-shaped structure comprises: two groups of fan-shaped protection components arranged in parallel and a guardrail structure connected between the two groups of fan-shaped protection components.

10. The wheel-legged load-carrying robot according to claim 9, characterized in that: The guardrail structure comprises: a carbon tube mounting seat (408) and an outer guardrail carbon tube (409); the carbon tube mounting seat (408) is fixedly connected to the side of the fan-shaped protection component, and the outer guardrail carbon tube (409) is fixedly connected between two groups of fan-shaped protection components through the carbon tube mounting seat (408).

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