Anti-rollover structure for high-speed running turning of wheel-foot robot

Abstract

The invention relates to the technical field of wheel-foot robots, and discloses an anti-rollover structure for high-speed running turning of a wheel-foot robot, which comprises a wheel-foot robot, a walking part is arranged at the bottom of the wheel-foot robot, a gravity center transfer mechanism is arranged at the bottom of the wheel-foot robot, and an energy absorption mechanism is arranged at the bottom of the wheel-foot robot. An offset mechanism is arranged at the bottom of the wheel-foot robot; the energy absorption mechanism absorbs impact force, and the gravity center transfer mechanism shifts the gravity center of the wheel-foot robot. According to the rollover prevention structure for high-speed running turning of the wheel-foot robot, by means of the gravity center transfer mechanism, when an energy absorption mechanism inclines and bears pressure, a first sealing telescopic pipe forms positive pressure to extrude a balancing weight, and the balancing weight moves in the direction away from the inclined side; the anti-tilting moment of the side is increased, centrifugal force generated by tilting is effectively counteracted, balance is kept, and toppling is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of wheel-legged robots, and in particular to a rollover prevention structure for wheel-legged robots when turning at high speed. Background Art

[0002] A wheeled-legged robot is a mobile robot that combines wheeled and legged locomotion capabilities. It usually has wheels for fast movement and is also equipped with a foot structure to walk on uneven or complex terrain. This design allows wheeled-legged robots to respond flexibly in a variety of environments and have strong adaptability. The main features include flexibility of movement, the ability to move on a variety of ground conditions, including flat roads and rugged terrain; high efficiency, the use of wheels in a suitable environment can achieve efficient straight-line movement and save energy; climbing ability, the foot structure can help the robot overcome obstacles and slopes; a wide range of applications, can be used in search and rescue, exploration, logistics and transportation, and home services. The design and control technology of wheeled-legged robots is still evolving, and researchers are working to improve their stability and intelligence.

[0003] Chinese patent CN106080828B discloses "a wheel-legged robot", which cleverly combines wheels and feet, avoids the shortcomings of their movement mechanisms, takes advantage of their strengths and overcomes their weaknesses, switches to specific movement modes in specific environments, and makes its movement mechanism more efficient and passable, adapting to most road environments; and the combination of wheels and feet reduces the possibility of rollover and speeds up the travel speed.

[0004] However, when the robot is turning, centrifugal force will cause the center of gravity to move outward, increasing the risk of rollover. If the center of gravity exceeds the projection range of the supporting base, the robot will roll over. When driving at high speed, the robot will vibrate or swing, increasing the risk of rollover. Summary of the invention

[0005] Technical issues solved In view of the deficiencies in the prior art, the present invention provides a structure for preventing a wheeled-legged robot from rolling over when driving around a corner at high speed, thereby solving the problem of a wheeled-legged robot rolling over when driving around a corner at high speed.

[0006] (II) Technical solution To achieve the above object, the present invention provides the following technical solution: a rollover prevention structure for a wheeled robot when driving at high speed through a bend, comprising a wheeled robot, a walking part is arranged at the bottom of the wheeled robot, a center of gravity transfer mechanism is arranged at the bottom of the wheeled robot, an energy absorption mechanism is arranged at the bottom of the wheeled robot, and an offset mechanism is arranged at the bottom of the wheeled robot; The energy absorption mechanism absorbs the impact force, the center of gravity transfer mechanism shifts the center of gravity of the wheeled robot, and the center of gravity transfer mechanism drives the shifting mechanism to further shift the center of gravity of the wheeled robot: Preferably, the center of gravity transfer mechanism includes a fixed frame, which is fixedly connected to the bottom surface of the wheeled robot, the inner wall of the fixed frame is fixedly connected to two sides of a spring one, the middle part of the spring one is fixedly connected to a counterweight block, the outer wall of the counterweight block is fixedly connected to one end of a sealed telescopic tube one, the other end of the sealed telescopic tube one is fixedly connected to the inner wall of the fixed frame, the outer wall of the fixed frame is fixedly connected to a hollow connecting piece, the side of the hollow connecting piece away from the fixed frame is fixedly connected to one end of a spring two, the other end of the spring two is fixedly connected to a support piece, the top of the support piece is fixedly connected to one end of a sealed telescopic tube two, and the other end of the sealed telescopic tube two is fixedly connected to the outer wall of the hollow connecting piece.

[0007] Preferably, the inner wall of the fixed frame is slidably connected to the outer wall of the counterweight, and the inner wall of the second sealed telescopic tube is connected to the inner wall of the first sealed telescopic tube via a hollow connector.

[0008] Preferably, the energy absorbing mechanism includes a sealed cavity one, which is opened on the inner wall of the support, a sealed cavity two is opened on the inner wall of the support, a vent hole is opened on the top of the support, one end of a spring three is fixedly connected to the inner wall of the sealed cavity one, the other end of the spring three is fixedly connected to a piston connector, the bottom of the piston connector is fixedly connected to a rotating plate, the inner wall of the rotating plate is rotatably connected to a support block, both sides of the support block are rotatably connected to auxiliary wheels, the outer wall of the rotating plate is fixedly connected to one end of a spiral spring, the other end of the spiral spring is fixedly connected to the inner wall of the support block, and a blocking plate is hinged at the bottom of the inner wall of the sealed cavity two.

[0009] Preferably, a through hole is provided between the sealed cavity one and the sealed cavity two, and the outer wall of the piston connector is piston-connected to the inner wall of the sealed cavity one.

[0010] Preferably, a tiny through hole is opened on the surface of the blocking plate, and a torsion spring is arranged between the outer wall of the blocking plate and the inner wall of the second sealing cavity.

[0011] Preferably, the offset mechanism includes an extrusion block, which is fixedly connected to the bottom of the counterweight block, the bottom of the fixing frame is fixedly connected to a fixing column, the bottom of the fixing column is fixedly connected to a transfer block, the bottom of the fixing frame is hinged with one end of an L-shaped piece, the other end of the L-shaped piece is hinged to a support piece, a compression cavity is opened on the inner wall of the transfer block, the inner wall of the transfer block is fixedly connected to one end of a spring four, the other end of the spring four is fixedly connected to a guide rod one, the side of the guide rod one away from the spring four is fixedly connected to an extrusion disk, the outer wall of the extrusion disk is fixedly connected to an extrusion column, the inner wall of the transfer block is fixedly connected to one end of a spring five, the other end of the spring five is fixedly connected to a guide rod two, and the outer wall of the guide rod two is fixedly connected to an output head.

[0012] Preferably, the diameter of the left cavity of the compression cavity is shorter than the diameter of the right cavity, and the outer wall of the guide rod 1 is slidably connected to the inner wall of the adapter block.

[0013] Preferably, the outer wall of the extrusion column is piston-connected to the inner wall of the compression cavity, the outer wall of the output head is piston-connected to the inner wall of the compression cavity, and the side of the output head away from the extrusion column is semicircular.

[0014] (III) Beneficial effects Compared with the prior art, the present invention provides a rollover prevention structure for a wheeled robot when turning at high speed, which has the following beneficial effects: 1. The anti-rollover structure for wheeled robots when driving at high speed through corners is set up by a center of gravity transfer mechanism. When the energy absorption mechanism is tilted and subjected to pressure, the counterweight block moves in the direction away from the tilted side. By moving the counterweight block away from the tilted side, the anti-tilting moment of the side is increased, effectively offsetting the centrifugal force generated by the tilt, maintaining balance, and avoiding tipping.

[0015] 2. The anti-rollover structure for the wheeled robot when driving around in corners at high speed uses an energy-absorbing mechanism to prevent the impact force of the auxiliary wheels suddenly contacting the ground from being squeezed and then released, causing the auxiliary wheels to rebound from the ground. When the auxiliary wheels contact the ground in a stable manner, the center of gravity of the wheeled robot can be kept stable, and it can better cope with sudden turns or ground changes, thereby reducing the risk of tipping over.

[0016] 3. The anti-rollover structure for the wheeled robot when driving around a corner at high speed is arranged by an energy-absorbing mechanism. When the walking part of the wheeled robot drives around a corner at high speed, an outward centrifugal force is generated inside the wheeled robot. This force acts together with gravity to cause the center of gravity of the wheeled robot to deviate from the supporting surface and tilt sideways. At this time, the auxiliary wheels are in contact with the ground. There are two auxiliary wheels on one side that can rotate relative to each other to fit the ground under the action of the rotating plate, so that they can better fit the uneven ground, thereby providing better grip and stability. When turning or driving on uneven ground, the relative rotation of the auxiliary wheels can help the wheeled robot maintain stability and reduce the risk of tilting or skidding.

[0017] 4. The anti-rollover structure for the wheeled robot when driving around in a curve at high speed utilizes an offset mechanism. The counterweight block drives the extrusion block to move in the direction away from the inclined side. The extrusion block squeezes the extrusion disc away from the inclined side. The extrusion disc pushes the extrusion column, so that the hydraulic oil in the compression cavity drives the output head to push the L-shaped part with greater force. The L-shaped part drives the support part away from the inclined side to rotate upward, so that the center of gravity of the wheeled robot moves in the direction away from the inclined side, which further helps to offset the center of gravity offset caused by the tilt and reduces the risk of tipping over. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of a wheel-foot robot with an anti-rollover structure for wheel-foot robots when turning at high speeds, as proposed by the present invention; Figure 2 This is a schematic diagram of the overall structure of a rollover prevention structure for a wheeled robot that is used when turning at high speeds, as proposed by the present invention; Figure 3 This is a schematic diagram of the cross-sectional structure of a fixing frame, a hollow connector and a hollow connector for a wheeled robot to prevent rollover when turning at high speed, as proposed by the present invention; Figure 4 A schematic diagram of a partial cross-sectional structure of a support member for preventing a wheeled robot from rolling over when cornering at high speed, as proposed by the present invention; Figure 5 The invention proposes a rollover prevention structure for a wheeled robot when turning at high speed. Figure 4 A schematic diagram of the enlarged structure at A in the middle; Figure 6 This is a schematic diagram of the structure of an auxiliary wheel for preventing rollover of a wheeled robot when turning at high speed, as proposed by the present invention; Figure 7 This is a schematic diagram of the structure of a spiral spring for preventing rollover of a wheeled robot when turning at high speed, as proposed by the present invention; Figure 8 This is a schematic diagram of a structural deviation mechanism for preventing rollover of a wheeled robot when turning at high speed, as proposed by the present invention; Fig. 9 The present invention provides a schematic cross-sectional structure diagram of a transition block for a wheeled robot to prevent rollover when cornering at high speed.

[0019] In the figure: 1. wheel-foot robot; 2. walking part; 3. center of gravity transfer mechanism; 31. fixed frame; 32. spring one; 33. counterweight block; 34. sealed telescopic tube one; 35. hollow connector; 36. spring two; 37. support member; 38. sealed telescopic tube two; 4. energy absorption mechanism; 41. sealed cavity one; 42. sealed cavity two; 43. vent; 44. spring three; 45. piston connector; 46. rotating plate; 47. support block; 48. auxiliary wheel; 49. scroll spring; 410. blocking plate; 5. offset mechanism; 51. extrusion block; 52. fixed column; 53. adapter block; 54. L-shaped member; 55. compression cavity; 56. spring four; 57. guide rod one; 58. extrusion disc; 59. extrusion column; 510. spring five; 511. guide rod two; 512. output head. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-Figure 9 A rollover prevention structure for a wheeled robot when driving at high speed through a curve comprises a wheeled robot 1, a walking portion 2 is arranged at the bottom of the wheeled robot 1, a center of gravity transfer mechanism 3 is arranged at the bottom of the wheeled robot 1, an energy absorption mechanism 4 is arranged at the bottom of the wheeled robot 1, and an offset mechanism 5 is arranged at the bottom of the wheeled robot 1; the energy absorption mechanism 4 absorbs impact force, the center of gravity transfer mechanism 3 offsets the center of gravity of the wheeled robot 1, and the center of gravity transfer mechanism 3 drives the offset mechanism 5 to further offset the center of gravity of the wheeled robot 1.

[0022] The center of gravity transfer mechanism 3 includes a fixed frame 31, which is fixedly connected to the bottom surface of the wheeled robot 1. The inner wall of the fixed frame 31 is fixedly connected to both sides of a spring 32. The middle part of the spring 32 is fixedly connected to a counterweight 33. The outer wall of the counterweight 33 is fixedly connected to one end of a sealed telescopic tube 34. The other end of the sealed telescopic tube 34 is fixedly connected to the inner wall of the fixed frame 31. The outer wall of the fixed frame 31 is fixedly connected to a hollow connector 35. The side of the hollow connector 35 away from the fixed frame 31 is fixedly connected to one end of a spring 36. The other end of the spring 36 is fixedly connected to the inner wall of the fixed frame 31. The end is fixedly connected to a support member 37, the top of the support member 37 is fixedly connected to one end of a sealed telescopic tube 2 38, the other end of the sealed telescopic tube 2 38 is fixedly connected to the outer wall of the hollow connecting member 35, the inner wall of the fixed frame 31 is slidably connected to the outer wall of the counterweight block 33, so that the counterweight block 33 can stably reciprocate on the inner wall of the fixed frame 31, and the inner wall of the sealed telescopic tube 2 38 is connected to the inner wall of the sealed telescopic tube 1 34 through the hollow connecting member 35, so that when the air on the inner wall of the sealed telescopic tube 2 38 is compressed, it can enter the inner wall of the sealed telescopic tube 2 38 through the hollow connecting member 35. When the energy absorbing mechanism 4 is tilted and subjected to pressure, the pressure exerted on the support member 37 drives the spring 2 36 to be bent and compressed. At this time, the sealed telescopic tube 2 38 is also compressed, and the air in the sealed telescopic tube 2 38 enters the sealed telescopic tube 1 34 through the hollow connecting member 35, so that the sealed telescopic tube 1 34 forms a positive pressure to squeeze the counterweight 33, so that the counterweight 33 moves in the direction away from the tilted side, by moving the counterweight 33 away from the tilted side.

[0023] The energy absorbing mechanism 4 comprises a sealing cavity 1 41, the sealing cavity 1 41 is provided on the inner wall of the support member 37, a sealing cavity 2 42 is provided on the inner wall of the support member 37, a vent hole 43 is provided on the top of the support member 37, one end of a spring 3 44 is fixedly connected to the inner wall of the sealing cavity 1 41, the other end of the spring 3 44 is fixedly connected to a piston connector 45, a rotating plate 46 is fixedly connected to the bottom of the piston connector 45, the inner wall of the rotating plate 46 is rotatably connected to a support block 47, auxiliary wheels 48 are rotatably connected to both sides of the support block 47, one end of a volute spring 49 is fixedly connected to the outer wall of the rotating plate 46, the other end of the volute spring 49 is fixedly connected to the inner wall of the support block 47, a blocking plate 410 is hingedly connected to the bottom of the inner wall of the sealing cavity 2 42, a through hole is provided between the sealing cavity 1 41 and the sealing cavity 2 42, so that the air in the sealing cavity 1 41 can enter through the through hole. Into the sealed cavity 2 42, the outer wall of the piston connector 45 is piston-connected with the inner wall of the sealed cavity 1 41, so that the piston connector 45 can slide up and down stably, and the piston connector 45 can squeeze the air in the sealed cavity 1 41, and the surface of the blocking plate 410 is provided with tiny through holes, and the air can slowly pass through the tiny through holes on the surface of the blocking plate 410, and a torsion spring is arranged between the outer wall of the blocking plate 410 and the inner wall of the sealed cavity 2 42, and the torsion spring drives the blocking plate 410 to block the through hole at the bottom of the sealed cavity 2 42. When the walking part 2 of the wheeled robot 1 travels through a curve at high speed, an outward centrifugal force will be generated inside the wheeled robot 1, and this force acts together with gravity to cause the center of gravity of the wheeled robot 1 to deviate from the support surface and tilt to the side. At this time, the auxiliary wheels 48 are in contact with the ground, and there are two auxiliary wheels 48 on one side which can rotate relative to each other to fit the ground under the action of the rotating plate 46. The pressure reaction received by the auxiliary wheel 48 is transmitted to the support block 47, the rotating plate 46, and the piston connector 45, so that the spring three 44 is squeezed. At this time, the piston connector 45 squeezes the air in the sealed cavity one 41, and the squeezed air hits the blocking plate 410 and enters the sealed cavity two 42. When the sealed cavity one 41 is no longer under positive pressure, the torsion spring drives the blocking plate 410 to return to its original position. At this time, the outside air can only slowly enter the sealed cavity one 41 through the small holes on the surface of the blocking plate 410. The spring three 44 drives the piston connector 45 downward. At this time, a negative pressure is formed in the sealed cavity one 41, so that the piston connector 45 can only move downward slowly, thereby preventing the impact force of the auxiliary wheel 48 suddenly hitting the ground from being squeezed and then released.

[0024] The offset mechanism 5 includes an extrusion block 51, which is fixedly connected to the bottom of the counterweight block 33. The bottom of the fixed frame 31 is fixedly connected to a fixing column 52, and the bottom of the fixing column 52 is fixedly connected to an adapter block 53. The bottom of the fixed frame 31 is hinged with one end of an L-shaped member 54, and the other end of the L-shaped member 54 is hinged to the support member 37. A compression cavity 55 is opened on the inner wall of the adapter block 53. The inner wall of the adapter block 53 is fixedly connected to one end of a spring four 56, and the other end of the spring four 56 is fixedly connected to a guide rod one 57. The side of the guide rod one 57 away from the spring four 56 is fixedly connected to an extrusion disc 58, and the outer wall of the extrusion disc 58 is fixedly connected to an extrusion column 59. The inner wall of the adapter block 53 is fixedly connected to one end of a spring five 510, and the other end of the spring five 510 is fixedly connected to a guide rod two 511. The outer wall of the guide rod two 511 is fixedly connected to an output head 512. The compression cavity 55 The diameter of the left cavity is shorter than that of the right cavity. When the diameter of the left cavity is smaller than that of the right cavity, during compression, the pressure of the hydraulic oil will be higher on the left side. This is because of the relationship between pressure and area. According to Pascal's principle, the pressure of the liquid in a confined space will be evenly transmitted. The cross-sectional area of ​​the left cavity is small, and the applied pressure is high; the cross-sectional area of ​​the right cavity is large, and it can withstand greater force. High pressure acts on a large area, resulting in the right cavity being able to output greater force. The outer wall of the guide rod 57 is slidably connected to the inner wall of the adapter block 53, the outer wall of the extrusion column 59 is piston-connected to the inner wall of the compression cavity 55, and the outer wall of the output head 512 is piston-connected to the inner wall of the compression cavity 55. The side of the output head 512 away from the extrusion column 59 is semicircular. The semicircular design can reduce the local stress concentration that may occur during the extrusion process and reduce the risk of deformation, so that the output head 512 can better extrude the L-shaped part 54. When the energy absorbing mechanism 4 is tilted and subjected to pressure, the pressure exerted on the support member 37 drives the spring 2 36 to be bent and compressed. At this time, the sealed telescopic tube 2 38 is also compressed, and the air in the sealed telescopic tube 2 38 enters the sealed telescopic tube 1 34 through the hollow connecting member 35, so that the sealed telescopic tube 1 34 forms a positive pressure to squeeze the counterweight 33, so that the counterweight 33 moves in the direction away from the tilted side, by moving the counterweight 33 away from the tilted side.

[0025] To summarize, the anti-rollover structure for the wheeled robot 1 when driving around a corner at high speed, when the walking part 2 of the wheeled robot 1 is driving around a corner at high speed, an outward centrifugal force will be generated inside the wheeled robot 1, and this force together with gravity will cause the center of gravity of the wheeled robot 1 to deviate from the supporting surface and tilt sideways. At this time, the auxiliary wheels 48 are in contact with the ground, and there are two auxiliary wheels 48 on one side which can rotate relative to each other to fit the ground under the action of the rotating plate 46, so that they can better fit the uneven ground, thereby providing better grip and stability. When turning or driving on uneven ground, the relative rotation of the auxiliary wheels 48 can help the wheeled robot 1 maintain stability and reduce the risk of tilting or skidding.

[0026] At this time, the pressure reaction received by the auxiliary wheel 48 is transmitted to the support block 47, the rotating plate 46, and the piston connector 45, so that the spring three 44 is squeezed. At this time, the piston connector 45 squeezes the air in the sealed cavity 1 41, and the squeezed air hits the blocking plate 410 and enters the sealed cavity 2 42. When the sealed cavity 1 41 is no longer under positive pressure, the torsion spring drives the blocking plate 410 to return to its original position. At this time, the outside air can only slowly enter the sealed cavity 1 41 through the small holes on the surface of the blocking plate 410. The spring three 44 drives the piston connector 45 downward. At this time, a negative pressure is formed in the sealed cavity 1 41, so that the piston connector 45 can only move downward slowly, avoiding the impact force of the auxiliary wheel 48 suddenly hitting the ground and being squeezed and then released, causing the auxiliary wheel 48 to rebound from the ground. When the auxiliary wheel 48 contacts the ground in a stable manner, the center of gravity of the wheeled robot 1 can be kept stable, and it can better cope with sudden turns or ground changes, thereby reducing the risk of tipping over.

[0027] When the energy absorbing mechanism 4 is tilted and subjected to pressure, the pressure exerted on the support member 37 drives the spring 2 36 to bend and compress. At this time, the sealed telescopic tube 2 38 is also compressed. The air in the sealed telescopic tube 2 38 enters the sealed telescopic tube 1 34 through the hollow connector 35, so that the sealed telescopic tube 1 34 forms a positive pressure to squeeze the counterweight 33, causing the counterweight 33 to move away from the tilted side. By moving the counterweight 33 away from the tilted side, the anti-tilting moment of this side is increased, effectively offsetting the centrifugal force caused by the tilt, maintaining balance, and avoiding tipping.

[0028] The counterweight block 33 drives the extrusion block 51 to move in the direction away from the inclined side, and the extrusion block 51 squeezes the extrusion disc 58 away from the inclined side, and the extrusion disc 58 pushes the extrusion column 59, so that the hydraulic oil in the compression cavity 55 drives the output head 512 to push the L-shaped part 54 with greater force, and the L-shaped part 54 drives the support part 37 away from the inclined side to rotate upward, so that the center of gravity of the wheeled robot 1 moves in the direction away from the inclined side, which further helps to offset the center of gravity shift caused by the tilt and reduces the risk of tipping.

[0029] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A rollover prevention structure for a wheeled robot when turning at high speed, comprising a wheeled robot (1), characterized in that: The bottom of the wheeled-legged robot (1) is provided with a walking part (2), the bottom of the wheeled-legged robot (1) is provided with a center of gravity transfer mechanism (3), the bottom of the wheeled-legged robot (1) is provided with an energy absorption mechanism (4), and the bottom of the wheeled-legged robot (1) is provided with a deflection mechanism (5); The energy absorption mechanism (4) absorbs impact force, the center of gravity transfer mechanism (3) shifts the center of gravity of the wheeled robot (1), and the center of gravity transfer mechanism (3) drives the shifting mechanism (5) to further shift the center of gravity of the wheeled robot (1).

2. The anti-rollover structure for a wheeled robot when turning at high speed according to claim 1, characterized in that: The center of gravity transfer mechanism (3) comprises a fixed frame (31), the fixed frame (31) is fixedly connected to the bottom surface of the wheeled robot (1), the inner wall of the fixed frame (31) is fixedly connected to two sides of a spring (32), the middle part of the spring (32) is fixedly connected to a counterweight (33), the outer wall of the counterweight (33) is fixedly connected to one end of a sealed telescopic tube (34), the other end of the sealed telescopic tube (34) is fixedly connected to the inner wall of the fixed frame (31), the outer wall of the fixed frame (31) is fixedly connected to a hollow connecting piece (35), the side of the hollow connecting piece (35) away from the fixed frame (31) is fixedly connected to one end of a spring (36), the other end of the spring (36) is fixedly connected to a support piece (37), the top of the support piece (37) is fixedly connected to one end of a sealed telescopic tube (38), the other end of the sealed telescopic tube (38) is fixedly connected to the outer wall of the hollow connecting piece (35).

3. The anti-rollover structure for a wheeled robot when turning at high speed according to claim 2, characterized in that: The inner wall of the fixed frame (31) is slidably connected to the outer wall of the counterweight (33), and the inner wall of the second sealed telescopic tube (38) is connected to the inner wall of the first sealed telescopic tube (34) via a hollow connecting piece (35).

4. The anti-rollover structure for a wheeled robot when turning at high speed according to claim 2, characterized in that: The energy absorbing mechanism (4) comprises a sealing cavity one (41), wherein the sealing cavity one (41) is provided on the inner wall of the support member (37), a sealing cavity two (42) is provided on the inner wall of the support member (37), a vent hole (43) is provided on the top of the support member (37), one end of a spring three (44) is fixedly connected to the inner wall of the sealing cavity one (41), the other end of the spring three (44) is fixedly connected to a piston connecting member (45), the bottom of the piston connecting member (45) is fixedly connected to a rotating plate (46), the inner wall of the rotating plate (46) is rotatably connected to a support block (47), both sides of the support block (47) are rotatably connected to auxiliary wheels (48), one end of a volute spring (49) is fixedly connected to the outer wall of the rotating plate (46), the other end of the volute spring (49) is fixedly connected to the inner wall of the support block (47), and a blocking plate (410) is hingedly connected to the bottom of the inner wall of the sealing cavity two (42).

5. The anti-rollover structure for a wheeled robot when turning at high speed according to claim 4, characterized in that: A through hole is provided between the sealing cavity one (41) and the sealing cavity two (42), and the outer wall of the piston connecting member (45) is piston-connected to the inner wall of the sealing cavity one (41).

6. The anti-rollover structure for a wheeled robot when turning at high speed according to claim 4, characterized in that: A micro through hole is provided on the surface of the blocking plate (410), and a torsion spring is provided between the outer wall of the blocking plate (410) and the inner wall of the second sealing cavity (42).

7. The anti-rollover structure for a wheeled robot when turning at high speed according to claim 2, characterized in that: The offset mechanism (5) comprises an extrusion block (51), the extrusion block (51) being fixedly connected to the bottom of the counterweight block (33), the bottom of the fixing frame (31) being fixedly connected to a fixing column (52), the bottom of the fixing column (52) being fixedly connected to a transfer block (53), the bottom of the fixing frame (31) being hinged to one end of an L-shaped member (54), the other end of the L-shaped member (54) being hinged to a support member (37), a compression cavity (55) being provided on the inner wall of the transfer block (53), and the inner wall of the transfer block (53) being fixedly connected to a One end of spring four (56), the other end of the spring four (56) is fixedly connected to a guide rod one (57), the side of the guide rod one (57) away from the spring four (56) is fixedly connected to an extrusion disc (58), the outer wall of the extrusion disc (58) is fixedly connected to an extrusion column (59), the inner wall of the adapter block (53) is fixedly connected to one end of spring five (510), the other end of the spring five (510) is fixedly connected to a guide rod two (511), and the outer wall of the guide rod two (511) is fixedly connected to an output head (512).

8. The anti-rollover structure for a wheeled robot when turning at high speed according to claim 7, characterized in that: The diameter of the left cavity of the compression cavity (55) is shorter than the diameter of the right cavity, and the outer wall of the guide rod 1 (57) is slidably connected to the inner wall of the adapter block (53).

9. The anti-rollover structure for a wheeled robot when turning at high speed according to claim 7, characterized in that: The outer wall of the extrusion column (59) is piston-connected to the inner wall of the compression cavity (55), the outer wall of the output head (512) is piston-connected to the inner wall of the compression cavity (55), and the side of the output head (512) away from the extrusion column (59) is semicircular.

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