Wheel-foot robot capable of crossing obstacles through joint combination wheels

Abstract

The invention discloses a wheel-foot robot capable of crossing obstacles through joint combination wheels, and relates to the technical field of wheel-foot robots, the wheel-foot robot comprises a robot main body, driving shafts are rotatably mounted on the side walls of the two ends of the robot main body, outer arms are rotatably mounted at the ends, away from the robot main body, of the driving shafts, and driving arms are rotatably mounted at the bottom ends of the outer arms; the side wall of the driving arm is rotatably provided with a driving wheel, the bottom of the robot main body is fixedly provided with a control module, the bottom of the front end of the robot main body is provided with an obstacle crossing device, and through the arrangement of the obstacle crossing device, after the obstacle crossing wheels touch steps, the triangular arrangement of an obstacle crossing disc enables the obstacle crossing disc to rotate on the outer wall of the inner arm; therefore, the robot body can climb the stairs smoothly when facing the obstacles on the steps, the high flexibility and adaptability of the robot are shown, and the strong coping capacity of the robot in the complex environment is reflected.

Description

Technical Field

[0001] The invention relates to the technical field of wheel-legged robots, in particular to a wheel-legged robot capable of traversing obstacles by utilizing joint-combined wheels. Background Art

[0002] On flat ground, wheeled robots can move at high speed and efficiently; when faced with complex terrain, they can achieve excellent obstacle crossing capabilities through the articulated wheels. They are widely used in military reconnaissance, rescue missions, industrial inspections and other fields, and can meet the dual needs of mobile speed and obstacle crossing performance in different scenarios.

[0003] The patent with patent announcement number C HYPERLINK "https: / / ip.top / patentDetail?q=663b31b65dbd820020af749d" \o "Public (Announcement) Number: CN220842753U" \t "https: / / ip.top / _blank" N220842753U discloses a wheeled robot suitable for multiple scenarios. The patent discloses a wheeled robot suitable for multiple scenarios, which can not only move forward quickly using the driving wheel assembly, but also has the ability to overcome obstacles in multiple dimensions. Therefore, it has strong adaptability to usage scenarios, and the overall structural layout is reasonable, the center of gravity is suitable, the stability during work is good, the energy consumption is relatively low, and the endurance is guaranteed. The main structure of this patent includes a main unit, an inductive communication component, a battery component and a pair of leg components. The inductive communication component is arranged on the front side of the body, the battery component is arranged on the rear side of the body, and there is a middle space under the body. The leg component includes a connecting rod mechanism, a driving component and a driving wheel assembly. The lateral rotation joint is used to drive the leg assembly to rotate lateraly. A part of the driving component is in the middle space, and a part of the lateral rotation joint is in the middle space. The rotation center line of the driving wheel assembly, the lateral rotation joint and the inductive communication component are arranged in sequence along the forward direction of the driving wheel assembly.

[0004] In the above patent, the wheeled-legged robot that is currently applicable to multiple scenarios has the following problems: when the robot is used in stairwells, it climbs the stairs slowly, and due to the upward slope of the stairs, it is easy to cause its center of gravity to be unstable, resulting in rolling and causing damage to the robot. Therefore, we propose a wheeled-legged robot that can use joint-combined wheels to overcome obstacles. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a wheel-legged robot that can overcome obstacles using joint-combined wheels, thereby solving the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a wheeled robot that can use joint combination wheels to overcome obstacles, including a robot body, drive shafts are rotatably installed on the side walls at both ends of the robot body, an outer arm is rotatably installed on the end of the drive shaft away from the robot body, a drive arm is rotatably installed on the bottom end of the outer arm, a drive wheel is rotatably installed on the side wall of the drive arm, a control module is fixedly installed on the bottom of the robot body, an obstacle crossing device is arranged at the bottom of the front end of the robot body, a balancing device is arranged on the outer wall of the robot body, and the obstacle crossing device includes a fixed shaft, an inner arm, an obstacle crossing disk, a first rotating shaft, a large gear, a second rotating shaft, a small gear, a third rotating shaft, and an obstacle crossing disk. An obstacle wheel, a transmission bar and an outer shell, wherein the fixed shaft is fixedly mounted on the side opposite to the outer arm, the top end of the inner arm is rotatably mounted on the outer wall of the fixed shaft, the obstacle crossing plate is rotatably mounted on the side opposite to the bottom end of the inner arm, the rotating shaft one passes through and is rotatably mounted on the outer wall of the obstacle crossing plate, the large gear is fixedly mounted on the outer wall of the rotating shaft one, the rotating shaft two is rotatably mounted on the side of the obstacle crossing plate away from the outer arm, the small gear is fixedly mounted on the outer wall of the rotating shaft two, the rotating shaft three is rotatably mounted at the triangle on the side of the obstacle crossing plate away from the outer wall, the obstacle crossing wheel is fixedly mounted on the outer wall of the rotating shaft three, the two ends of the transmission bar are rotatably mounted on the outer walls of the rotating shaft two and the rotating shaft three respectively, and the outer shell is mounted on the side of the obstacle crossing plate away from the outer arm.

[0007] According to the above technical solution, the inner arm is driven by the elements of the control module, the obstacle disc is arranged in a triangle, the rotating shaft is driven by the elements of the control module, the number of the small gears is three, and the three small gears are meshed with the outer wall of the large gear.

[0008] According to the above technical solution, the obstacle crossing device also includes an outer shell, a spring and a rubber pad. The outer shell is fixedly installed on the outer wall of the outer shell, the bottom end of the spring is fixedly installed on the bottom of the inner wall of the outer shell, and the rubber pad is slidably installed on the inner wall of the outer shell.

[0009] According to the above technical solution, the number of the outer shells is three, the spring sheet is elastically arranged, and the bottom of the rubber pad is in contact with the top of the spring sheet.

[0010] According to the above technical solution, the balancing device includes a rotating plate, a torsion block, an L-shaped connecting frame, a mounting column and a balancing wheel. One end of the rotating plate is mounted on the outer wall of the fixed shaft, the torsion block is rotatably mounted on the other end of the rotating plate, one end of the L-shaped connecting frame is fixedly mounted on the end of the torsion block away from the rotating plate, the mounting column is fixedly mounted on the other end of the L-shaped connecting frame, and the balancing wheel is rotatably mounted on the inner wall of the mounting column through a bearing.

[0011] According to the above technical solution, the number of the rotating plates is two, the torsion block is driven by the elements of the control module, and the L-shaped connecting frame is tilted.

[0012] According to the above technical solution, the balancing device also includes a rotating shaft four, an arc rod, a fixed rod, a resistance rod and a support rod. The rotating shaft four is fixedly installed on the outer wall of the rotating shaft one, the arc rod is fixedly installed on the outer wall of the rotating shaft four, the fixed rod is fixedly installed on the side of the rotating plate away from the L-shaped connecting frame, the resistance rod is rotatably installed on the outer wall of the fixed rod, and the support rod is fixedly installed on the outer wall of the resistance rod.

[0013] According to the above technical solution, the end of the interference rod close to the arc rod is set as an arc surface, and the interference rod is located on the movement trajectory of the arc rod, and the end of the support rod away from the interference rod is set as a sharp angle.

[0014] The present invention provides a wheel-foot robot that can use joint-combined wheels to overcome obstacles. It has the following beneficial effects: (1) The invention adopts the setting of the obstacle-crossing device. After the obstacle-crossing wheel touches the step, the triangular setting of the obstacle-crossing plate will make the obstacle-crossing plate rotate on the outer wall of the inner arm, so as to cross the step and complete the stair climbing operation. This enables the robot body to climb smoothly when facing the step obstacle. This not only demonstrates the high flexibility and adaptability of the robot, but also reflects its strong coping ability in complex environments. The rubber pad recesses the corner of the step into the surface of the rubber pad, providing a stable friction force for the obstacle-crossing plate to lift upward, which helps the obstacle-crossing plate to remain stable during the lifting process and is not easy to slip. This further enhances the stability and safety of the robot when climbing stairs and ensures that the obstacle-crossing plate can effectively overcome the step obstacle and successfully complete the stair climbing operation.

[0015] (2) The invention adopts the setting of a balancing device. The mounting column drives the balancing wheel to rotate counterclockwise. The balancing wheel can cooperate with the obstacle-crossing wheel to move forward, which helps to prevent the robot from tipping over due to the shift of the center of gravity when climbing stairs. It can also ensure that the robot remains stable and flexible in complex terrain. The resistance rod drives the support rod at the other end to rotate counterclockwise. The support rod applies a supporting force to the platform behind the steps, so that the main body of the robot moves upward. The support of the rear wheels is achieved through mechanical transmission, which reduces cost loss. The support rod can quickly adjust the center of gravity to ensure that the front wheel foot can provide sufficient thrust to enable the robot to climb the steps smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view schematic diagram of the structure of the present invention; Figure 2 It is a bottom view schematic diagram of the structure of the present invention; Figure 3 It is a cross-sectional schematic diagram of the obstacle crossing device and the balancing device of the present invention; Figure 4 is a cross-sectional schematic diagram of the obstacle crossing device of the present invention; Figure 5 For the present invention Figure 4A magnified schematic diagram; Figure 6 is a cross-sectional schematic diagram of the balancing device of the present invention; Figure 7 For the present invention Figure 6 Enlarged schematic diagram of point B.

[0017] In the figure: 1. robot body; 11. drive shaft; 12. outer arm; 13. drive arm; 14. drive wheel; 15. control module; 2. obstacle crossing device; 21. fixed shaft; 22. inner arm; 23. obstacle crossing disk; 24. rotating shaft one; 241. large gear; 25. rotating shaft two; 251. small gear; 26. rotating shaft three; 261. obstacle crossing wheel; 27. transmission bar; 28. outer shell; 29. ​​outer shell; 210. spring piece; 211. rubber pad; 3. balancing device; 31. rotating plate; 32. torsion block; 33. L-shaped connecting frame; 34. mounting column; 35. balancing wheel; 36. rotating shaft four; 37. arc rod; 38. fixed rod; 39. resistance rod; 310. support rod. DETAILED DESCRIPTION

[0018] 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.

[0019] See also Figure 1-Figure 5An embodiment of the present invention is: a wheeled robot that can use joint combination wheels to overcome obstacles, including a robot body 1, a driving shaft 11 is rotatably installed on the side walls of both ends of the robot body 1, an outer arm 12 is rotatably installed on the end of the driving shaft 11 away from the robot body 1, a driving arm 13 is rotatably installed on the bottom end of the outer arm 12, and a driving wheel 14 is rotatably installed on the side wall of the driving arm 13, a control module 15 is fixedly installed at the bottom of the robot body 1, an obstacle crossing device 2 is arranged at the bottom of the front end of the robot body 1, and a balancing device 3 is arranged on the outer wall of the robot body 1. The obstacle crossing device 2 includes a fixed shaft 21, an inner arm 22, an obstacle crossing disk 23, a rotating shaft 1 24, a large gear 241, a rotating shaft 25, a small gear 251, a rotating shaft 3 26, and an obstacle crossing wheel 261, transmission bar 27 and shell 28, fixed shaft 21 is fixedly installed on the side opposite to the outer arm 12, the top end of the inner arm 22 is rotatably installed on the outer wall of the fixed shaft 21, the inner arm 22 is driven by the components of the control module 15, when the robot body 1 needs to climb stairs, the control module 15 will control the inner arm 22 to rotate downward on the outer wall of the fixed shaft 21, the obstacle plate 23 is rotatably installed on the side opposite to the bottom end of the inner arm 22, the obstacle plate 23 is triangularly arranged, the inner arm 22 drives the obstacle plate 23 to rotate counterclockwise, the rotating shaft 1 24 passes through and is rotatably installed on the outer wall of the obstacle plate 23, the rotating shaft 1 24 is driven by the components of the control module 15, the large gear 241 is fixedly installed on the outer wall of the rotating shaft 1 24, the rotating shaft 25 is rotatably installed on the far side of the obstacle plate 23 On the side away from the outer arm 12, the small gear 251 is fixedly mounted on the outer wall of the rotating shaft 25, the number of the small gears 251 is three, and the three small gears 251 are meshed with the outer wall of the large gear 241, the rotating shaft 3 26 is rotatably mounted on the triangle of the obstacle crossing disk 23 away from the outer arm 12, the obstacle crossing wheel 261 is fixedly mounted on the outer wall of the rotating shaft 3 26, the obstacle crossing disk 23 drives the rotating shaft 3 26 to rotate counterclockwise, and the rotating shaft 3 26 drives the obstacle crossing wheel 261 to rotate counterclockwise. When the inner arm 22 rotates to be parallel to the driving arm 13 and stops, the obstacle crossing wheel 261 contacts the ground at this time, and the control module 15 controls the rotating shaft 1 24 to rotate counterclockwise, the rotating shaft 1 24 drives the large gear 241 to rotate counterclockwise, and the large gear 241 drives the small gear 251 to rotate clockwise on the outer wall of the rotating shaft 2 25 The outer shell 28 is installed on the side of the obstacle plate 23 away from the outer arm 12, and the shaft 25 drives the transmission bar 27 to rotate clockwise, and the transmission bar 27 drives the shaft 3 26 to rotate clockwise, and the shaft 3 26 drives the obstacle crossing wheel 261 to rotate clockwise, and the obstacle crossing wheel 261 moves forward. After the obstacle crossing wheel 261 touches the step, the triangular setting of the obstacle crossing plate 23 will make the obstacle crossing plate 23 rotate on the outer wall of the inner arm 22, so as to cross the step and complete the stair climbing operation, realizing the smooth climbing of the robot body 1 when facing the step obstacle, which not only demonstrates the high flexibility and adaptability of the robot, but also reflects its strong coping ability in complex environment.

[0020] The obstacle crossing device 2 also includes an outer shell 29, a spring piece 210 and a rubber pad 211. The outer shell 29 is fixedly mounted on the outer wall of the outer shell 28. There are three outer shells 29. The bottom end of the spring piece 210 is fixedly mounted on the bottom of the inner wall of the outer shell 29. The spring piece 210 is elastically arranged. The rubber pad 211 is slidably mounted on the inner wall of the outer shell 29. The bottom of the rubber pad 211 contacts the top of the spring piece 210. When the triangular arc surface of the obstacle crossing plate 23 contacts the step, the rubber pad 211 on the outer shell 29 will contact the step first, and the rubber pad 211 will contact the step on the outer shell 29. The inner wall of the shell 29 slides inward, and the rubber pad 211 resists outward through the elasticity of the spring sheet 210, so that the rubber pad 211 fits the corner of the step in the gap when climbing the stairs. The rubber pad 211 recesses the corner of the step into the surface of the rubber pad 211, providing a stable friction force for the obstacle climbing plate 23 to lift upward, which helps the obstacle climbing plate 23 to remain stable during the lifting process and is not easy to slip, further enhancing the stability and safety of the robot when climbing stairs, and ensuring that the obstacle climbing plate 23 can effectively overcome the step obstacles and successfully complete the climbing operation.

[0021] When the robot body 1 is working, when it needs to climb stairs, the control module 15 controls the inner arm 22 to rotate downward on the outer wall of the fixed shaft 21, and the inner arm 22 drives the obstacle plate 23 to rotate counterclockwise, and the obstacle plate 23 drives the rotating shaft 3 26 to rotate counterclockwise, and the rotating shaft 3 26 drives the obstacle wheel 261 to rotate counterclockwise. When the inner arm 22 rotates to be parallel to the driving arm 13, it stops. At this time, the obstacle wheel 261 contacts the ground, and the control module 15 controls the rotating shaft 1 24 to rotate counterclockwise, and the rotating shaft 1 24 drives the large gear 241 to rotate counterclockwise, and the large gear 241 drives the small gear 251 on the rotating shaft 2 25 The outer wall of the inner arm 22 rotates clockwise, the rotating shaft 25 drives the transmission bar 27 to rotate clockwise, the transmission bar 27 drives the rotating shaft 3 26 to rotate clockwise, the rotating shaft 3 26 drives the obstacle crossing wheel 261 to rotate clockwise, the obstacle crossing wheel 261 moves forward, and after the obstacle crossing wheel 261 touches the step, the triangular setting of the obstacle crossing plate 23 will make the obstacle crossing plate 23 rotate on the outer wall of the inner arm 22, so as to cross the step and complete the stair climbing operation, which realizes the smooth climbing of the robot body 1 when facing the step obstacle, which not only demonstrates the high flexibility and adaptability of the robot, but also reflects its strong coping ability in complex environments.

[0022] When the triangular arc surface of the obstacle climbing plate 23 contacts the step, the rubber pad 211 on the outer shell 29 will first contact the step, and the rubber pad 211 will slide inward on the inner wall of the outer shell 29. The rubber pad 211 will resist outward through the elasticity of the spring piece 210, so that the rubber pad 211 fits the corner of the step in the gap of climbing the stairs. The rubber pad 211 recesses the corner of the step into the surface of the rubber pad 211, providing a stable friction force for the obstacle climbing plate 23 to lift upward, which helps the obstacle climbing plate 23 to remain stable during the lifting process and is not easy to slip, further enhancing the stability and safety of the robot when climbing stairs, and ensuring that the obstacle climbing plate 23 can effectively overcome the step obstacles and successfully complete the stair climbing operation.

[0023] See also Figure 6-Figure 7 On the basis of the above embodiment, in another embodiment of the present invention, the balancing device 3 includes a rotating plate 31, a torsion block 32, an L-shaped connecting frame 33, a mounting column 34 and a balancing wheel 35. One end of the rotating plate 31 is mounted on the outer wall of the fixed shaft 21. There are two rotating plates 31. When the robot body 1 is climbing stairs, its center of gravity will change, causing it to tip over. At this time, the control module 15 will control the rotating plate 31 to rotate counterclockwise, and the torsion block 32 is rotatably mounted on the other end of the rotating plate 31. The torsion block 32 is driven by the components of the control module 15, and the rotating plate 31 drives the torsion block 32 to rotate counterclockwise. The L-shaped connecting frame 33 is mounted on the mounting column 34 and the balancing wheel 35. One end of the connecting frame 33 is fixedly installed on the end of the torsion block 32 away from the rotating plate 31. The torsion block 32 drives the L-shaped connecting frame 33 to rotate counterclockwise. The L-shaped connecting frame 33 is inclined. The mounting column 34 is fixedly installed on the other end of the L-shaped connecting frame 33. The L-shaped connecting frame 33 drives the mounting column 34 to rotate counterclockwise. The balancing wheel 35 is rotatably installed on the inner wall of the mounting column 34 through a bearing. The mounting column 34 drives the balancing wheel 35 to rotate counterclockwise. The balancing wheel 35 can cooperate with the obstacle crossing wheel 261 to move forward, which helps prevent the robot from tipping over due to the shift of the center of gravity when climbing stairs, and can also ensure that it remains stable and flexible in complex terrain.

[0024] The balancing device 3 also includes a rotating shaft 4 36, an arc rod 37, a fixed rod 38, a contact rod 39 and a support rod 310. The rotating shaft 4 36 is fixedly mounted on the outer wall of the rotating shaft 1 24. When the obstacle-crossing wheel 261 goes up the steps, the rear driving wheel 14 will be suspended in the air and the landing point will be missing, thereby causing the robot to fail to climb the stairs. At this time, the rotating shaft 1 24 drives the rotating shaft 4 36 to rotate counterclockwise, the arc rod 37 is fixedly mounted on the outer wall of the rotating shaft 4 36, and the rotating shaft 4 36 drives the arc rod 37 to rotate counterclockwise. The fixed rod 38 is fixedly mounted on the side of the rotating plate 31 away from the L-shaped connecting frame 33, and the contact rod 39 is rotatably mounted on the outer wall of the fixed rod 38. The end of the contact rod 39 close to the arc rod 37 is designed as an arc surface. The arc surface of the arc rod 37 will contact the resistance rod 39 on the fixed rod 38, causing the resistance rod 39 to rotate counterclockwise. The support rod 310 is fixedly mounted on the outer wall of the resistance rod 39, and the end of the support rod 310 away from the resistance rod 39 is set as a sharp angle. The resistance rod 39 drives the support rod 310 at the other end to rotate counterclockwise. The support rod 310 applies a supporting force to the platform behind the step, thereby causing the robot body 1 to move upward. The support of the rear wheels is achieved through mechanical transmission, reducing cost losses. The support rod 310 can quickly adjust the center of gravity to ensure that the front wheel foot can provide sufficient thrust to enable the robot to climb over the steps smoothly.

[0025] When this embodiment is working, when the robot body 1 is climbing stairs, its own center of gravity will change, causing it to tip over. At this time, the control module 15 will control the turn plate 31 to rotate counterclockwise, the turn plate 31 drives the torsion block 32 to rotate counterclockwise, the torsion block 32 drives the L-shaped connecting frame 33 to rotate counterclockwise, the L-shaped connecting frame 33 drives the mounting column 34 to rotate counterclockwise, and the mounting column 34 drives the balance wheel 35 to rotate counterclockwise. The balance wheel 35 can cooperate with the obstacle crossing wheel 261 to move forward, which helps prevent the robot from tipping over due to the shift of the center of gravity when climbing stairs, and can also ensure that it remains stable and flexible in complex terrain.

[0026] When the obstacle-crossing wheel 261 goes up the steps, the rear driving wheel 14 will be suspended in the air and will miss the landing point, causing the robot to fail to climb the stairs. At this time, the rotating shaft 1 24 drives the rotating shaft 4 36 to rotate counterclockwise, and the rotating shaft 4 36 drives the arc rod 37 to rotate counterclockwise. The arc surface of the arc rod 37 will contact the resistance rod 39 on the fixed rod 38, causing the resistance rod 39 to rotate counterclockwise. The resistance rod 39 drives the support rod 310 at the other end to rotate counterclockwise. The support rod 310 applies a supporting force to the platform behind the steps, thereby causing the robot body 1 to move upward. The support of the rear wheels is achieved through mechanical transmission, reducing cost losses. The support rod 310 can quickly adjust the center of gravity to ensure that the front wheel foot can provide sufficient thrust to enable the robot to climb the steps smoothly.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wheel-foot robot capable of overcoming obstacles by using joint-combined wheels, comprising a robot body (1), characterized in that: A driving shaft (11) is rotatably mounted on the side walls at both ends of the robot body (1); an outer arm (12) is rotatably mounted on one end of the driving shaft (11) away from the robot body (1); a driving arm (13) is rotatably mounted on the bottom end of the outer arm (12); a driving wheel (14) is rotatably mounted on the side wall of the driving arm (13); a control module (15) is fixedly mounted on the bottom of the robot body (1); an obstacle crossing device (2) is arranged at the bottom of the front end of the robot body (1); a balancing device (3) is arranged on the outer wall of the robot body (1); the obstacle crossing device (2) comprises a fixed shaft (21), an inner arm (22), an obstacle crossing disk (23), a rotating shaft 1 (24), a large gear (241), a rotating shaft 2 (25), a small gear (251), a rotating shaft 3 (26), an obstacle crossing wheel (261), a transmission bar (27) and a housing (28); the fixed shaft (21) is fixedly mounted on the outer arm ( The top end of the inner arm (22) is rotatably mounted on the outer wall of the fixed shaft (21), the obstacle-crossing disc (23) is rotatably mounted on the side opposite to the bottom end of the inner arm (22), the rotating shaft (24) passes through and is rotatably mounted on the outer wall of the obstacle-crossing disc (23), the large gear (241) is fixedly mounted on the outer wall of the rotating shaft (24), the rotating shaft (25) is rotatably mounted on the side of the obstacle-crossing disc (23) away from the outer arm (12), the small gear (251) is fixedly mounted on the outer wall of the rotating shaft (25), the rotating shaft (3) (26) is rotatably mounted at a triangle on the side of the obstacle-crossing disc (23) away from the outer arm (12), the obstacle-crossing wheel (261) is fixedly mounted on the outer wall of the rotating shaft (3) (26), the two ends of the transmission bar (27) are rotatably mounted on the outer walls of the rotating shaft (25) and the rotating shaft (3) (26), respectively, and the outer shell (28) is mounted on the side of the obstacle-crossing disc (23) away from the outer arm (12).

2. A wheel-foot robot capable of overcoming obstacles using joint-combined wheels according to claim 1, characterized in that: The inner arm (22) is driven by a component of a control module (15); the obstacle-crossing disc (23) is arranged in a triangular shape; the rotating shaft (24) is driven by a component of a control module (15); the number of the pinion gears (251) is three, and the three pinion gears (251) are meshed with the outer wall of the large gear (241).

3. The wheel-foot robot capable of overcoming obstacles by using joint-combined wheels according to claim 2, characterized in that: The obstacle surmounting device (2) further comprises an outer casing (29), a spring piece (210) and a rubber pad (211); the outer casing (29) is fixedly mounted on the outer wall of the outer casing (28); the bottom end of the spring piece (210) is fixedly mounted on the bottom of the inner wall of the outer casing (29); and the rubber pad (211) is slidably mounted on the inner wall of the outer casing (29).

4. The wheel-foot robot capable of overcoming obstacles by using joint-combined wheels according to claim 3, characterized in that: The number of the outer shells (29) is three, the spring sheet (210) is elastically arranged, and the bottom of the rubber pad (211) is in contact with the top of the spring sheet (210).

5. The wheel-foot robot capable of overcoming obstacles by using joint-combined wheels according to claim 4, characterized in that: The balancing device (3) comprises a rotating plate (31), a torsion block (32), an L-shaped connecting frame (33), a mounting column (34) and a balancing wheel (35), wherein one end of the rotating plate (31) is mounted on the outer wall of the fixed shaft (21), the torsion block (32) is rotatably mounted on the other end of the rotating plate (31), one end of the L-shaped connecting frame (33) is fixedly mounted on an end of the torsion block (32) away from the rotating plate (31), the mounting column (34) is fixedly mounted on the other end of the L-shaped connecting frame (33), and the balancing wheel (35) is rotatably mounted on the inner wall of the mounting column (34) via a bearing.

6. The wheel-foot robot capable of overcoming obstacles by using joint-combined wheels according to claim 5, characterized in that: The number of the rotating plates (31) is two, the twisting block (32) is driven by a component of the control module (15), and the L-shaped connecting frame (33) is arranged to be inclined.

7. The wheel-foot robot capable of overcoming obstacles by using joint-combined wheels according to claim 6, characterized in that: The balancing device (3) further comprises a rotating shaft (36), an arc-shaped rod (37), a fixing rod (38), a resisting rod (39) and a supporting rod (310), wherein the rotating shaft (36) is fixedly mounted on the outer wall of the rotating shaft (24), the arc-shaped rod (37) is fixedly mounted on the outer wall of the rotating shaft (36), the fixing rod (38) is fixedly mounted on a side of the rotating plate (31) away from the L-shaped connecting frame (33), the resisting rod (39) is rotatably mounted on the outer wall of the fixing rod (38), and the supporting rod (310) is fixedly mounted on the outer wall of the resisting rod (39).

8. The wheel-foot robot capable of overcoming obstacles by using joint-combined wheels according to claim 7, characterized in that: One end of the resisting rod (39) close to the arc-shaped rod (37) is arranged as an arc-shaped surface, and the resisting rod (39) is located on the movement track of the arc-shaped rod (37), and one end of the supporting rod (310) away from the resisting rod (39) is arranged as a sharp angle.

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