A wheel-legged robot capable of crossing obstacles by joint combination

Abstract

The application discloses a wheel-legged robot capable of crossing obstacles by joint combination wheels and relates to the technical field of wheel-legged robots.The wheel-legged robot comprises a robot main body, drive shafts are rotationally installed on the side walls of both ends of the robot main body, outer arms are rotationally installed on the ends of the drive shafts away from the robot main body, drive arms are rotationally installed on the bottom ends of the outer arms, drive wheels are rotationally installed on the side walls of the drive arms, a control module is fixedly installed on the bottom of the robot main body, and an obstacle-crossing device is arranged on the front end of the robot main body.The triangular arrangement of the obstacle-crossing disc makes the obstacle-crossing disc rotate on the outer wall of the inner arm when the obstacle-crossing wheel touches the step, so that the obstacle-crossing disc can cross the step and complete the stair climbing operation, the robot main body can smoothly climb the step obstacle, the high flexibility and adaptability of the robot are exhibited, and the strong response capability of the robot in a complex environment is embodied.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wheel-legged robots, in particular to a wheel-legged robot capable of obstacle crossing by joint combination wheels. BACKGROUND

[0002] On flat ground, wheel-legged robots can move at high speed and high efficiency, and when facing complex terrain, they can achieve excellent obstacle crossing ability through joint combination wheels. They are widely used in military reconnaissance, rescue tasks, industrial inspection and other fields, and can meet the dual needs of moving speed and obstacle crossing performance in different scenarios.

[0003] Patent No. CN220842753U discloses a multi-scene applicable wheel-legged robot. The robot can quickly advance by using the drive wheel assembly and has multi-dimensional obstacle crossing ability, so it has strong scene adaptability. The overall structure layout is reasonable, the center of gravity position is appropriate, the stability during work is good, the relative energy consumption is low, and the endurance is guaranteed. The main structure of the patent includes a main machine, a sensing communication assembly, a battery assembly and a pair of leg assemblies. The sensing communication assembly is arranged on the front side of the machine body, and the battery assembly is arranged on the rear side of the machine body. The machine body has a middle space below, the leg assembly includes a connecting rod mechanism, a drive assembly and a drive wheel assembly, a lateral rotation joint is used to drive the leg assembly to rotate laterally, part of the drive assembly is in the middle space, part of the lateral rotation joint is in the middle space, and the rotation center line of the drive wheel assembly, the lateral rotation joint and the sensing communication assembly are arranged in sequence along the driving direction of the drive wheel assembly.

[0004] However, the multi-scene applicable wheel-legged robot has the following problems: when the robot is used in a stairwell, the climbing action is slow, and due to the upward slope of the stairs, the center of gravity is unstable, which causes the robot to roll and be damaged. Therefore, we propose a wheel-legged robot capable of obstacle crossing by joint combination wheels. SUMMARY

[0005] To solve the problems in the background art, the present application provides a wheel-legged robot capable of obstacle crossing by joint combination wheels.

[0006] To achieve the above object, the application is implemented by the following technical scheme: A wheel-legged robot capable of crossing obstacles by joint combination wheels, comprising a robot main body, drive shafts rotatably installed on the two end side walls of the robot main body, outer arms rotatably installed at the ends of the drive shafts away from the robot main body, drive arms rotatably installed at the bottom ends of the outer arms, drive wheels rotatably installed on the side walls of the drive arms, a control module fixedly installed at the bottom of the robot main body, an obstacle crossing device provided at the front bottom of the robot main body, and a balancing device provided on the outer wall of the robot main body, wherein the obstacle crossing device comprises a fixed shaft, an inner arm, an obstacle crossing disc, a rotating shaft one, a large gear, a rotating shaft two, a small gear, a rotating shaft three, an obstacle crossing wheel, a transmission bar and an outer shell, the fixed shaft is fixedly installed on the opposite side of the outer arm, the top end of the inner arm is rotatably installed on the outer wall of the fixed shaft, the obstacle crossing disc is rotatably installed on the opposite side of the bottom end of the inner arm, the rotating shaft one penetrates and is rotatably installed on the outer wall of the obstacle crossing disc, the large gear is fixedly installed on the outer wall of the rotating shaft one, the rotating shaft two is rotatably installed on the side of the obstacle crossing disc away from the outer arm, the small gear is fixedly installed on the outer wall of the rotating shaft two, the rotating shaft three is rotatably installed at the triangle on the side of the obstacle crossing disc away from the outer arm, the obstacle crossing wheel is fixedly installed on the outer wall of the rotating shaft three, the two ends of the transmission bar are rotatably installed on the outer walls of the rotating shaft two and the rotating shaft three respectively, and the outer shell is installed on the side of the obstacle crossing disc away from the outer arm.

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

[0008] According to the above technical scheme, the obstacle crossing device further comprises an outer shell, a spring sheet and a rubber pad, the outer shell is fixedly installed on the outer wall of the outer shell, the bottom end of the spring sheet is fixedly installed on the inner wall bottom of the outer shell, and the rubber pad is slidingly installed on the inner wall of the outer shell.

[0009] According to the above technical scheme, the number of 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 scheme, the balancing device comprises 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 rotatably installed on the outer wall of the fixed shaft, the torsion block is rotatably installed on the other end of the rotating plate, one end of the L-shaped connecting frame is fixedly installed on the end of the torsion block away from the rotating plate, the mounting column is fixedly installed on the other end of the L-shaped connecting frame, and the balancing wheel is rotatably installed on the inner wall of the mounting column through a bearing.

[0011] According to the above technical scheme, the number of rotating plates is two, the torsion block is driven by the elements of the control module, and the L-shaped connecting frame is arranged in an inclined manner.

[0012] According to the above technical scheme, the balancing device further comprises a rotating shaft four, an arc-shaped rod, a fixed rod, a contact rod and a supporting rod, the rotating shaft four is fixedly installed on the outer wall of the rotating shaft one, the arc-shaped 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 contact rod is rotatably installed on the outer wall of the fixed rod, and the supporting rod is fixedly installed on the outer wall of the contact rod.

[0013] According to the above technical scheme, one end of the contact rod close to the arc-shaped rod is provided with an arc-shaped surface, and the contact rod is located on the movement track of the arc-shaped rod, and the other end of the supporting rod away from the contact rod is provided with a sharp corner.

[0014] The application provides a wheel-legged robot capable of overcoming obstacles by joint combination wheels.

[0015] (1) The invention sets up an obstacle overcoming device, when the obstacle wheel touches the step, the triangular structure of the obstacle disk makes the obstacle disk rotate on the outer wall of the inner arm, so as to overcome the step and complete the stair climbing operation, which realizes the smooth climbing of the robot body when facing the step obstacle, shows the high flexibility and adaptability of the robot, and embodies the strong response ability of the robot in complex environment. The rubber pad can make the corner of the step sink into the surface of the rubber pad, provide a stable friction force for the upward lifting of the obstacle disk, help the obstacle disk keep stable during the lifting process and not easy to slip, further enhance the stability and safety of the robot during the stair climbing, and ensure that the obstacle disk can effectively overcome the step obstacle and smoothly complete the stair climbing operation.

[0016] (2) The invention sets up a balancing device, the mounting column drives the balancing wheel to rotate counterclockwise, the balancing wheel can cooperate with the obstacle wheel to advance, which helps to prevent the robot from tilting due to the shift of the center of gravity during the stair climbing, and ensures that the robot can keep stable and flexible in complex terrain. The contact rod drives the supporting rod at the other end to rotate counterclockwise, the supporting rod applies a supporting force to the platform behind the step, so that the robot body moves upward, the support of the rear wheel is realized through mechanical transmission, the cost is reduced, the supporting rod can quickly adjust the center of gravity, ensure that the front wheel can provide enough thrust, and the robot can smoothly climb over the step. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a front view schematic diagram of the structure of the application;

[0018] Figure 2 It is a bottom view schematic diagram of the structure of the application;

[0019] Figure 3 It is a sectional view schematic diagram of the obstacle overcoming device and the balancing device of the application;

[0020] Figure 4A cross-sectional view of the obstacle surmounting device of the present application;

[0021] Figure 5 A cross-sectional view of the balancing device of the present application Figure 4 An enlarged view of A;

[0022] Figure 6 A cross-sectional view of the balancing device of the present application

[0023] Figure 7 A cross-sectional view of the balancing device of the present application Figure 6 An enlarged view of B.

[0024] In the figure: 1, robot body; 11, driving shaft; 12, outer arm; 13, driving arm; 14, driving wheel; 15, control module; 2, obstacle surmounting device; 21, fixed shaft; 22, inner arm; 23, obstacle surmounting disc; 24, rotating shaft one; 241, large gear; 25, rotating shaft two; 251, small gear; 26, rotating shaft three; 261, obstacle surmounting wheel; 27, transmission bar; 28, outer shell; 29, outer package; 210, spring sheet; 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-shaped rod; 38, fixed rod; 39, abutting rod; 310, supporting rod. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0026] Please refer to Figures 1-5One embodiment of the present application is: a wheel-legged robot capable of crossing obstacles with joint combination wheels, comprising a robot body 1, drive shafts 11 are rotatably installed on the two end side walls of the robot body 1, an outer arm 12 is rotatably installed at the end of the drive shaft 11 away from the robot body 1, a drive arm 13 is rotatably installed at the bottom end of the outer arm 12, a drive wheel 14 is rotatably installed on the side wall of the drive 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 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 disc 23, a rotating shaft one 24, a large gear wheel 241, a rotating shaft two 25, a small gear wheel 251, a rotating shaft three 26, an obstacle crossing wheel 261, a transmission bar 27 and an outer shell 28, the 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 elements 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 crossing disc 23 is rotatably installed on the side opposite to the bottom end of the inner arm 22, the obstacle crossing disc 23 is arranged in a triangular shape, the inner arm 22 drives the obstacle crossing disc 23 to rotate counterclockwise, the rotating shaft one 24 penetrates and is rotatably installed on the outer wall of the obstacle crossing disc 23, the rotating shaft one 24 is driven by the elements of the control module 15, the large gear wheel 241 is fixedly installed on the outer wall of the rotating shaft one 24, the rotating shaft two 25 is rotatably installed on the side of the obstacle crossing disc 23 away from the outer arm 12, the small gear wheel 251 is fixedly installed on the outer wall of the rotating shaft two 25, the number of the small gear wheel 251 is three, and the three small gear wheels 251 are in mesh with the outer wall of the large gear wheel 241, the rotating shaft three 26 is rotatably installed at the triangle on the side of the obstacle crossing disc 23 away from the outer arm 12, the obstacle crossing wheel 261 is fixedly installed on the outer wall of the rotating shaft three 26, the obstacle crossing disc 23 drives the rotating shaft three 26 to rotate counterclockwise, the rotating shaft three 26 drives the obstacle crossing wheel 261 to rotate counterclockwise, when the inner arm 22 rotates to be parallel to the drive arm 13 and stops, at this time the obstacle crossing wheel 261 contacts the ground, the control module 15 controls the rotating shaft one 24 to rotate counterclockwise, the rotating shaft one 24 drives the large gear wheel 241 to rotate counterclockwise, the large gear wheel 241 drives the small gear wheel 251 to rotate clockwise on the outer wall of the rotating shaft two 25, the transmission bar 27 is rotatably installed on the outer walls of the rotating shaft two 25 and the rotating shaft three 26 at both ends respectively, the outer shell 28 is installed on the side of the obstacle crossing disc 23 away from the outer arm 12, the rotating shaft two 25 drives the transmission bar 27 to rotate clockwise, the transmission bar 27 drives the rotating shaft three 26 to rotate clockwise, the rotating shaft three 26 drives the obstacle crossing wheel 261 to rotate clockwise, the obstacle crossing wheel 261 moves forward, after the obstacle crossing wheel 261 touches the step, the triangular arrangement of the obstacle crossing disc 23 will make the obstacle crossing disc 23 rotate on the outer wall of the inner arm 22, so as to cross the step, complete the operation of climbing stairs, realize the smooth climbing of the robot body 1 when facing the step obstacle, not only show the high flexibility and adaptability of the robot, but also embody its strong response ability in complex environment.

[0027] The obstacle surmounting device 2 further comprises an outer shell 29, a spring 210 and a rubber pad 211, the outer shell 29 is fixedly installed on the outer wall of the shell 28, the number of the outer shell 29 is three, the bottom end of the spring 210 is fixedly installed on the inner wall bottom of the outer shell 29, the spring 210 is elastically arranged, the rubber pad 211 is slidingly installed at the inner wall of the outer shell 29, the bottom of the rubber pad 211 is in contact with the top of the spring 210, when the triangular arc surface of the obstacle surmounting disc 23 contacts the step, the rubber pad 211 on the outer shell 29 will first contact the step, the rubber pad 211 will slide inward on the inner wall of the outer shell 29, the rubber pad 211 will outwardly resist by the elasticity of the spring 210, so that the rubber pad 211 is attached to the corner of the step in the gap of climbing the stairs, the rubber pad 211 will sink the corner of the step into the surface of the rubber pad 211, to provide a stable friction force for the upward lifting of the obstacle surmounting disc 23, which helps the obstacle surmounting disc 23 to remain stable during the lifting process and is not easy to slip, further enhances the stability and safety of the robot when climbing the stairs, and also ensures that the obstacle surmounting disc 23 can effectively overcome the step obstacle and smoothly complete the stair climbing operation.

[0028] When the robot body 1 needs to climb stairs during operation, the control module 15 controls the inner arm 22 to rotate downward on the outer wall of the fixed shaft 21, the inner arm 22 drives the obstacle surmounting disc 23 to rotate counterclockwise, the obstacle surmounting disc 23 drives the rotating shaft three 26 to rotate counterclockwise, the rotating shaft three 26 drives the obstacle wheel 261 to rotate counterclockwise, when the inner arm 22 rotates to the driving arm 13 parallel, the obstacle wheel 261 contacts the ground, the control module 15 controls the rotating shaft one 24 to rotate counterclockwise, the rotating shaft one 24 drives the large gear 241 to rotate counterclockwise, the large gear 241 drives the small gear 251 to rotate clockwise on the outer wall of the rotating shaft two 25, the rotating shaft two 25 drives the transmission bar 27 to rotate clockwise, the transmission bar 27 drives the rotating shaft three 26 to rotate clockwise, the rotating shaft three 26 drives the obstacle wheel 261 to rotate clockwise, the obstacle wheel 261 moves forward, after the obstacle wheel 261 touches the step, the triangular arrangement of the obstacle surmounting disc 23 will make the obstacle surmounting disc 23 rotate on the outer wall of the inner arm 22, so as to pass through the step and complete the stair climbing operation, which realizes the smooth climbing of the robot body 1 when facing the step obstacle, not only shows the high flexibility and adaptability of the robot, but also embodies the strong response ability of the robot in complex environment.

[0029] When the triangular arc surface of the obstacle-surmounting disc 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, and the rubber pad 211 will be outwardly pressed by the elasticity of the spring 210, so that the rubber pad 211 is fitted to the corner of the step in the gap of climbing the stairs, and the rubber pad 211 will recess the corner of the step into the surface of the rubber pad 211, to provide a stable friction force for the upward lifting of the obstacle-surmounting disc 23, which helps to keep the obstacle-surmounting disc 23 stable during the lifting process and not easy to slip, further enhances the stability and safety of the robot when climbing the stairs, and also ensures that the obstacle-surmounting disc 23 can effectively overcome the step obstacle and smoothly complete the stair climbing operation.

[0030] Please refer to Figures 6-7 On the basis of the above embodiment, in another embodiment of the present application, 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, one end of the rotating plate 31 is rotatably installed on the outer wall of the fixed shaft 21, and the number of the rotating plate 31 is two, when the robot main body 1 climbs the stairs, the center of gravity of the robot main body 1 will change, which will cause the robot main body 1 to roll over, at this time, the control module 15 will control the rotating plate 31 to rotate counterclockwise, the torsion block 32 is rotatably installed on the other end of the rotating plate 31, and the torsion block 32 is driven by the elements of the control module 15, the rotating plate 31 drives the torsion block 32 to rotate counterclockwise, one end of the L-shaped 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 obliquely arranged, 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, and 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-surmounting wheel 261 to advance, which helps to prevent the robot from rolling over due to the shift of the center of gravity when climbing the stairs, and also ensures that the robot can keep stable and flexible in complex terrain.

[0031] The balancing device 3 further comprises a rotating shaft four 36, an arc-shaped rod 37, a fixed rod 38, a contact rod 39 and a supporting rod 310. The rotating shaft four 36 is fixedly installed on the outer wall of the rotating shaft one 24. When the obstacle wheel 261 climbs up the stairs, the rear driving wheel 14 will be suspended and lose the ground, thereby causing the robot to fail to climb the stairs. At this time, the rotating shaft one 24 drives the rotating shaft four 36 to rotate counterclockwise. The arc-shaped rod 37 is fixedly installed on the outer wall of the rotating shaft four 36. The rotating shaft four 36 drives the arc-shaped rod 37 to rotate counterclockwise. The fixed rod 38 is fixedly installed on the side of the rotating plate 31 away from the L-shaped connecting frame 33. The contact rod 39 is rotatably installed on the outer wall of the fixed rod 38. The end of the contact rod 39 close to the arc-shaped rod 37 is provided with an arc surface. The contact rod 39 is located on the movement track of the arc-shaped rod 37. The arc surface of the arc-shaped rod 37 will contact the contact rod 39 on the fixed rod 38, so that the contact rod 39 rotates counterclockwise. The supporting rod 310 is fixedly installed on the outer wall of the contact rod 39. The end of the supporting rod 310 away from the contact rod 39 is provided with a sharp corner. The contact rod 39 drives the other end of the supporting rod 310 to rotate counterclockwise. The supporting rod 310 exerts a supporting force on the platform behind the stairs, so that the robot body 1 moves upward. The support of the rear wheel is realized through mechanical transmission, which reduces the cost loss. The supporting rod 310 can quickly adjust the center of gravity, ensure that the front wheel can provide sufficient thrust, and make the robot smoothly climb the stairs.

[0032] When the robot body 1 climbs the stairs, the center of gravity of the robot body 1 will change, which will cause the robot body 1 to roll over. At this time, the control module 15 controls the rotating plate 31 to rotate counterclockwise. The rotating 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. The mounting column 34 drives the balancing wheel 35 to rotate counterclockwise. The balancing wheel 35 can cooperate with the obstacle wheel 261 to move forward, which helps to prevent the robot from rolling over due to the shift of the center of gravity when climbing the stairs, and also ensures that the robot remains stable and flexible in complex terrain.

[0033] When the obstacle wheel 261 climbs up the stairs, the rear driving wheel 14 will be suspended and lose the ground, thereby causing the robot to fail to climb the stairs. At this time, the rotating shaft one 24 drives the rotating shaft four 36 to rotate counterclockwise. The rotating shaft four 36 drives the arc-shaped rod 37 to rotate counterclockwise. The arc surface of the arc-shaped rod 37 will contact the contact rod 39 on the fixed rod 38, so that the contact rod 39 rotates counterclockwise. The contact rod 39 drives the other end of the supporting rod 310 to rotate counterclockwise. The supporting rod 310 exerts a supporting force on the platform behind the stairs, so that the robot body 1 moves upward. The support of the rear wheel is realized through mechanical transmission, which reduces the cost loss. The supporting rod 310 can quickly adjust the center of gravity, ensure that the front wheel can provide sufficient thrust, and make the robot smoothly climb the stairs.

[0034] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A wheel-legged robot capable of crossing obstacles with joint-combined wheels, comprising a robot body (1), characterized in that: The both end sides of the robot body (1) are rotatably provided with a driving shaft (11), the one end of the driving shaft (11) is rotatably provided with an outer arm (12), the bottom end of the outer arm (12) is rotatably provided with a driving arm (13), the side wall of the driving arm (13) is rotatably provided with a driving wheel (14), the bottom of the robot body (1) is fixedly provided with a control module (15), the front end bottom of the robot body (1) is provided with an obstacle crossing device (2), the outer wall of the robot body (1) is provided with a balancing device (3), the obstacle crossing device (2) comprises a fixed shaft (21), an inner arm (22), an obstacle crossing disc (23), a rotating shaft one (24), a large gear (241), a rotating shaft two (25), a small gear (251), a rotating shaft three (26), an obstacle crossing wheel (261), a transmission bar (27) and an outer shell (28), the fixed shaft (21) is fixedly installed on the opposite side of 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 obstacle crossing disc (23) is rotatably installed on the opposite side of the bottom end of the inner arm (22), the rotating shaft one (24) penetrates and is rotatably installed on the outer wall of the obstacle crossing disc (23), the large gear (241) is fixedly installed on the outer wall of the rotating shaft one (24), the rotating shaft two (25) is rotatably installed on the side of the obstacle crossing disc (23) away from the outer arm (12), the small gear (251) is fixedly installed on the outer wall of the rotating shaft two (25), the rotating shaft three (26) is rotatably installed at the triangle of the side of the obstacle crossing disc (23) away from the outer arm (12), the obstacle crossing wheel (261) is fixedly installed on the outer wall of the rotating shaft three (26), the both ends of the transmission bar (27) are rotatably installed on the outer walls of the rotating shaft two (25) and the rotating shaft three (26) respectively, and the outer shell (28) is installed on the side of the obstacle crossing disc (23) away from the outer arm (12). The inner arm (22) is driven by the elements of the control module (15), the obstacle crossing disc (23) is provided in a triangular row, the rotating shaft one (24) is driven by the elements of the control module (15), and the number of the small gears (251) is three, and the three small gears (251) are in mesh with the outer wall of the large gear (241).

2. The wheeled-legged robot capable of crossing obstacles with joint combination wheels according to claim 1, characterized in that: The obstacle crossing device (2) further comprises an outer package shell (29), an elastic sheet (210) and a rubber pad (211), the outer package shell (29) is fixedly installed on the outer wall of the outer shell (28), the bottom end of the elastic sheet (210) is fixedly installed on the inner wall bottom of the outer package shell (29), and the rubber pad (211) is slidably installed on the inner wall of the outer package shell (29).

3. The wheeled-legged robot capable of crossing obstacles with joint-combined wheels according to claim 2, characterized in that: The number of the outer package shell (29) is three, the elastic sheet (210) is elastically provided, and the bottom of the rubber pad (211) is in contact with the top of the elastic sheet (210).

4. The wheeled-legged robot capable of crossing obstacles with joint-combined wheels according to claim 3, characterized in that: Said balancing unit (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), one end of the rotating plate (31) is rotatably installed on the outer wall of the fixed shaft (21), the torsion block (32) is rotatably installed on the other end of the rotating plate (31), one end of the L-shaped connecting frame (33) is fixedly installed on the end of the torsion block (32) away from the rotating plate (31), the mounting column (34) is fixedly installed on the other end of the L-shaped connecting frame (33), and the balancing wheel (35) is rotatably installed on the inner wall of the mounting column (34) through a bearing.

5. The wheeled-legged robot capable of crossing obstacles with joint-combined wheels according to claim 4, characterized in that: The number of the rotating plate (31) is two, the torsion block (32) is driven by the elements of the control module (15), and the L-shaped connecting frame (33) is obliquely arranged.

6. The wheeled-legged robot capable of crossing obstacles with joint-combined wheels according to claim 5, characterized in that: Said balancing unit (3) further comprises a rotating shaft four (36), an arc-shaped rod (37), a fixed rod (38), a resisting rod (39) and a supporting rod (310), the rotating shaft four (36) is fixedly installed on the outer wall of the rotating shaft one (24), the arc-shaped rod (37) is fixedly installed on the outer wall of the rotating shaft four (36), the fixed rod (38) is fixedly installed on the side of the rotating plate (31) away from the L-shaped connecting frame (33), the resisting rod (39) is rotatably installed on the outer wall of the fixed rod (38), and the supporting rod (310) is fixedly installed on the outer wall of the resisting rod (39).

7. The wheeled-legged robot capable of crossing obstacles with joint-combined wheels according to claim 6, characterized in that: One end of the resisting rod (39) close to the arc-shaped rod (37) is provided with an arc-shaped surface, and the resisting rod (39) is located on the movement track of the arc-shaped rod (37), and the other end of the supporting rod (310) away from the resisting rod (39) is provided with a sharp corner.

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