Wheel-legged biped robot and control method

Abstract

The invention discloses a wheel-legged biped robot and a control method, the wheel-legged biped robot comprises a wheel seat, a connecting rod assembly, a bearing seat and a driving assembly, and tires are rotatably arranged on the wheel seat; the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod which are sequentially hinged, the end, away from the second connecting rod, of the first connecting rod is hinged to the first hinge portion of the wheel seat, and the end, away from the second connecting rod, of the third connecting rod is hinged to the second hinge portion of the wheel seat. The wheel seat, the first connecting rod, the second connecting rod and the third connecting rod jointly form a parallelogram structure; the bearing seat is arranged on the connecting rod assembly; the driving assembly is in driving connection with at least one of the first connecting rod, the second connecting rod and the third connecting rod and used for adjusting the distance between the first connecting rod and the third connecting rod. The wheel-legged biped robot disclosed by the invention is better in loading capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a wheel-legged biped robot and a control method thereof. Background Art

[0002] The wheel-legged bipedal robot combines the efficiency of wheeled movement with the flexibility of bipedal walking. It can move quickly on flat ground and has the ability to cross obstacles and adapt to complex terrain. With its high efficiency and flexibility, the wheel-legged bipedal robot has shown great potential in many fields. In the related technology, the wheel-legged bipedal robot directly drives the bearing seat to rise and fall through the driver. Accordingly, all the loads of the bearing seat of the wheel-legged bipedal robot need to be carried by the driver. When the load of the bearing seat needs to be increased, a driver with a larger load capacity needs to be used. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the first aspect of the present invention provides a wheel-legged biped robot with better load capacity.

[0004] A second aspect of the present invention provides a control method.

[0005] According to an embodiment of the first aspect of the present invention, a wheel-legged biped robot includes a wheel seat, a connecting rod assembly, a bearing seat and a driving assembly, wherein a tire is rotatably arranged on the wheel seat; the connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod which are hinged in sequence, wherein one end of the first connecting rod which is away from the second connecting rod is hinged to the first hinge part of the wheel seat, and one end of the third connecting rod which is away from the second connecting rod is hinged to the second hinge part of the wheel seat, and the first hinge part is located on the upper side of the second hinge part, and the wheel seat, the first connecting rod, the second connecting rod and the third connecting rod together constitute a parallelogram structure; the bearing seat is arranged on the connecting rod assembly; the driving assembly is drivingly connected to at least one of the first connecting rod, the second connecting rod and the third connecting rod, and is used to adjust the distance between the first connecting rod and the third connecting rod.

[0006] A wheel-legged biped robot according to an embodiment of the present invention has at least the following technical effects:

[0007] In the wheel-legged bipedal robot of the present application, part of the gravity of the support seat is transmitted to the wheel seat through the first connecting rod and the third connecting rod to be balanced by the supporting force of the wheel seat, and another part of the gravity of the support seat is transmitted to the driving assembly through the connecting rod assembly to be balanced by the driving force of the driving assembly. That is, in the wheel-legged bipedal robot of the present application, the driving assembly only needs to bear part of the gravity of the support seat. Under the premise that the driving force of the driving assembly is of a certain size, a heavier workpiece can be placed on the support seat, thereby making the wheel-legged bipedal robot of the present application have a greater load capacity.

[0008] A wheel-leg type biped robot according to an embodiment of the first aspect of the present invention, the second link includes a connecting section and a supporting section connected to each other. Opposite ends of the connecting section are respectively hinged to the first link and the third link. The supporting section is disposed directly above the wheel seat, and the bearing seat is carried on the supporting section.

[0009] A wheel-leg type biped robot according to an embodiment of the first aspect of the present invention, a driving assembly is disposed on the supporting section. The output end of the driving assembly is connected to the third link and is used to drive the third link to rotate around the wheel seat.

[0010] A wheel-leg type biped robot according to an embodiment of the first aspect of the present invention, the driving assembly includes an electric cylinder. The electric cylinder is hinged to the supporting section, and the telescopic rod of the electric cylinder is hinged to the third link.

[0011] A wheel-leg type biped robot according to an embodiment of the first aspect of the present invention, a third hinge portion and a fourth hinge portion are provided on the third link. The third hinge portion is hinged to the second link, and the fourth hinge portion is hinged to the output end of the driving assembly. The fourth hinge portion is located below the connection line of the second hinge portion and the third hinge portion.

[0012] A wheel-leg type biped robot according to an embodiment of the first aspect of the present invention, the third link includes a first section, a second section and a third section connected in sequence end to end. The junction of the first section and the second section is hinged to the second hinge portion, a third hinge portion is provided at the junction of the first section and the third section, and a fourth hinge portion is provided at the junction of the second section and the third section.

[0013] A wheel-leg type biped robot according to an embodiment of the first aspect of the present invention, a foot pad is provided on the third link. The foot pad is used to cooperate with the tire to support the wheel-leg type biped robot.

[0014] A wheel-leg type biped robot according to an embodiment of the first aspect of the present invention, there are two sets of corresponding wheel seats, link assemblies and driving assemblies, and the bearing seat is arranged on the two link assemblies.

[0015] A control method according to an embodiment of the second aspect of the present invention is applied to the wheel-leg type biped robot described in the above-mentioned first aspect embodiment. The control method includes the following steps:

[0016] Judge that the bearing seat is in an inclined state;

[0017] Adjust the relative distance between the first link and the third link in the two link assemblies respectively until the bearing seat switches from the inclined state to the horizontal state.

[0018] A control method according to an embodiment of the second aspect of the present invention, the control method further includes the following steps:

[0019] Obtain the actual height of the bearing seat;

[0020] Synchronously adjust the relative distance between the first link and the third link in the two link assemblies according to the actual height until the actual height of the bearing seat reaches the preset height.

[0021] The additional aspects and advantages of the present invention will be partly given in the following description, partly become obvious from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0022] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0023] Figure 1 is a schematic structural diagram of a wheel-legged biped robot of the present invention;

[0024] Figure 2 is Figure 1 a schematic connection structure diagram of the wheel seat, the link assembly and the drive assembly in

[0025] Figure 3 is Figure 1 a front view of the wheel-legged biped robot when it is not working in

[0026] Figure 4 is Figure 1 a front view of the bearing seat after it rises in

[0027] Figure 5 is Figure 1 a schematic structural diagram of another perspective of the wheel-legged biped robot in

[0028] Reference Signs:

[0029] wheel seat 100, first hinge portion 100a, second hinge portion 100b, tire 110, motor 120;

[0030] link assembly 200, first link 210, second link 220, connecting section 221, supporting section 222, third link 230, third hinge portion 230a, fourth hinge portion 230b, first section 231, second section 232, third section 233, foot pad 234;

[0031] bearing seat 300;

[0032] drive assembly 400, electric cylinder 410;

[0033] electric control box 500. Detailed Embodiments

[0034] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0035] In the description of the present invention, it should be understood that with regard to the orientation description, such as the orientation or positional relationship indicated by up, down, left, right, front, back, etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0036] In the description of the present invention, if the first and second are described only for the purpose of distinguishing technical features, it should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0037] In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, and connection should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0038] The following refers to Figures 1 to 5 A wheel-leg type biped robot according to an embodiment of the first aspect of the present invention will be described in detail.

[0039] Referring to Figures 1 to 3 , a wheel-leg type biped robot according to an embodiment of the first aspect of the present invention includes a wheel seat 100, a link assembly 200, a carrier seat 300, and a drive assembly 400. A tire 110 is rotatably provided on the wheel seat 100; the link assembly 200 includes a first link 210, a second link 220, and a third link 230 that are sequentially hinged. One end of the first link 210 facing away from the second link 220 is hinged to a first hinge portion 100a of the wheel seat 100, and one end of the third link 230 facing away from the second link 220 is hinged to a second hinge portion 100b of the wheel seat 100. The first hinge portion 100a is located above the second hinge portion 100b. The wheel seat 100, the first link 210, the second link 220, and the third link 230 together form a parallelogram structure; the carrier seat 300 is provided on the link assembly 200; the drive assembly 400 is drivingly connected to at least one of the first link 210, the second link 220, and the third link 230, and is used to adjust the distance between the first link 210 and the third link 230.

[0040] For example, as Figure 2 and Figure 3As shown, the carrier seat 300 is arranged on the second connecting rod 220, and the driving assembly 400 is connected to the third connecting rod 230 and is used to drive the third connecting rod 230 to rotate around the second hinge portion 100b.

[0041] During the working process of the wheel-leg type biped robot in this embodiment, the workpiece can be placed on the carrier seat 300. When it is necessary to lift the height of the carrier seat 300, the driving assembly 400 can drive the third connecting rod 230 to rotate upward relative to the second hinge portion 100b. At this time, the first connecting rod 210 rotates upward relative to the first hinge portion 100a. The first connecting rod 210 and the third connecting rod 230 approach each other, the second connecting rod 220 moves away from the wheel seat 100, the height of the second connecting rod 220 is lifted, and the carrier seat 300 follows the second connecting rod 220 to be lifted; when it is necessary to lower the height of the carrier seat 300, the driving assembly 400 can drive the third connecting rod 230 to rotate downward relative to the second hinge portion 100b. At this time, the first connecting rod 210 rotates downward relative to the first hinge portion 100a. The first connecting rod 210 and the third connecting rod 230 move away from each other, the second connecting rod 220 approaches the wheel seat 100, the height of the second connecting rod 220 is lowered, and the carrier seat 300 follows the second connecting rod 220 to be lowered.

[0042] It can be understood that in the wheel-leg type biped robot of the present application, a part of the gravity of the carrier seat 300 is transmitted to the wheel seat 100 through the first connecting rod 210 and the third connecting rod 230 to be balanced by the supporting force of the wheel seat 100, and another part of the gravity of the carrier seat 300 is transmitted to the driving assembly 400 through the connecting rod assembly 200 to be balanced by the driving force of the driving assembly 400. That is, in the wheel-leg type biped robot of the present application, the driving assembly 400 only needs to bear a part of the gravity of the carrier seat 300. On the premise that the magnitude of the driving force of the driving assembly 400 is certain, a workpiece with a larger weight can be placed on the carrier seat 300, so that the wheel-leg type biped robot of the present application has a larger load capacity.

[0043] It can be understood that by making the wheel seat 100, the first connecting rod 210, the second connecting rod 220 and the third connecting rod 230 jointly form a parallelogram structure. On the one hand, when the driving assembly 400 drives one of the connecting rods in the connecting rod assembly 200 to rotate, there is no dead point between the second connecting rod 220 and the first connecting rod 210 and the third connecting rod 230, thereby reducing the situation of jamming when the driving assembly 400 adjusts the height of the carrier seat 300; on the other hand, when the driving assembly 400 drives one of the connecting rods in the connecting rod assembly 200 to rotate, the inclination angle of the second connecting rod 220 relative to the horizontal plane can always remain unchanged. The carrier seat 300 is arranged on the second connecting rod 220, which can make the inclination angle of the carrier seat 300 relative to the horizontal plane always remain unchanged during the lifting and lowering process, so as to improve the stability of the carrier seat 300 during the lifting and lowering process.

[0044] In some other embodiments of the present invention, the driving assembly 400 can be connected to the first connecting rod 210, and the bearing seat 300 is arranged on the second connecting rod 220. At this time, when the driving assembly 400 drives the first connecting rod 210 to rotate upward relative to the first hinge portion 100a, the distance between the first connecting rod 210 and the second connecting rod 220 becomes smaller, the second connecting rod 220 moves away from the wheel seat 100, and the bearing seat 300 follows the second connecting rod 220 to be lifted; when the driving assembly 400 drives the first connecting rod 210 to rotate downward relative to the first hinge portion 100a, the distance between the first connecting rod 210 and the third connecting rod 230 increases, the second connecting rod 220 approaches the wheel seat 100, and the bearing seat 300 follows the second connecting rod 220 to descend.

[0045] In some other embodiments of the present invention, the driving assembly 400 can be connected to the second connecting rod 220, and the bearing seat 300 is arranged on the second connecting rod 220. At this time, when the driving assembly 400 drives the second connecting rod 220 to move away from the wheel seat 100, the first connecting rod 210 rotates upward relative to the first hinge portion 100a, and the third connecting rod 230 rotates upward relative to the second hinge portion 100b. The distance between the first connecting rod 210 and the third connecting rod 230 decreases, and the bearing seat 300 follows the second connecting rod 220 to be lifted; when the driving assembly 400 drives the second connecting rod 220 to approach the wheel seat 100, the first connecting rod 210 rotates downward relative to the first hinge portion 100a, and the third connecting rod 230 rotates downward relative to the second hinge portion 100b. The distance between the first connecting rod 210 and the third connecting rod 230 increases, and the bearing seat 300 follows the second connecting rod 220 to descend.

[0046] Reference Figure 2 and Figure 3 In some embodiments of the present invention, the second connecting rod 220 includes a connecting section 221 and a supporting section 222 connected to each other. Opposite ends of the connecting section 221 are respectively hinged to the first connecting rod 210 and the third connecting rod 230. The supporting section 222 is arranged directly above the wheel seat 100, and the bearing seat 300 is carried on the supporting section 222. It can be understood that by arranging the bearing seat 300 on the supporting section 222 and the supporting section 222 being directly above the wheel seat 100, it is possible to ensure that the center of gravity of the bearing seat 300 is as close as possible to directly above the wheel seat 100, thereby increasing the stability of the bearing seat 300 for carrying workpieces.

[0047] Specifically, the supporting section 222 extends in the horizontal direction, so that the bearing seat 300 can be carried on the supporting section 222 in a horizontal state. In this case, the bearing seat 300 can carry workpieces more stably.

[0048] Such as Figure 2 and Figure 3As shown, in some of the embodiments, the driving component 400 is disposed on the supporting section 222. The output end of the driving component 400 is connected to the third connecting rod 230 and is used to drive the third connecting rod 230 to rotate around the wheel seat 100. It can be understood that by disposing the driving component 400 on the supporting section 222 and connecting the output end of the driving component 400 to the third connecting rod 230, the installation space of the driving component 400 is relatively large.

[0049] As Figures 2 to 4 As shown, in one of the embodiments, the driving component 400 includes an electric cylinder 410. The electric cylinder 410 is hinged to the supporting section 222, and the telescopic rod of the electric cylinder 410 is hinged to the third connecting rod 230. It can be understood that since the electric cylinder 410 is hinged to the supporting section 222 and the telescopic rod of the electric cylinder 410 is hinged to the third connecting rod 230, when the electric cylinder 410 drives the telescopic rod to extend, the telescopic rod can drive the third connecting rod 230 hinged thereto to rotate upward around the second hinge portion 100b. Since the second connecting rod 220 is parallel to the wheel seat 100, the third connecting rod 230 can drive the second connecting rod 220 to move upward, so that the bearing seat 300 connected to the supporting section 222 rises; when the electric cylinder 410 drives the telescopic rod to retract, the telescopic rod can drive the third connecting rod 230 hinged thereto to rotate downward around the second hinge portion 100b. Since the second connecting rod 220 is parallel to the wheel seat 100, the third connecting rod 230 can drive the second connecting rod 220 to move downward, so that the bearing seat 300 connected to the supporting section 222 descends.

[0050] It can be understood that by connecting the electric cylinder 410 to the connecting rod assembly 200, the bearing capacity of the wheel seat 100 and the driving component 400 is further enhanced, so that the bearing capacity of the bearing seat 300 is further improved.

[0051] In some other embodiments of the present invention, the driving component 400 includes a cylinder. The cylinder is hinged to the supporting section 222, and the telescopic rod of the cylinder is hinged to the third connecting rod 230.

[0052] As Figures 1 to 4As shown, in one embodiment, the third link 230 is provided with a third hinge portion 230a and a fourth hinge portion 230b. The third hinge portion 230a is hinged to the second link 220, and the fourth hinge portion 230b is hinged to the output end of the drive assembly 400. The fourth hinge portion 230b is located below the connection line between the second hinge portion 100b and the third hinge portion 230a. It can be understood that since the third link 230 is hinged to the second link 220 through the third hinge portion 230a, and the third link 230 is connected to the telescopic rod of the electric cylinder 410 through the fourth hinge portion 230b, and the fourth hinge portion 230b is located below the connection line between the second hinge portion 100b and the third hinge portion 230a, therefore, the installation space of the electric cylinder 410 is relatively large, so that the telescopic range of the telescopic rod of the electric cylinder 410 is increased. At this time, the height range for adjusting the bearing seat 300 by the electric cylinder 410 is also increased.

[0053] As Figure 2 shown, in one embodiment, the third link 230 includes a first segment 231, a second segment 232, and a third segment 233 that are sequentially connected end to end. The junction of the first segment 231 and the second segment 232 is hinged to the second hinge portion 100b. The third hinge portion 230a is provided at the junction of the first segment 231 and the third segment 233, and the fourth hinge portion 230b is provided at the junction of the second segment 232 and the third segment 233. It can be understood that the third link 230 forms a triangular structure by the first segment 231, the second segment 232, and the third segment 233, so that the stability of the third link 230 is relatively strong. And by setting the second hinge portion 100b at the junction of the first segment 231 and the second segment 232, setting the third hinge portion 230a at the junction of the first segment 231 and the third segment 233, and setting the fourth hinge portion 230b at the junction of the second segment 232 and the third segment 233, the overall third link 230 has a stronger load-bearing capacity.

[0054] Referring Figure 3 , in some embodiments of the present invention, the third link 230 is provided with a foot pad 234, and the foot pad 234 is used to cooperate with the tire 110 to support the wheel-legged biped robot. It can be understood that when the robot is in a non-working state, the third link 230 can be supported on the ground through the foot pad 234 to reduce the possibility of damage caused by the direct contact between the third link 230 and the ground.

[0055] Referring Figure 1 and Figure 5, in some embodiments of the present invention, there are two sets of wheel seats 100, link assemblies 200, and drive assemblies 400 correspondingly, and the bearing seat 300 is arranged on the two link assemblies 200. It can be understood that by arranging the bearing seat 300 on the two link assemblies 200, and each link assembly 200 is correspondingly connected to a drive assembly 400 and a wheel seat 100, the bearing capacity and stability of the bearing seat 300 are further improved.

[0056] In a specific embodiment of the present invention, the two sets of wheel seats 100, link assemblies 200, and electric cylinders 410 are distributed along the first horizontal direction, and the lower surface of the bearing seat 300 is connected to the supporting sections 222 of the two second links 220. It can be understood that the wheel-legged biped robot of the present application can adjust the telescopic amounts of the telescopic rods of the two electric cylinders 410 respectively, so as to adjust the heights of the two ends of the bearing seat 300 in the first horizontal direction respectively, to ensure that the upper surface of the bearing seat 300 can always be in a horizontal state.

[0057] As Figure 5 shown, in some embodiments of the present invention, a motor 120 is arranged on each wheel seat 100, the motor 120 is connected to the tire 110 of the corresponding wheel seat 100, and is used to drive the tire 110 to rotate around the horizontal axis. An electric control box 500 is arranged between the two sets of wheel seats 100, and the electric control box 500 is connected to the lower surface of the bearing seat 300.

[0058] The following describes in detail a control method for the second aspect embodiment of the present invention.

[0059] According to a control method for the second aspect embodiment of the present invention, which is applied to the wheel-legged biped robot described in the first aspect embodiment above, the control method includes the following steps:

[0060] Judge that the bearing seat 300 is in an inclined state;

[0061] Adjust the relative distance between the first link 210 and the third link 230 in the two link assemblies 200 respectively until the bearing seat 300 switches from the inclined state to the horizontal state.

[0062] It can be understood that a preset axis is arranged on the bearing seat 300, and the preset axis extends along the first horizontal direction. When the preset axis is inclined relative to the horizontal plane, the bearing seat 300 is in an inclined state. At this time, by controlling the extension amounts of the two electric cylinders 410, the relative distance between the first link 210 and the third link 230 in the two link assemblies 200 is adjusted respectively, so as to realize the adjustment of the heights of the two ends of the bearing seat 300 in the first horizontal direction relative to the ground until the preset axis is parallel to the horizontal plane. At this time, the bearing seat 300 switches from the inclined state to the horizontal state.

[0063] In some embodiments of the present invention, the control method further includes the following steps:

[0064] Obtain the actual height of the carrier seat 300;

[0065] Synchronously adjust the relative distance between the first link 210 and the third link 230 in the two link assemblies 200 according to the actual height until the actual height of the carrier seat 300 reaches the preset height.

[0066] It can be understood that when it is necessary to adjust the height of the carrier seat 300 to the preset height, first obtain the actual height of the carrier seat 300, and then, according to the actual height of the carrier seat 300, drive the telescopic rod to expand and contract through the electric cylinder 410 at the same time to simultaneously adjust the relative distance between the first link 210 and the third link 230 in the two link assemblies 200 until the carrier seat 300 is at the preset height.

[0067] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A wheel-legged biped robot, characterized in that: include: A wheel seat, on which a tire is rotatably arranged; A connecting rod assembly, comprising a first connecting rod, a second connecting rod and a third connecting rod which are hinged in sequence, wherein one end of the first connecting rod which is away from the second connecting rod is hinged to the first hinged portion of the wheel seat, and one end of the third connecting rod which is away from the second connecting rod is hinged to the second hinged portion of the wheel seat, the first hinged portion is located on the upper side of the second hinged portion, and the wheel seat, the first connecting rod, the second connecting rod and the third connecting rod together form a parallelogram structure; A bearing seat, arranged on the connecting rod assembly; A driving assembly is drivingly connected to at least one of the first connecting rod, the second connecting rod and the third connecting rod, and is used to adjust the distance between the first connecting rod and the third connecting rod.

2. A wheel-legged biped robot according to claim 1, characterized in that: The second connecting rod includes a connecting section and a supporting section connected to each other. The opposite ends of the connecting section are respectively hinged to the first connecting rod and the third connecting rod. The supporting section is arranged directly above the wheel seat, and the bearing seat is supported on the supporting section.

3. A wheel-legged biped robot according to claim 2, characterized in that: The driving assembly is arranged on the supporting section, and the output end of the driving assembly is connected to the third connecting rod and is used to drive the third connecting rod to rotate around the wheel seat.

4. A wheel-legged biped robot according to claim 3, characterized in that: The driving assembly comprises an electric cylinder, the electric cylinder is hinged on the supporting section, and the telescopic rod of the electric cylinder is hinged to the third connecting rod.

5. A wheel-legged biped robot according to claim 3 or 4, characterized in that: The third connecting rod is provided with a third hinge part and a fourth hinge part, the third hinge part is hinged to the second connecting rod, the fourth hinge part is hinged to the output end of the driving assembly, and the fourth hinge part is located at the lower side of the line connecting the second hinge part and the third hinge part.

6. The wheel-legged biped robot according to claim 5, characterized in that: The third connecting rod includes a first section, a second section and a third section which are connected end to end in sequence, the junction of the first section and the second section is hinged to the second hinge part, the junction of the first section and the third section is provided with the third hinge part, and the junction of the second section and the third section is provided with the fourth hinge part.

7. The wheel-legged biped robot according to claim 1, characterized in that: The third connecting rod is provided with a foot pad, and the foot pad is used to cooperate with the tire to support the wheel-legged biped robot.

8. A wheel-legged biped robot according to any one of claims 1 to 7, characterized in that: The wheel seat, the connecting rod assembly and the driving assembly are provided with two groups correspondingly, and the bearing seat is arranged on two connecting rod assemblies.

9. A control method, characterized in that: Applied to the wheel-legged biped robot according to claim 8, the control method comprises the following steps: Determining that the bearing seat is in a tilted state; The relative distances between the first connecting rod and the third connecting rod in the two connecting rod assemblies are respectively adjusted until the bearing seat switches from the inclined state to the horizontal state.

10. A control method according to claim 9, characterized in that: The following steps are also included: Obtaining the actual height of the bearing seat; The relative distance between the first connecting rod and the third connecting rod in the two connecting rod assemblies is synchronously adjusted according to the actual height until the actual height of the bearing seat reaches a preset height.

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