Wheeled robot with semi-active trunk

Abstract

The invention provides a wheeled robot with a semi-active trunk. The robot comprises the semi-active trunk; the semi-active trunk comprises a first platform connecting rod, a first steering engine, a second platform connecting rod, a first branch chain connecting rod, a second branch chain connecting rod, a third platform connecting rod, a second steering engine, a fourth platform connecting rod, a third branch chain connecting rod and a fourth branch chain connecting rod. The four groups of branched chain connecting rods are respectively provided with a wheel type unit; a first elastic buffer unit and a second elastic buffer unit are respectively arranged between the second platform connecting rod and the third platform connecting rod and between the first platform connecting rod and the fourth platform connecting rod; when the robot moves in the field environment, the first steering engine and the second steering engine synchronously rotate to achieve active adjustment of the included angle between the branch chain connecting rods on the two sides, and meanwhile the two sets of elastic buffering units are compressed and deformed to achieve self-adaptive adjustment of the body. The wheeled robot is provided with the semi-active flexible trunk, the adaptability to the complex environment is improved, and the wheeled robot can be used for the fields of detection and investigation, pipeline detection, logistics storage and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile robots, in particular to a wheeled robot with a semi-active torso. BACKGROUND

[0002] At present, mobile robots have been widely applied in many fields such as industrial manufacturing, logistics and warehousing, emergency rescue, etc. With the iteration and upgrading of artificial intelligence technology, the application boundary and market demand of robots are further expanded. The complex and changeable application environment puts forward higher requirements for the moving performance of robots. Therefore, how to improve the terrain adaptability has become the key direction for the development of future mobile robots.

[0003] Equipped with a flexible torso can effectively improve the terrain adaptability of the robot. The flexible torso structure based on a spatial closed-chain mechanism is stable and has strong carrying capacity, and performs well in complex terrain environments. Chinese patent CN202311702132.4 discloses a "reconfigurable torso wheeled mobile mechanism". The robot uses a spatial six-bar mechanism as the basic configuration of the torso, which can change the movement mode of the mobile platform through the link assembly in unknown harsh environments, realize efficient obstacle crossing and obstacle avoidance, and enhance the operation ability of the wheeled mobile platform in unknown harsh environments.

[0004] However, most of the existing closed-chain flexible torso is a driven structure, and the irregular and complex terrain cannot be accurately quantified in size. The active adjustment mechanism cannot accurately and quickly adjust the robot, reducing the adaptability and moving performance of the robot in actual complex environments. SUMMARY

[0005] The present application provides a wheeled robot with a semi-active torso. Compared with the existing wheeled robot with a flexible torso, the robot uses a semi-active control mechanism to further improve the adaptability and moving performance of the robot in actual complex terrain environments, and enhances the practicality of the robot. The wheeled robot comprises:

[0006] The semi-active torso comprises a first platform link, a first servo, a second platform link, a first branch chain link, a second branch chain link, a third platform link, a second servo, a fourth platform link, a third branch chain link and a fourth branch chain link.

[0007] The first platform connecting rod and the second platform connecting rod are connected in the form of a revolute pair through the first steering engine, the second platform connecting rod and the first branch chain connecting rod are hinged, the first branch chain connecting rod and the second branch chain connecting rod are hinged, the second branch chain connecting rod and the third platform connecting rod are hinged, the third platform connecting rod and the fourth platform connecting rod are connected in the form of a revolute pair through the second steering engine, the fourth platform connecting rod and the third branch chain connecting rod are hinged, the third branch chain connecting rod and the fourth branch chain connecting rod are hinged, the fourth branch chain connecting rod and the first platform connecting rod are hinged, the first platform connecting rod and the fourth platform connecting rod are connected in the form of a prismatic pair, and the second platform connecting rod and the third platform connecting rod are connected in the form of a prismatic pair. When the wheeled robot moves in the wild environment, the first steering engine and the second steering engine rotate synchronously to realize active adjustment of the included angle between the two side branch chain connecting rods.

[0008] The first branch chain connecting rod is provided with a first wheeled unit, the second branch chain connecting rod is provided with a second wheeled unit, the third branch chain connecting rod is provided with a third wheeled unit, and the fourth branch chain connecting rod is provided with a fourth wheeled unit.

[0009] Preferably, a first elastic buffer unit is arranged between the second platform connecting rod and the third platform connecting rod, and a second elastic buffer unit is arranged between the first platform connecting rod and the fourth platform connecting rod.

[0010] When the wheeled robot moves in the wild environment, the four groups of wheeled units are subjected to contact reaction force of the ground and posture adjustment, the first elastic buffer unit and the second elastic buffer unit are compressed and deformed to realize passive self-adaptive adjustment of the trunk, and four self-adaptive adjustment modes are provided.

[0011] The first platform connecting rod and the fourth platform connecting rod are completely the same in structure and size. The second platform connecting rod and the third platform connecting rod are completely the same in structure and size. The first platform connecting rod and the second platform connecting rod are equal in length.

[0012] The first branch chain connecting rod and the fourth branch chain connecting rod are completely the same in structure and size. The second branch chain connecting rod and the third branch chain connecting rod are completely the same in structure and size. The first branch chain connecting rod and the second branch chain connecting rod are equal in length.

[0013] The hinge joint axes at both ends of the first branch chain connecting rod, the second branch chain connecting rod, the third branch chain connecting rod and the fourth branch chain connecting rod are parallel.

[0014] The steering discs of the first steering engine and the second steering engine are coaxial and perpendicular to the axes of all other hinged joints.

[0015] Preferably, the first elastic buffering unit comprises a first compression spring and a first telescopic rod, both ends of the first compression spring are in contact with the second platform link and the third platform link respectively, and the first compression spring is in a compressed pre-tightening state, both ends of the first telescopic rod are fixedly connected with the second platform link and the third platform link respectively, and the first telescopic rod is used for supporting and limiting the installation position of the first compression spring;

[0016] Preferably, the second elastic buffering unit comprises a second compression spring and a second telescopic rod, both ends of the second compression spring are in contact with the first platform link and the fourth platform link respectively, and the second compression spring is in a compressed pre-tightening state, both ends of the second telescopic rod are fixedly connected with the first platform link and the fourth platform link respectively, and the second telescopic rod is used for supporting and limiting the installation position of the second compression spring;

[0017] The first compression spring and the second compression spring are completely same in structure and size, and the length of the first compression spring in the maximum compression state should be less than the minimum distance between the second platform link and the third platform link, and the length of the second compression spring in the maximum compression state should be less than the minimum distance between the first platform link and the fourth platform link;

[0018] Preferably, the first wheeled unit comprises a leg rod, a first motor, a circular wheel and a synchronous belt, the leg rod is fixedly connected with the first branch link, and the other end is connected with the circular wheel in the form of a revolute pair, the circular wheel is fixedly connected with the synchronous belt, and the first motor is fixedly installed on the leg rod, and the output shaft of the first motor is fixedly connected with the synchronous belt;

[0019] The structure of the second wheeled unit, the third wheeled unit and the fourth wheeled unit is completely same as that of the first wheeled unit, the first wheeled unit and the second wheeled unit are mirror assembled about the transverse symmetry plane of the semi-active torso, the third wheeled unit and the fourth wheeled unit are mirror assembled about the transverse symmetry plane of the semi-active torso, and the first wheeled unit and the fourth wheeled unit are mirror assembled about the longitudinal symmetry plane of the semi-active torso.

[0020] The application provides a wheeled robot with a semi-active trunk, which comprises a semi-active trunk; the semi-active trunk comprises a first platform connecting rod, a first steering engine, a second platform connecting rod, a first branch chain connecting rod, a second branch chain connecting rod, a third platform connecting rod, a second steering engine, a fourth platform connecting rod, a third branch chain connecting rod and a fourth branch chain connecting rod; the first platform connecting rod is connected with the second platform connecting rod in the form of a rotary pair through the first steering engine, the second platform connecting rod is hinged with the first branch chain connecting rod, the first branch chain connecting rod is hinged with the second branch chain connecting rod, the second branch chain connecting rod is hinged with the third platform connecting rod, the third platform connecting rod is connected with the fourth platform connecting rod in the form of a rotary pair through the second steering engine, the fourth platform connecting rod is hinged with the third branch chain connecting rod, the third branch chain connecting rod is hinged with the fourth branch chain connecting rod, the fourth branch chain connecting rod is hinged with the first platform connecting rod, the first platform connecting rod is connected with the fourth platform connecting rod in the form of a moving pair, and the second platform connecting rod is connected with the third platform connecting rod in the form of a moving pair; when the wheeled robot moves in a wild environment, the first steering engine and the second steering engine rotate synchronously, so that the included angle between the two side branch chain connecting rods is actively adjusted; the first branch chain connecting rod is provided with a first wheeled unit, the second branch chain connecting rod is provided with a second wheeled unit, the third branch chain connecting rod is provided with a third wheeled unit, and the fourth branch chain connecting rod is provided with a fourth wheeled unit; a first elastic buffer unit is arranged between the second platform connecting rod and the third platform connecting rod, and a second elastic buffer unit is arranged between the first platform connecting rod and the fourth platform connecting rod; when the wheeled robot moves in a wild environment, the four groups of wheeled units are subjected to the contact reaction force of the ground and are adjusted in posture, the first elastic buffer unit and the second elastic buffer unit are compressed and deformed, so that passive self-adaptive adjustment is realized. The wheeled robot provided by the application takes a spatial closed-chain mechanism as a flexible trunk, realizes a semi-active control mechanism through the installation of a steering engine and an elastic buffer unit, can actively adjust the included angle between the two side moving units, simultaneously realizes passive self-adaptive adjustment of the moving units by utilizing the deformation characteristics of the trunk mechanism, improves the adaptability to a complex terrain environment, and can be used in fields such as detection and investigation, pipeline detection and logistics and storage. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0022] Figure 1 The specific schematic structural diagram of the wheeled robot with a semi-active trunk is provided in the application.

[0023] Figure 2Figure 1 is a schematic diagram of a first platform link of a wheeled robot with a semi-active torso according to the present application;

[0024] Figure 3 Figure 2 is a schematic diagram of a first steering engine of a wheeled robot with a semi-active torso according to the present application;

[0025] Figure 4 Figure 3 is a schematic diagram of a second platform link of a wheeled robot with a semi-active torso according to the present application;

[0026] Figure 5 Figure 4 is a schematic diagram of a first branch link of a wheeled robot with a semi-active torso according to the present application;

[0027] Figure 6 Figure 5 is a schematic diagram of a second branch link of a wheeled robot with a semi-active torso according to the present application;

[0028] Figure 7 Figure 6 is a schematic diagram of a first wheeled unit of a wheeled robot with a semi-active torso according to the present application;

[0029] Figure 8 Figure 7 is a schematic diagram of a first elastic buffer unit of a wheeled robot with a semi-active torso according to the present application;

[0030] Figure 9 Figure 8 is a schematic diagram of active adjustment of a wheeled robot with a semi-active torso according to the present application, wherein (a) is active adjustment to achieve lifting of the wheeled unit, (b) is active adjustment to achieve parallel of the wheeled unit, and (c) is active adjustment to achieve sinking of the wheeled unit;

[0031] Figure 10 Figure 9 is a schematic diagram of adaptive adjustment of a wheeled robot with a semi-active torso according to the present application, wherein (a) is adaptive adjustment mode one, (b) is adaptive adjustment mode two, (c) is adaptive adjustment mode three, and (d) is adaptive adjustment mode four; DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0033] Figure 1 Figure 10 is a schematic diagram of a wheeled robot with a semi-active torso according to the present application.

[0034] ReferenceFigure 1 It can be known that the embodiment provides a wheeled robot with a semi-active trunk, and the wheeled robot comprises:

[0035] The semi-active trunk 1 comprises a first platform connecting rod 1-1, a first steering engine 1-2, a second platform connecting rod 1-3, a first branch chain connecting rod 1-4, a second branch chain connecting rod 1-5, a third platform connecting rod 1-6, a second steering engine 1-7, a fourth platform connecting rod 1-8, a third branch chain connecting rod 1-9 and a fourth branch chain connecting rod 1-10.

[0036] The first platform connecting rod 1-1 is connected with the second platform connecting rod 1-3 in the form of a rotary pair through the first steering engine 1-2, the second platform connecting rod 1-3 is hinged with the first branch chain connecting rod 1-4, the first branch chain connecting rod 1-4 is hinged with the second branch chain connecting rod 1-5, the second branch chain connecting rod 1-5 is hinged with the third platform connecting rod 1-6, the third platform connecting rod 1-6 is connected with the fourth platform connecting rod 1-8 in the form of a rotary pair through the second steering engine 1-7, the fourth platform connecting rod 1-8 is hinged with the third branch chain connecting rod 1-9, the third branch chain connecting rod 1-9 is hinged with the fourth branch chain connecting rod 1-10, the fourth branch chain connecting rod 1-10 is hinged with the first platform connecting rod 1-1, the first platform connecting rod 1-1 is connected with the fourth platform connecting rod 1-8 in the form of a moving pair, and the second platform connecting rod 1-3 is connected with the third platform connecting rod 1-6 in the form of a moving pair, so as to form a novel closed chain connecting rod mechanism, which has two independent degrees of freedom, one is a rotary degree of freedom controlled by a steering engine, and the other is a moving degree of freedom between two end platform connecting rods.

[0037] The moving pairs connected between the first platform connecting rod 1-1 and the fourth platform connecting rod 1-8 and between the second platform connecting rod 1-3 and the third platform connecting rod 1-6 can be replaced by structures with only a moving degree of freedom such as guide rails and sliding blocks.

[0038] Figure 9 It is an active adjustment schematic diagram of the wheeled robot with a semi-active trunk.

[0039] Reference Figure 9 It can be known that when the wheeled robot moves in a wild environment, the first steering engine 1-2 and the second steering engine 1-7 rotate synchronously, so as to realize active adjustment of the included angle between the two side branch chain connecting rods.

[0040] The first branch chain connecting rod 1-4 is provided with a first wheeled unit 2, the second branch chain connecting rod 1-5 is provided with a second wheeled unit 3, the third branch chain connecting rod 1-9 is provided with a third wheeled unit 4, and the fourth branch chain connecting rod 1-10 is provided with a fourth wheeled unit 5.

[0041] In the embodiment of the present application, a first elastic buffer unit 6 is arranged between the second platform connecting rod 1-3 and the third platform connecting rod 1-6, and a second elastic buffer unit 7 is arranged between the first platform connecting rod 1-1 and the fourth platform connecting rod 1-8, wherein the first elastic buffer unit 6 and the second elastic buffer unit 7 play a role of deformation buffering and resetting when the trunk is deformed by external force.

[0042] It should be noted that the first elastic buffer unit 6 and the second elastic buffer unit 7 are only one form of expression in this embodiment, and elastic buffer units can also be arranged between adjacent platform connecting rods and branch connecting rods to achieve the same use effect, and are not limited to these two forms.

[0043] Figure 10 An adaptive adjustment schematic diagram of a wheeled robot with a semi-active trunk.

[0044] Reference Figure 10 It can be seen that when the wheeled robot moves in the wild environment, the four groups of wheeled units are subjected to contact reaction force of the ground and posture adjustment occurs, the first elastic buffer unit 6 and the second elastic buffer unit 7 are compressed and deformed, so as to realize passive adaptive adjustment and have four adaptive adjustment modes.

[0045] It should be noted that the semi-active trunk 1 has a singular position, that is, the first branch connecting rod 1-4 is collinear with the second branch connecting rod 1-5, and the third branch connecting rod 1-9 is collinear with the fourth branch connecting rod 1-10, so that the wheeled robot can realize four adaptive adjustment modes, as shown in Figure 10 , which can realize free switching among the four adaptive adjustment modes for different ground obstacles, thereby improving the flexibility of the robot and the adaptability to irregular terrain environment.

[0046] Figure 2 A specific schematic structural diagram of the first platform connecting rod in the wheeled robot with a semi-active trunk.

[0047] Figure 4 A specific schematic structural diagram of the second platform connecting rod in the wheeled robot with a semi-active trunk.

[0048] Reference Figure 2 and Figure 4 It can be seen that in the embodiment of the present application, the first platform connecting rod 1-1 and the fourth platform connecting rod 1-8 are completely the same in structure and size, the second platform connecting rod 1-3 and the third platform connecting rod 1-6 are completely the same in structure and size, and the length of the first platform connecting rod 1-1 is equal to that of the second platform connecting rod 1-3.

[0049] Figure 5 It is a specific schematic structural diagram of the first branch chain link in the wheeled robot with a semi-active torso.

[0050] Figure 6 It is a specific schematic structural diagram of the second branch chain link in the wheeled robot with a semi-active torso.

[0051] Reference Figure 5 and Figure 6 It can be known that, in the embodiment of the present application, the first branch chain link 1-4 and the fourth branch chain link 1-10 are completely the same in structure and size, the second branch chain link 1-5 and the third branch chain link 1-9 are completely the same in structure and size, and the first branch chain link 1-4 and the second branch chain link 1-5 are equal in length.

[0052] The hinge joint axes at both ends of the first branch chain link 1-4, the second branch chain link 1-5, the third branch chain link 1-9 and the fourth branch chain link 1-10 are parallel.

[0053] Figure 3 It is a specific schematic structural diagram of the first steering engine in the wheeled robot with a semi-active torso.

[0054] Reference Figure 3 It can be known that, in the embodiment of the present application, the steering disc and the machine body of the first steering engine 1-2 are respectively provided with a plurality of mounting holes for fixedly connecting the first platform link 1-1 and the second platform link 1-3, and the steering disc and the machine body of the second steering engine 1-7 are respectively provided with a plurality of mounting holes for fixedly connecting the fourth platform link 1-8 and the third platform link 1-6.

[0055] The steering discs of the first steering engine 1-2 and the second steering engine 1-7 are coaxial, and are perpendicular to the axes of all other hinge joints.

[0056] Figure 8 It is a specific schematic structural diagram of the first elastic buffer unit in the wheeled robot with a semi-active torso.

[0057] Reference Figure 8 It can be known that, in the embodiment of the present application, the first elastic buffer unit 6 includes a first compression spring 6-1 and a first telescopic rod 6-2, the two ends of the first compression spring 6-1 are respectively in contact with the second platform link 1-3 and the third platform link 1-6, and are in a compressed pre-tightening state, and the two ends of the first telescopic rod 6-2 are respectively fixedly connected with the second platform link 1-3 and the third platform link 1-6, for supporting and limiting the installation position of the first compression spring 6-1.

[0058] In the embodiment of the present application, the second elastic buffering unit 7 comprises a second compression spring 7-1 and a second telescopic rod 7-2. The two ends of the second compression spring 7-1 are in contact with the first platform connecting rod 1-1 and the fourth platform connecting rod 1-8 respectively and are in a compressed pre-tightening state. The two ends of the second telescopic rod 7-2 are fixedly connected with the first platform connecting rod 1-1 and the fourth platform connecting rod 1-8 respectively for supporting and limiting the installation position of the second compression spring 7-1.

[0059] In the embodiment of the present application, the first compression spring 6-1 and the second compression spring 7-1 are completely identical in structure and size. Meanwhile, the length of the first compression spring 6-1 in the maximum compression state should be smaller than the minimum distance between the second platform connecting rod 1-3 and the third platform connecting rod 1-6, and the length of the second compression spring 7-1 in the maximum compression state should be smaller than the minimum distance between the first platform connecting rod 1-1 and the fourth platform connecting rod 1-8.

[0060] Figure 7 It is a specific schematic structural diagram of the first wheeled unit of the wheeled robot with a semi-active trunk in the present application.

[0061] Reference Figure 7 It can be known that, in the embodiment of the present application, the first wheeled unit 2 comprises a leg rod 2-1, a first motor 2-2, a round wheel 2-3 and a synchronous belt 2-4. The leg rod 2-1 is fixedly connected with the first branch connecting rod 1-4 and is connected with the round wheel 2-3 in the form of a rotary pair at the other end. The round wheel 2-3 is fixedly connected with the synchronous belt 2-4. The first motor 2-2 is fixedly installed on the leg rod 2-1 and its output shaft is fixedly connected with the synchronous belt 2-4.

[0062] The second wheeled unit 3, the third wheeled unit 4 and the fourth wheeled unit 5 are completely identical in structure composition to the first wheeled unit 2.

[0063] In the embodiment of the present application, the first wheeled unit 2 and the second wheeled unit 3 are mirror assembled about the lateral symmetry plane of the semi-active trunk 1, the third wheeled unit 4 and the fourth wheeled unit 5 are mirror assembled about the lateral symmetry plane of the semi-active trunk 1, and the first wheeled unit 2 and the fourth wheeled unit 5 are mirror assembled about the longitudinal symmetry plane of the semi-active trunk 1, so as to ensure the symmetry of the whole wheeled robot.

[0064] In the embodiment of the present application, in the first wheeled unit 2, the second wheeled unit 3, the third wheeled unit 4 and the fourth wheeled unit 5, the motor drives the wheels to rotate clockwise or counterclockwise through the synchronous belt, so as to realize the forward and backward movement and the steering motion of the wheeled robot.

[0065] It should be noted that the first wheeled unit 2, the second wheeled unit 3, the third wheeled unit 4 and the fourth wheeled unit 5 are only one form of embodiment, and can also use a hub motor to achieve the same use effect, and are not limited to these two forms.

[0066] The working principle and process of the present application: the wheeled robot with a semi-active torso can realize two forms of torso adjustment: active adjustment and adaptive adjustment. When the robot encounters terrain obstacles such as narrow passages, V-shaped drainage channels and pipelines, the first steering gear 1-2 and the second steering gear 1-7 rotate synchronously to adjust the included angle of the two sides of the wheeled unit to adapt to the terrain, as shown in Figure 9 When the robot travels on unstructured roads or in wild terrain, the four groups of wheeled units are in contact with the uneven ground environment and are subjected to irregular contact forces, which are transmitted to the semi-active torso 1, and the first compression spring 6-1 and the second compression spring 7-1 are compressed and deformed under stress, and the relative movement between the wheeled units occurs, and the four adaptive adjustment forms are switched to adapt to the complex ground environment, as shown in Figure 10 .

[0067] The similar parts between the embodiments provided by the present application can be referred to each other, and the specific embodiments provided above are only a few examples under the general concept of the present application, and do not constitute a limitation on the protection scope of the present application. For those skilled in the art, any other embodiments extended according to the present application scheme without creative labor are within the protection scope of the present application.

Claims

1. A wheeled robot with a semi-active trunk, characterized in that: The wheeled robot comprises a semi-active trunk (1), wherein the semi-active trunk comprises a first platform link (1-1), a first steering gear (1-2), a second platform link (1-3), a first branch link (1-4), a second branch link (1-5), a third platform link (1-6), a second steering gear (1-7), a fourth platform link (1-8), a third branch link (1-9) and a fourth branch link (1-10); The first platform link (1-1) and the second platform link (1-3) are connected in the form of a rotating pair via the first steering gear (1-2); the second platform link (1-3) is hinged to the first branch link (1-4); the first branch link (1-4) is hinged to the second branch link (1-5); the second branch link (1-5) is hinged to the third platform link (1-6); the third platform link (1-6) and the fourth platform link (1-8) are connected in the form of a rotating pair via the second steering gear (1-7); the fourth platform link (1-8) and the third branch link (1-6) are hinged to the fourth platform link (1-8). The chain link (1-9) is hinged, the third branch chain link (1-9) is hinged to the fourth branch chain link (1-10), the fourth branch chain link (1-10) is hinged to the first platform link (1-1), the first platform link (1-1) is connected to the fourth platform link (1-8) in the form of a moving pair, and the second platform link (1-3) is connected to the third platform link (1-6) in the form of a moving pair. When the wheeled robot moves in a complex ground environment, the first steering gear (1-2) and the second steering gear (1-7) rotate synchronously to achieve active adjustment of the angle between the branch chain links on both sides; The first branch link (1-4) is provided with a first wheel unit (2), the second branch link (1-5) is provided with a second wheel unit (3), the third branch link (1-9) is provided with a third wheel unit (4), the fourth branch link (1-10) is provided with a fourth wheel unit (5), a first elastic buffer unit (6) is provided between the second platform link (1-3) and the third platform link (1-6), and a second elastic buffer unit (7) is provided between the first platform link (1-1) and the fourth platform link (1-8). When the wheeled robot moves in a field environment, the four groups of wheeled units are subjected to contact reaction force from the ground and undergo posture adjustment. The first elastic buffer unit (6) and the second elastic buffer unit (7) are compressed and deformed, thereby realizing passive adaptive adjustment of the trunk, and having four adaptive adjustment forms.

2. A wheeled robot with a semi-active trunk according to claim 1, characterized in that: The structure and size of the first platform connecting rod (1-1) and the fourth platform connecting rod (1-8) are completely identical, the structure and size of the second platform connecting rod (1-3) and the third platform connecting rod (1-6) are completely identical, and the length of the first platform connecting rod (1-1) and the second platform connecting rod (1-3) are equal; The structure and size of the first branch chain link (1-4) and the fourth branch chain link (1-10) are completely identical, the structure and size of the second branch chain link (1-5) and the third branch chain link (1-9) are completely identical, and the length of the first branch chain link (1-4) and the second branch chain link (1-5) are equal; The hinge joint axes at both ends of the first branch link (1-4), the second branch link (1-5), the third branch link (1-9) and the fourth branch link (1-10) are parallel.

3. A wheeled robot with a semi-active trunk as claimed in claim 1, characterized in that: A plurality of mounting holes are respectively provided on the steering wheel and the fuselage of the first steering gear (1-2) for fixedly connecting the first platform connecting rod (1-1) and the second platform connecting rod (1-3); a plurality of mounting holes are respectively provided on the steering wheel and the fuselage of the second steering gear (1-7) for fixedly connecting the fourth platform connecting rod (1-8) and the third platform connecting rod (1-6); The steering wheels of the first steering engine (1-2) and the second steering engine (1-7) are coaxial and perpendicular to the axes of all other articulated joints.

4. A wheeled robot with a semi-active trunk according to claim 1, characterized in that: The first elastic buffer unit (6) comprises a first compression spring (6-1) and a first telescopic rod (6-2); two ends of the first compression spring (6-1) are in contact with the second platform connecting rod (1-3) and the third platform connecting rod (1-6) respectively and are in a compression pre-tightened state; two ends of the first telescopic rod (6-2) are fixedly connected with the second platform connecting rod (1-3) and the third platform connecting rod (1-6) respectively, and are used to support and limit the installation position of the first compression spring (6-1); The second elastic buffer unit (7) comprises a second compression spring (7-1) and a second telescopic rod (7-2); the two ends of the second compression spring (7-1) are respectively in contact with the first platform connecting rod (1-1) and the fourth platform connecting rod (1-8) and are in a compression pre-tightened state; the two ends of the second telescopic rod (7-2) are respectively fixedly connected with the first platform connecting rod (1-1) and the fourth platform connecting rod (1-8) to support and limit the installation position of the second compression spring (7-1); The first compression spring (6-1) and the second compression spring (7-1) have exactly the same structure and size. At the same time, the length of the first compression spring (6-1) in the maximum compression state should be smaller than the minimum distance between the second platform connecting rod (1-3) and the third platform connecting rod (1-6), and the length of the second compression spring (7-1) in the maximum compression state should be smaller than the minimum distance between the first platform connecting rod (1-1) and the fourth platform connecting rod (1-8).

5. The wheeled robot with a semi-active trunk according to claim 1, wherein: The first wheeled unit (2) comprises a leg rod (2-1), a first motor (2-2), a round wheel (2-3) and a synchronous belt (2-4). One end of the leg rod (2-1) is fixedly connected to the first branched chain link (1-4), and the other end is connected to the round wheel (2-3) in the form of a rotating pair. The round wheel (2-3) is fixedly connected to the synchronous belt (2-4). The first motor (2-2) is fixedly mounted on the leg rod (2-1), and its output shaft is fixedly connected to the synchronous belt (2-4). The second wheeled unit (3), the third wheeled unit (4) and the fourth wheeled unit (5) have the same structural composition as the first wheeled unit (2); the first wheeled unit (2) and the second wheeled unit (3) are assembled in a mirror image with respect to the transverse symmetry plane of the semi-active trunk (1); the third wheeled unit (4) and the fourth wheeled unit (5) are assembled in a mirror image with respect to the transverse symmetry plane of the semi-active trunk (1); and the first wheeled unit (2) and the fourth wheeled unit (5) are assembled in a mirror image with respect to the longitudinal symmetry plane of the semi-active trunk (1).

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