Wheel robot with semi-active torso

Abstract

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; four groups of branch chain connecting rods are respectively provided with wheeled units; first and second elastic buffer units 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 a wild environment, the first steering engine and the second steering engine synchronously rotate to realize active adjustment of the included angle between the two groups of branch chain connecting rods, and meanwhile, the two groups of elastic buffer units are compressed and deformed to realize self-adaptive adjustment of the trunk. The wheeled robot provided by the application is equipped with a semi-active flexible trunk, and the adaptability to a complex environment is improved, and can be used in fields such as detection and investigation, pipeline detection and logistics and storage.

Description

Technical Field

[0001] This application relates to the field of mobile robot technology, and in particular to a wheeled robot with a semi-active torso. Background Technology

[0002] Currently, mobile robots are widely used in various fields such as industrial manufacturing, logistics warehousing, and emergency rescue. With the iteration and upgrading of artificial intelligence technology, the application boundaries and market demand of robots have been further expanded. The complex and ever-changing application environment has put forward higher requirements for the mobility performance of robots. Therefore, how to improve terrain adaptability has become a key direction for the future development of mobile robots.

[0003] Equipping a robot with a flexible torso can effectively improve its terrain adaptability. Among them, the flexible torso structure based on a spatial closed-loop mechanism is stable, has a strong load-bearing capacity, and performs excellently in complex terrain environments. Chinese patent CN202311702132.4 discloses "A Reconfigurable Torso Wheeled Mobile Mechanism". This robot uses a spatial six-bar mechanism as the basic configuration of the torso. It can flexibly change the movement mode of the mobile platform through the linkage components in unknown and harsh environments, achieving efficient obstacle crossing and avoidance, and enhancing the ability of wheeled mobile platforms to cope with unknown and harsh environments.

[0004] However, most existing closed-loop flexible torsos are actively driven structures. Irregular and complex terrains cannot be precisely quantified in terms of size, and their active adjustment mechanisms cannot accurately and quickly adjust the robot, reducing the robot's adaptability and mobility in real complex environments. Summary of the Invention

[0005] This application provides a wheeled robot with a semi-active torso. Compared to existing wheeled robots with flexible torsos, this robot utilizes a semi-active control mechanism to further enhance its adaptability and mobility in complex terrain environments, thereby improving its practicality. The wheeled robot includes:

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

[0007] The first platform link and the second platform link are connected via the first servo motor in the form of a revolute joint. The second platform link is hinged to the first branch link. The first branch link is hinged to the second branch link. The second branch link is hinged to the third platform link. The third platform link and the fourth platform link are connected via the second servo motor in the form of a revolute joint. The fourth platform link is hinged to the third branch link. The third branch link is hinged to the fourth branch link. The fourth branch link is hinged to the first platform link. The first platform link and the fourth platform link are connected in the form of a prismatic joint. The second platform link and the third platform link are connected in the form of a prismatic joint. When the wheeled robot moves in a field environment, the first servo motor and the second servo motor rotate synchronously to achieve active adjustment of the angle between the branch links on both sides.

[0008] The first branch link is provided with a first wheel unit, the second branch link is provided with a second wheel unit, the third branch link is provided with a third wheel unit, and the fourth branch link is provided with a fourth wheel unit;

[0009] Preferably, a first elastic buffer unit is provided between the second platform link and the third platform link, and a second elastic buffer unit is provided between the first platform link and the fourth platform link;

[0010] When the wheeled robot moves in the field, the four sets of wheeled units are subjected to the contact reaction force of the ground and adjust their posture. The first elastic buffer unit and the second elastic buffer unit are compressed and deformed to realize the passive adaptive adjustment of the torso and have four adaptive adjustment modes.

[0011] The first platform link and the fourth platform link have identical structure and dimensions. The second platform link and the third platform link have identical structure and dimensions. The first platform link and the second platform link have the same length.

[0012] The first branch link and the fourth branch link have identical structure and dimensions. The second branch link and the third branch link have identical structure and dimensions. The first branch link and the second branch link have the same length.

[0013] The hinge joint axes at both ends of the first branch link, the second branch link, the third branch link, and the fourth branch link are parallel;

[0014] The servo discs of the first and second servos are coaxial and perpendicular to the axes of all other articulated joints.

[0015] Preferably, the first elastic buffer unit includes a first compression spring and a first telescopic rod. The two ends of the first compression spring are in contact with the second platform connecting rod and the third platform connecting rod, respectively, and are in a compressed pre-tightened state. The two ends of the first telescopic rod are fixedly connected to the second platform connecting rod and the third platform connecting rod, respectively, for supporting and limiting the installation position of the first compression spring.

[0016] Preferably, the second elastic buffer unit includes a second compression spring and a second telescopic rod. The two ends of the second compression spring are in contact with the first platform connecting rod and the fourth platform connecting rod, respectively, and are in a compressed pre-tightened state. The two ends of the second telescopic rod are fixedly connected to the first platform connecting rod and the fourth platform connecting rod, respectively, for supporting and limiting the installation position of the second compression spring.

[0017] The first compression spring and the second compression spring have the same structure and size. At the same time, the length of the first compression spring in its 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 its maximum compression state should be less than the minimum distance between the first platform link and the fourth platform link.

[0018] Preferably, the first wheel unit includes a leg, a first motor, a wheel, and a timing belt. The leg is fixedly connected to the first branch link, and the other end is connected to the wheel in the form of a revolute joint. The wheel is fixedly connected to the timing belt. The first motor is fixedly mounted on the leg, and its output shaft is fixedly connected to the timing belt.

[0019] The second, third, and fourth wheel units have the same structural composition as the first wheel unit. The first and second wheel units are assembled in mirror image with respect to the transverse symmetry plane of the semi-active torso. The third and fourth wheel units are also assembled in mirror image with respect to the transverse symmetry plane of the semi-active torso. The first and fourth wheel units are also assembled in mirror image with respect to the longitudinal symmetry plane of the semi-active torso.

[0020] This application provides a wheeled robot with a semi-active torso, including a semi-active torso; the semi-active torso includes a first platform link, a first servo motor, a second platform link, a first branch link, a second branch link, a third platform link, a second servo motor, a fourth platform link, a third branch link, and a fourth branch link; the first platform link and the second platform link are connected via the first servo motor in the form of a revolute joint; the second platform link is hinged to the first branch link; the first branch link is hinged to the second branch link; the second branch link is hinged to the third platform link; the third platform link and the fourth platform link are connected via the second servo motor in the form of a revolute joint; the fourth platform link is hinged to the third branch link; the third branch link is hinged to the fourth branch link; the fourth branch link is hinged to the first platform link; the first platform link and the fourth platform link are connected in the form of a prismatic joint; the second platform link and the third platform link are connected in the form of a prismatic joint. When the wheeled robot moves in the field, the first and second servo motors rotate synchronously to actively adjust the angle between the two side branch links. The first branch link is equipped with a first wheel unit, the second branch link with a second wheel unit, the third branch link with a third wheel unit, and the fourth branch link with a fourth wheel unit. A first elastic buffer unit is provided between the second platform link and the third platform link, and a second elastic buffer unit is provided between the first platform link and the fourth platform link. When the wheeled robot moves in the field, the four sets of wheel units are subjected to the contact reaction force of the ground and undergo attitude adjustment. The first and second elastic buffer units are compressed and deformed, enabling passive adaptive adjustment. The wheeled robot provided in this application uses a spatial closed-chain mechanism as a flexible body and achieves a semi-active control mechanism by installing servo motors and elastic buffer units. It can actively adjust the angle between the two moving units and passively adaptively adjust the moving units by utilizing the deformation characteristics of the body mechanism. This improves its adaptability to complex terrain environments and can be used in fields such as detection and reconnaissance, pipeline inspection, and logistics warehousing. Attached Figure Description

[0021] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic structural diagram of a wheeled robot with a semi-active torso, as described in this application.

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

[0024] Figure 3 This is a schematic structural diagram of the first servo motor in a wheeled robot with a semi-active torso according to this application;

[0025] Figure 4 This is a schematic structural diagram of the second platform linkage in a wheeled robot with a semi-active torso, as described in this application.

[0026] Figure 5 This is a schematic structural diagram of the first link in a wheeled robot with a semi-active torso, as described in this application.

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

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

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

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

[0031] Figure 10 This is a schematic diagram of the adaptive adjustment of a wheeled robot with a semi-active torso according to the present application, wherein (a) is the first adaptive adjustment form, (b) is the second adaptive adjustment form, (c) is the third adaptive adjustment form, and (d) is the fourth adaptive adjustment form. Detailed Implementation

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

[0033] Figure 1 This is a schematic structural diagram of a wheeled robot with a semi-active torso, as described in this application.

[0034] refer to Figure 1 As can be seen, this embodiment provides a wheeled robot with a semi-active torso, the wheeled robot comprising:

[0035] The semi-active torso 1 includes a first platform link 1-1, a first servo motor 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 servo motor 1-7, a fourth platform link 1-8, a third branch link 1-9, and a fourth branch link 1-10.

[0036] The first platform link 1-1 and the second platform link 1-3 are connected by the first servo motor 1-2 in the form of a revolute joint. 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 by the second servo motor 1-7 in the form of a revolute joint. The fourth platform link 1-8 is connected to the third branch link... Links 1-9 are hinged together; the third branch link 1-9 is hinged together with the fourth branch link 1-10; the fourth branch link 1-10 is hinged together with the first platform link 1-1; the first platform link 1-1 and the fourth platform link 1-8 are connected in the form of a sliding joint; and the second platform link 1-3 and the third platform link 1-6 are connected in the form of a sliding joint, forming a novel closed-chain linkage mechanism. This mechanism has two independent degrees of freedom: one is the rotational degree of freedom controlled by the servo motor, and the other is the translational degree of freedom between the two platform links.

[0037] The sliding joint connecting the first platform link 1-1 and the fourth platform link 1-8, and the sliding joint connecting the second platform link 1-3 and the third platform link 1-6, can be replaced by structures such as guide rails and sliders that only have a degree of freedom of movement.

[0038] Figure 9 This is a schematic diagram illustrating the active adjustment of a wheeled robot with a semi-active torso, as described in this application.

[0039] refer to Figure 9 It can be seen that when the wheeled robot moves in the field environment, the first servo motor 1-2 and the second servo motor 1-7 rotate synchronously to realize the active adjustment of the included angle between the two side branch links.

[0040] 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, and the fourth branch link 1-10 is provided with a fourth wheel unit 5.

[0041] In the embodiments of this application, 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. The first elastic buffer unit 6 and the second elastic buffer unit 7 play the role of deformation buffering and reset when the torso 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 manifestation of this embodiment. Elastic buffer units can also be set between adjacent platform links and support links to achieve the same effect. It is not limited to these two forms.

[0043] Figure 10 This is a schematic diagram illustrating the adaptive adjustment of a wheeled robot with a semi-active torso, as described in this application.

[0044] refer to Figure 10 It can be seen that when the wheeled robot moves in the field environment, the four sets of wheeled units are subjected to the contact reaction force of the ground and undergo posture adjustment. 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 torso 1 has a singular position, namely, the first branch link 1-4 is collinear with the second branch link 1-5, and the third branch link 1-9 is collinear with the fourth branch link 1-10. Therefore, the wheeled robot can achieve four adaptive adjustment modes, as detailed in [link to documentation]. Figure 10 It can freely switch between four adaptive adjustment modes to deal with different ground obstacles, which improves the robot's flexibility and adaptability to irregular terrain environments.

[0046] Figure 2 This is a schematic structural diagram of the first platform linkage in a wheeled robot with a semi-active torso, as described in this application.

[0047] Figure 4 This is a schematic structural diagram of the second platform linkage in a wheeled robot with a semi-active torso, as described in this application.

[0048] refer to Figure 2 and Figure 4 As can be seen, in the embodiments of this application, the first platform link 1-1 and the fourth platform link 1-8 have the same structure and size, the second platform link 1-3 and the third platform link 1-6 have the same structure and size, and the first platform link 1-1 and the second platform link 1-3 have the same length.

[0049] Figure 5 This is a schematic structural diagram of the first link in a wheeled robot with a semi-active torso according to this application.

[0050] Figure 6 This is a schematic structural diagram of the second link in a wheeled robot with a semi-active torso according to this application.

[0051] refer to Figure 5 and Figure 6 As can be seen, in the embodiments of this application, the first branch link 1-4 and the fourth branch link 1-10 have the same structure and size, the second branch link 1-5 and the third branch link 1-9 have the same structure and size, and the first branch link 1-4 and the second branch link 1-5 have the same length.

[0052] 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.

[0053] Figure 3 This is a schematic structural diagram of the first servo motor in a wheeled robot with a semi-active torso according to this application.

[0054] refer to Figure 3 As can be seen, in the embodiments of this application, the first servo motor 1-2 has a plurality of mounting holes on its servo disc and body for fixing the first platform link 1-1 and the second platform link 1-3, and the second servo motor 1-7 has a plurality of mounting holes on its servo disc and body for fixing the fourth platform link 1-8 and the third platform link 1-6.

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

[0056] Figure 8 This is a schematic structural diagram of the first elastic buffer unit in a wheeled robot with a semi-active torso according to this application.

[0057] refer to Figure 8 As can be seen, in the embodiments of this 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 in contact with the second platform connecting rod 1-3 and the third platform connecting rod 1-6 respectively, and are in a compressed pre-tightened state. The two ends of the first telescopic rod 6-2 are fixedly connected to 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.

[0058] In the embodiments of this application, the second elastic buffer unit 7 includes 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-tightened state. The two ends of the second telescopic rod 7-2 are fixedly connected to the first platform connecting rod 1-1 and the fourth platform connecting rod 1-8 respectively, and are used to support and limit the installation position of the second compression spring 7-1.

[0059] In the embodiments of this application, the first compression spring 6-1 and the second compression spring 7-1 have the same structure and size. At the same time, the length of the first compression spring 6-1 under maximum compression should be less than the minimum distance between the second platform link 1-3 and the third platform link 1-6, and the length of the second compression spring 7-1 under maximum compression should be less than the minimum distance between the first platform link 1-1 and the fourth platform link 1-8.

[0060] Figure 7 This is a schematic structural diagram of the first wheeled unit in a wheeled robot with a semi-active torso according to this application.

[0061] refer to Figure 7 As can be seen from the embodiments of this application, the first wheel unit 2 includes a leg 2-1, a first motor 2-2, a wheel 2-3, and a timing belt 2-4. The leg 2-1 is fixedly connected to the first branch link 1-4, and its other end is connected to the wheel 2-3 in the form of a revolute joint. The wheel 2-3 is fixedly connected to the timing belt 2-4. The first motor 2-2 is fixedly mounted on the leg 2-1, and its output shaft is fixedly connected to the timing belt 2-4.

[0062] The second wheel unit 3, the third wheel unit 4, and the fourth wheel unit 5 have the same structural composition as the first wheel unit 2.

[0063] In the embodiments of this application, the first wheeled unit 2 and the second wheeled unit 3 are assembled in mirror image with respect to the lateral symmetry plane of the semi-active torso 1, the third wheeled unit 4 and the fourth wheeled unit 5 are assembled in mirror image with respect to the lateral symmetry plane of the semi-active torso 1, and the first wheeled unit 2 and the fourth wheeled unit 5 are assembled in mirror image with respect to the longitudinal symmetry plane of the semi-active torso 1, so as to ensure the symmetry of the entire wheeled robot.

[0064] In the embodiments of this 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 a synchronous belt, thereby realizing the forward and backward movement and turning motion of the wheeled robot.

[0065] It should be noted that the first wheel unit 2, the second wheel unit 3, the third wheel unit 4, and the fourth wheel unit 5 are only one manifestation in this embodiment. Hub motors can also be used to achieve the same effect, and they are not limited to these two forms.

[0066] The working principle and process of this application: This wheeled robot with a semi-active torso can achieve two modes of torso adjustment: active adjustment and adaptive adjustment. When the robot encounters terrain obstacles such as narrow passages, V-shaped drainage ditches, and pipes, the first servo motor 1-2 and the second servo motor 1-7 rotate synchronously, adjusting the included angle of the wheel units on both sides to adapt to the terrain. Figure 9 As shown; when the robot travels on unstructured roads or in wilderness terrain, the four sets of wheeled units come into contact with the uneven ground environment and are subjected to irregular contact forces. These contact forces are transmitted to the semi-active torso 1, causing the first compression spring 6-1 and the second compression spring 7-1 to compress and deform. Relative movement occurs between the wheeled units, switching between four adaptive adjustment modes to adapt to the complex ground environment. (Refer to...) Figure 10 As shown.

[0067] Similar parts between the embodiments provided in this application can be referred to mutually. The specific implementation methods provided above are only a few examples under the overall concept of this application and do not constitute a limitation on the scope of protection of this application. For those skilled in the art, any other implementation methods extended from the solution of this application without creative effort shall fall within the scope of protection of this application.

Claims

1. A wheeled robot with a semi-active torso, characterized in that, The wheeled robot includes a semi-active torso (1), which includes a first platform link (1-1), a first servo motor (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 servo motor (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 by a revolute joint via the first servo (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 by a revolute joint via the second servo (1-7). The fourth platform link (1-8) is connected to the third platform link (1-6) via the second servo (1-7). 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) and the fourth platform link (1-8) are connected in the form of a sliding joint, and the second platform link (1-3) and the third platform link (1-6) are connected in the form of a sliding joint. When the wheeled robot moves in a complex ground environment, the first servo motor (1-2) and the second servo motor (1-7) rotate synchronously to realize the active adjustment of the included angle between the two branch chain links. 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 the field environment, the four sets of wheel units are subjected to the contact reaction force of the ground and undergo posture adjustment. The first elastic buffer unit (6) and the second elastic buffer unit (7) are compressed and deformed to realize the passive adaptive adjustment of the torso and have four adaptive adjustment modes.

2. A wheeled robot with a semi-active torso as described in claim 1, characterized in that: The first platform link (1-1) and the fourth platform link (1-8) have the same structure and dimensions. The second platform link (1-3) and the third platform link (1-6) have the same structure and dimensions. The first platform link (1-1) and the second platform link (1-3) have the same length. The first branch link (1-4) and the fourth branch link (1-10) have the same structure and size. The second branch link (1-5) and the third branch link (1-9) have the same structure and size. The first branch link (1-4) and the second branch link (1-5) have the same length. 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 torso as described in claim 1, characterized in that: The first servo (1-2) has several mounting holes on its rudder disk and body for fixing the first platform link (1-1) and the second platform link (1-3). The second servo (1-7) has several mounting holes on its rudder disk and body for fixing the fourth platform link (1-8) and the third platform link (1-6). The rudder discs of the first servo (1-2) and the second servo (1-7) are coaxial and perpendicular to the axes of all other hinge joints.

4. A wheeled robot with a semi-active torso as described in claim 1, characterized in that: 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 in contact with the second platform connecting rod (1-3) and the third platform connecting rod (1-6) respectively, and are in a compressed pre-tightened state. The two ends of the first telescopic rod (6-2) are fixedly connected to 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) includes 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-tightened state. The two ends of the second telescopic rod (7-2) are fixedly connected to the first platform connecting rod (1-1) and the fourth platform connecting rod (1-8) respectively, and are used 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 the same structure and dimensions. At the same time, the length of the first compression spring (6-1) under maximum compression should be less than the minimum distance between the second platform link (1-3) and the third platform link (1-6), and the length of the second compression spring (7-1) under maximum compression should be less than the minimum distance between the first platform link (1-1) and the fourth platform link (1-8).

5. A wheeled robot with a semi-active torso as described in claim 1, characterized in that: The first wheel unit (2) includes a leg rod (2-1), a first motor (2-2), a wheel (2-3), and a timing belt (2-4); one end of the leg rod (2-1) is fixedly connected to the first branch link (1-4), and the other end is connected to the wheel (2-3) in the form of a rotating pair; the wheel (2-3) is fixedly connected to the timing 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 timing belt (2-4); The second wheel unit (3), the third wheel unit (4), and the fourth wheel unit (5) have the same structural composition as the first wheel unit (2). The first wheel unit (2) and the second wheel unit (3) are mirror images of each other about the transverse symmetry plane of the semi-active torso (1). The third wheel unit (4) and the fourth wheel unit (5) are mirror images of each other about the transverse symmetry plane of the semi-active torso (1). The first wheel unit (2) and the fourth wheel unit (5) are mirror images of each other about the longitudinal symmetry plane of the semi-active torso (1).

Images