CN114771684A

CN114771684A - Wheel-leg robot

Info

Publication number: CN114771684A
Application number: CN202210455328.7A
Authority: CN
Inventors: 李剑波; 刘益彰; 陈春玉; 周江琛; 王忠良; 丁宏钰
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2022-04-27
Filing date: 2022-04-27
Publication date: 2022-07-22

Abstract

The invention provides a wheel-leg robot, which relates to the technical field of robots and comprises a chest body, two leg components symmetrically arranged at two sides of the chest body and a driving wheel component arranged on the leg components, wherein each leg component comprises a thigh connecting rod, a shank connecting rod, an energy storage spring, an auxiliary connecting rod, an auxiliary roller and a leg driving part, the leg driving part is arranged on the chest body, one end of the thigh connecting rod is arranged at the driving end of the leg driving part, the other end of the thigh connecting rod is rotatably connected with the shank connecting rod, one end of the shank connecting rod, far away from the thigh connecting rod, is provided with a driving wheel component, the energy storage spring is connected with the thigh connecting rod and the shank connecting rod, one end of the auxiliary connecting rod is rotatably connected to the chest body, the other end of the auxiliary connecting rod is rotatably connected with the shank connecting rod, and the auxiliary roller is arranged at one end of the shank connecting rod, far away from the driving wheel component. The auxiliary roller arranged on the shank connecting rod can change four-wheel movement, thereby improving the moving speed and the overall stability of the wheel-leg robot.

Description

Wheel-leg robot

Technical Field

The invention relates to the technical field of robots, in particular to a wheel-legged robot.

Background

The current common ground robots can be roughly divided into legged robots and wheeled robots. The wheel type robot has high energy utilization efficiency, high moving speed, strong stability and simple structure, but is only suitable for flat ground with better road surface, is greatly influenced by terrain, and can not pass through when meeting an obstacle with certain height; the leg-foot type robot has strong obstacle-crossing capability, can adapt to various terrains, and has strong flexibility and adaptability, but the leg-foot type robot has low moving speed, complex structure and low energy utilization rate. In recent years, wheel-legged robots combining the two types of robots have appeared, and not only have super terrain adaptability, but also can greatly improve the cruising ability of the robots. However, due to the combination of the wheel and the leg, when the ground is in bad conditions, such as uneven ground, the stability and speed of the robot driven by the wheel and the leg are reduced by the influence of the ground.

Disclosure of Invention

For overcoming the not enough among the prior art, this application provides a wheel-legged robot.

The application provides a wheel-legged robot, which comprises a chest body, two leg components symmetrically arranged at two sides of the chest body and a driving wheel component arranged on the leg components, the leg component comprises a thigh connecting rod, a shank connecting rod, an energy storage spring, an auxiliary connecting rod, an auxiliary roller and a leg driving piece, the leg driving piece is arranged on the chest body, one end of the thigh connecting rod is arranged at the driving end of the leg driving piece, the other end of the thigh connecting rod is rotationally connected with the shank connecting rod, the driving wheel component is arranged at one end of the shank connecting rod far away from the thigh connecting rod, the energy storage spring is connected with the thigh connecting rod and the shank connecting rod, one end of the auxiliary connecting rod is rotatably connected to the chest body, the other end of the auxiliary connecting rod is rotatably connected with one end, close to the thigh connecting rod, of the shank connecting rod, and the auxiliary roller is arranged at one end, far away from the driving wheel assembly, of the shank connecting rod.

In a possible embodiment, the driving wheel assembly includes a rolling driving member, a flange and a roller, the rolling driving member is disposed at an end of the shank link away from the thigh link, the flange is disposed at a driving end of the rolling driving member, and the roller is sleeved outside the flange.

In a possible implementation manner, the flange includes a roller adapter flange and a blank flange, the roller adapter flange is disposed at the driving end of the rolling driving member, the roller is sleeved outside the roller adapter flange, and the blank flange is disposed at a side of the roller adapter flange away from the rolling driving member and abuts against the roller.

In a possible embodiment, the wheel-legged robot further comprises a flywheel assembly, and the flywheel assembly is arranged in the chest cavity body.

In a possible embodiment, the flywheel assembly comprises a flywheel main body, a flywheel driving piece, a flywheel rotating shaft and a flywheel connecting piece, wherein the flywheel driving piece is connected with the flywheel main body, one side of the flywheel main body is connected with the chest body in a rotating mode, and the flywheel driving piece deviates from one side of the flywheel main body and is connected with the chest body in a rotating mode.

In a possible embodiment, the wheel-legged robot further includes a battery, and the battery is disposed on the flywheel main body.

In a possible implementation manner, the wheel-legged robot further includes a control board, the flywheel assembly further includes a conductive slip ring, the conductive slip ring is sleeved outside the flywheel rotating shaft, and the battery and the flywheel driving member are electrically connected to the control board through the conductive slip ring.

In a possible embodiment, the wheel-legged robot further includes an inertial navigation module.

In a possible embodiment, the wheel-legged robot further includes a vision recognition module, and the vision recognition module is disposed at the front end of the chest body.

In a possible embodiment, the wheel-legged robot further comprises a storage tray, and the storage tray is arranged on the top of the chest body.

Compared with the prior art, the beneficial effects of the application are that:

the utility model provides a wheel-legged robot, through shank driving piece locates the thorax body, thigh connecting rod one end is located the drive end of shank driving piece, the other end with the shank connecting rod rotates to be connected, the shank connecting rod is kept away from the one end setting of thigh connecting rod the drive wheel subassembly, energy storage spring one end connect in on the thigh connecting rod, the other end connect in on the shank connecting rod, supplementary connecting rod one end rotate connect in on the thorax body, the other end with the shank connecting rod rotates to be connected, supplementary gyro wheel is located the shank connecting rod is kept away from the one end of drive wheel subassembly. When the wheel-type robot is driven to move in a wheel type, if the movement is unstable and the speed is reduced due to the road surface problems such as uneven ground, the auxiliary roller at one end of the shank connecting rod, far away from the driving wheel component, can be in contact with the ground through the leg driving piece and is deformed into four-wheel movement, the gravity height of the wheel-leg robot can be reduced, the contact area of a chassis of the wheel-leg robot can be increased, the wheel-leg robot can rapidly move on the uneven road surface, and the moving speed and the overall stability of the wheel-leg robot are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 illustrates a schematic structural diagram of a wheel-leg robot according to an embodiment of the present application;

fig. 2 is a schematic view showing a structure of a leg assembly of the wheel-legged robot of fig. 1;

FIG. 3 shows an exploded view of the leg assembly of FIG. 2;

fig. 4 is a schematic structural view illustrating a driving wheel assembly of the wheel-legged robot in fig. 1;

FIG. 5 is a schematic structural diagram of a chest body of the legged robot in FIG. 1;

FIG. 6 shows a side view of the thorax body of FIG. 5;

FIG. 7 shows a cross-sectional view of the chest body of FIG. 5;

FIG. 8 shows a cross-sectional view of another perspective of the chest body of FIG. 5;

FIG. 9 is a schematic structural diagram of a flywheel assembly of the wheel-legged robot of FIG. 1;

FIG. 10 is a schematic structural view showing another perspective of the flywheel assembly of FIG. 9;

figure 11 shows a side view of the flywheel assembly of figure 9.

Description of the main element symbols:

100-wheel legged robot; 10-a chest body; 11-a front shell; 12-a rear shell; 13-a lower shell; 131-hard switch; 14-side plates; 15-a handle; 20-a leg assembly; 21-a thigh link; 22-a shank link; 23-an energy storage spring; 24-an auxiliary link; 25-auxiliary rollers; 26-a leg drive; 30-a drive wheel assembly; 31-a rolling drive; 32-a flange; 321-roller adapter flange; 3211-a limiting part; 322-blank holder flange; 33-a roller; 34-an adaptor; 40-a flywheel assembly; 41-flywheel body; 42-a flywheel drive; 43-flywheel shaft; 44-flywheel attachment; 45-battery cover plate; 46-a conductive slip ring; 47-freewheel bearing; 50-a battery; 60-a control panel; 70-an inertial navigation module; 71-a scram switch; 80-a visual recognition module; 90-storage tray.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Example one

Referring to fig. 1, an embodiment of the present application provides a wheel-legged robot 100. The wheel-legged robot 100 combines the advantages of legged robots and wheeled robots, can move on a flat road surface in a wheeled manner, and has high moving speed and strong stability; when the ground is in a poor condition, four-wheel movement can be adopted, so that the stability and the speed of wheel type movement are improved; when an obstacle is encountered, the leg-foot type leg can be used for contraction and jumping so as to cross the obstacle. The wheel-legged robot 100 has strong obstacle crossing capability and high energy efficiency.

The wheel-legged robot 100 includes a chest body 10, two leg assemblies 20, and two driving wheel assemblies 30. The two leg assemblies 20 are symmetrically arranged on two sides of the chest body 10. The driving wheel assembly 30 is disposed on the corresponding leg assembly 20 and located at an end away from the chest body 10. Two leg assemblies 20 are used to achieve a leg-foot drive to clear an obstacle. The drive wheel assembly 30 is used to achieve a wheel drive.

The leg assembly 20 adopts a double-rocker structure for transmission, so as to simplify the leg structure. By optimizing the parameters of the connecting rods, the working space trajectory at the tail end of the connecting rod is a straight line, so that the jumping motion and the advancing motion of the wheel-legged robot 100 can be decoupled.

Referring to fig. 2 and 3, the leg assembly 20 includes a thigh link 21, a shank link 22, an energy storage spring 23, an auxiliary link 24, an auxiliary roller 25 and a leg driving member 26. The leg driving members 26 are disposed in the thoracic body 10, and driving ends of the two leg driving members 26 respectively protrude from both sides of the thoracic body 10. One end of the thigh link 21 is arranged at the driving end of the leg driving piece 26, and the other end is rotatably connected with the shank link 22. The drive wheel assembly 30 is disposed at an end of the shank link 22 remote from the thigh link 21. One end of the energy storage spring 23 is connected to the thigh link 21, and the other end is connected to the shank link 22. One end of the auxiliary link 24 is rotatably connected to the chest body 10, and the other end is rotatably connected to one end of the shank link 22 close to the thigh link 21. The auxiliary roller 25 is arranged at one end of the shank link 22 far away from the driving wheel assembly 30, namely, at one end of the auxiliary link 24 rotatably connected with the shank link 22.

The leg driving member 26 can drive the thigh link 21 to rotate, so that the leg assembly 20 is contracted under the cooperation of the thigh link 21, the shank link 22 and the auxiliary link 24, and the energy storage spring 23 accumulates potential energy for jumping, so that the wheel-legged robot 100 passes over an obstacle.

The leg driving member 26 can also drive the thigh link 21 to rotate, so that under the cooperative action of the thigh link 21, the shank link 22 and the auxiliary link 24, the shank link 22 is brought into contact with the ground with the auxiliary roller 25 at the end close to the thigh link 21, thereby transforming the wheel-legged robot 100 into a four-wheel differential mobile robot, wherein the two driving wheel assemblies 30 at the end of the shank link 22 far away from the thigh link 21 are driving members, and the two auxiliary rollers 25 are cooperative wheels. When the four wheels move, the center of gravity of the wheel-legged robot 100 is low, and the contact area between the chassis and the ground is increased, so that the robot can move quickly on an uneven road surface.

In some embodiments, the energy-storing spring 23 is a torsion spring, and the main body thereof is sleeved on the rotating shaft of the thigh link 21 and the shank link 22, so as to improve the stability of the energy-storing spring 23 when the leg assembly 20 moves.

Referring to fig. 4, the driving wheel assembly 30 includes a rolling driving member 31, a flange 32 and a roller 33. The rolling driving member 31 is disposed at an end of the shank link 22 away from the thigh link 21. The flange 32 is provided at the drive end of the rolling drive 31. The roller 33 is sleeved outside the flange 32. The rolling driving member 31 can drive the flange 32 to rotate, so that the roller 33 rotates, and wheel type movement is realized.

The flange 32 includes a roller adapter flange 321 and a blank flange 322. The roller adapter flange 321 is arranged at the driving end of the rolling driving member 31. One side of the roller adapter flange 321 close to the rolling driving member 31 extends in a direction away from the driving shaft of the rolling driving member 31 to form a limiting portion 3211. The roller 33 is sleeved outside the roller adapter flange 321 and located on a side of the limiting portion 3211 away from the rolling driving member 31. The blank flange 322 is disposed on a side of the roller adapter flange 321 away from the rolling driving member 31, and has a diameter the same as that of the limiting portion 3211, so as to support the roller 33 from the side of the roller adapter flange 321 away from the rolling driving member 31.

In some embodiments, the roller 33 is a honeycomb rubber tire.

In some embodiments, the drive wheel assembly 30 further includes an adaptor 34. The adaptor 34 is disposed at one end of the shank link 22 away from the thigh link 21, and is located at one side of the shank link 22 away from the other shank link 22. The rolling driving member 31 is disposed on the adaptor 34.

Referring to fig. 5 to 11, in some embodiments, the wheel-legged robot 100 further includes a flywheel assembly 40. The flywheel assembly 40 is arranged in the chest cavity body 10. The flywheel assembly 40 is used for providing the wheel-legged robot 100 with inertia for advancing, obstacle crossing and jumping. When the wheel-legged robot 100 encounters a small obstacle, the inertia of the flywheel assembly 40 can be used to press the obstacle directly. And when a higher obstacle is encountered, the leg assembly 20 can be used to drive the legs to jump in a contracted manner to clear the obstacle.

Referring to fig. 5 and 7, the thoracic body 10 includes a front shell 11, a rear shell 12, a lower shell 13 and two side plates 14. The front shell 11, the rear shell 12, the lower shell 13 and the two side plates 14 enclose a cavity. The leg driving member 26 is disposed in the cavity, and the driving ends respectively extend out from the two side plates 14. The flywheel assembly 40 is disposed between the two side plates 14.

Referring to fig. 9, the flywheel assembly 40 includes a flywheel main body 41, a flywheel driver 42, a flywheel rotation shaft 43 and a flywheel connector 44. The flywheel driver 42 is connected to the flywheel main body 41. One side of the flywheel main body 41 is rotatably connected with one side plate 14 of the thoracic cavity body 10 through the flywheel rotating shaft 43, and one side of the flywheel driving member 42 departing from the flywheel main body 41 is connected with the other side plate 14 of the thoracic cavity body 10 through the flywheel connecting member 44.

In some embodiments, the wheel-legged robot 100 further includes a battery 50. The battery 50 is provided on the flywheel main body 41.

Specifically, referring to fig. 10, the flywheel assembly 40 further includes a battery cover 45. The flywheel main body 41 is substantially in the shape of a circular box with an opening at one side. The flywheel driving member 42 is disposed in the flywheel main body 41 and located at a center of the flywheel main body 41.

Referring to fig. 11, in the present embodiment, two batteries 50 and two battery cover plates 45 are provided, and the batteries 50 are disposed in the flywheel main body 41 and symmetrically disposed on two sides of the flywheel driving member 42. The battery cover 45 is disposed on a side of the battery 50 away from the flywheel main body 41, and is connected to the flywheel main body 41. The battery cover 45 and the flywheel body 41 cooperate with each other to enclose the battery 50 in the flywheel body 41. The battery 50 can rotate along with the flywheel main body 41, and the inertia of the flywheel assembly 40 can be increased by using the weight of the battery 50, so that the weight of the flywheel assembly 40 and the whole machine is reduced. However, in other embodiments, the number of the battery 50 and the battery cover 45 may be adjusted according to the endurance and the like.

In some embodiments, referring to fig. 8, the wheel-legged robot 100 further includes a control board 60. The flywheel assembly 40 also includes an electrically conductive slip ring 46. The conductive slip ring 46 is sleeved outside the flywheel rotating shaft 43. The battery 50 and the flywheel driver 42 are electrically connected with the control board 60 through the conductive slip ring 46, and the rotation of the flywheel body 41 is separated through the use of the conductive slip ring 46, so that the winding of cables caused by the rotation of the flywheel is prevented.

Specifically, the power line and the signal line of the battery 50 in the flywheel main body 41 are input through the rotor of the conductive slip ring 46, and are connected to the control board 60 through the stator output of the conductive slip ring 46.

The freewheel assembly 40 also includes a freewheel bearing 47. The freewheel bearing 47 is provided on the side plate 14. One end of the flywheel rotating shaft 43, which is far away from the flywheel main body 41, is rotatably arranged in the flywheel bearing 47.

The flywheel driving member 42 is disposed on one side of the flywheel connecting member 44, and the other side of the flywheel connecting member 44 is fixedly connected to the side plate 14 by screws or the like.

In some embodiments, the wheel-legged robot 100 also includes an inertial navigation module 70. The inertial navigation module 70 is disposed on the flywheel connector 44 and electrically connected to the control board 60. The Inertial navigation module 70 is an Inertial Measurement Unit (IMU), and measures inertia through a device for measuring three-axis angular velocity and acceleration of an object.

Specifically, in this embodiment, the inertial navigation module 70 is further installed with an emergency stop switch 71 and a soft switch.

In some embodiments, the wheel-legged robot 100 further includes a vision recognition module 80, and the vision recognition module 80 is disposed at the front end of the chest body 10 and electrically connected to the control board 60. The vision recognition module 80 is used to recognize an object in the forward direction of the wheel-legged robot 100.

Specifically, the visual recognition module 80 is disposed on the front case 11.

In this embodiment, the visual recognition module 80 adopts an RGBD sensor.

In some embodiments, the wheel-legged robot 100 further includes a storage tray 90. The storage tray 90 is arranged on the top of the chest body 10. The storage tray 90 is used to store items.

Specifically, the storage tray 90 is disposed on a side of the rear housing 12 away from the lower housing 13.

In some embodiments, the chest body 10 further comprises a handle 15. The handle 15 is rotatably arranged on the rear shell 12. The handle 15 is used for carrying or hoisting the wheel-legged robot 100.

In this embodiment, the leg driving member 26, the rolling driving member 31 and the flywheel driving member 42 are all servo steering engines, but are not limited thereto.

In some embodiments, the chest body 10 of the wheel-legged robot 100 may be provided with an execution unit such as a robot arm for performing a moving grasping operation or other operations.

In some embodiments, referring to fig. 6, a hard switch 131 can be further disposed on the inferior shell 13 of the thorax body 10. The hard switch 131 is used to cut off the power supply of the wheel-legged robot 100.

The wheel-legged robot 100 of the present application provides a wheel-legged mobile robot that can adapt to various terrains by providing the auxiliary roller 25 in the leg assembly 20, and on a flat road, the driving wheel assembly 30 is used for moving, so that the moving speed is high and the stability is strong; when the road surface is uneven such as on a lawn or a stone road surface, the auxiliary roller 25 at the end of the shank link 22 away from the driving wheel assembly 30 can be grounded through the leg driving member 26 and deformed into four-wheel movement, which can reduce the height of the center of gravity of the wheel-legged robot 100 and increase the chassis contact area, so that the wheel-legged robot can move quickly on the uneven road surface, thereby improving the moving speed and the overall stability of the wheel-legged robot 100; when an obstacle is encountered, the leg assembly 20 may be used to retract and jump over the obstacle. In addition, the flywheel assembly 40 is installed in the chest body 10, and when the driving wheel assembly 30 is driven to move forward, if a small obstacle or an uneven road surface is encountered, the obstacle can be crossed by using the inertia of the flywheel; when encountering a high obstacle such as a step, the user can jump up the step to surmount the obstacle by using the inertia of the flywheel and the contraction of the leg component 20.

In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A wheel-legged robot is characterized by comprising a chest body, two leg components symmetrically arranged at two sides of the chest body and a driving wheel component arranged on the leg components, the leg component comprises a thigh connecting rod, a shank connecting rod, an energy storage spring, an auxiliary connecting rod, an auxiliary roller and a leg driving piece, the leg driving piece is arranged on the chest body, one end of the thigh connecting rod is arranged at the driving end of the leg driving piece, the other end of the thigh connecting rod is rotationally connected with the shank connecting rod, the driving wheel component is arranged at one end of the shank connecting rod, which is far away from the thigh connecting rod, the energy storage spring is connected with the thigh connecting rod and the shank connecting rod, one end of the auxiliary connecting rod is rotatably connected to the chest body, the other end of the auxiliary connecting rod is rotatably connected with one end, close to the thigh connecting rod, of the shank connecting rod, and the auxiliary roller is arranged at one end, far away from the driving wheel assembly, of the shank connecting rod.

2. The wheel-legged robot according to claim 1, wherein the driving wheel assembly includes a rolling driving member, a flange, and a roller, the rolling driving member is disposed at an end of the shank link away from the thigh link, the flange is disposed at a driving end of the rolling driving member, and the roller is disposed outside the flange.

3. The wheel-legged robot of claim 2, wherein the flange includes a roller adapter flange and a blank flange, the roller adapter flange is disposed at the driving end of the rolling driving member, the roller is sleeved outside the roller adapter flange, and the blank flange is disposed at a side of the roller adapter flange away from the rolling driving member and abuts against the roller.

4. The wheel-legged robot according to claim 1, further comprising a flywheel assembly disposed within the chest body.

5. The wheel-legged robot according to claim 4, wherein the flywheel assembly includes a flywheel main body, a flywheel driving member, a flywheel rotating shaft and a flywheel connecting member, the flywheel driving member is connected to the flywheel main body, one side of the flywheel main body is rotatably connected to the chest body through the flywheel rotating shaft, and one side of the flywheel driving member away from the flywheel main body is connected to the chest body through the flywheel connecting member.

6. A wheel-legged robot according to claim 5, further comprising a battery provided on the flywheel main body.

7. The wheel-legged robot according to claim 6, further comprising a control board, wherein the flywheel assembly further comprises a conductive slip ring sleeved outside the flywheel rotating shaft, and the battery and the flywheel driving member are electrically connected to the control board through the conductive slip ring.

8. A wheel-legged robot according to claim 1, further comprising an inertial navigation module.

9. The wheel-legged robot according to claim 1, further including a vision recognition module provided at a front end of the chest body.

10. The wheel-legged robot according to claim 1, further comprising a storage tray provided on the top of the chest body.