CN115848527A - Wheel leg balance robot with double-shaft holder and working method - Google Patents
Wheel leg balance robot with double-shaft holder and working method Download PDFInfo
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Abstract
The invention relates to the technical field of complex terrain detection equipment, in particular to a wheel leg balance robot with a double-shaft holder and a working method; possesses balanced robot of wheel leg of biax cloud platform includes: the device comprises a machine body, a driving mechanism and a control mechanism, wherein the machine body is of a frame structure and is internally provided with a joint driving mechanism; the leg structure comprises two driving arms and two driven arms, one end of each driving arm is connected with the joint driving mechanism, the other end of each driving arm is hinged with each driven arm, the other end of each driven arm is connected with the wheel type power mechanism, and the two driving arms, the two driven arms and the machine body form a five-connecting-rod mechanism; the joint driving mechanism drives the driving arm and the driven arm to rotate so as to change the gravity center of the machine body. The wheel-leg balancing machine body can easily jump over obstacles which cannot be passed by the wheel-type base, and compared with a simple leg-type structure, the wheel-type mechanism arranged at the tail end of the leg can greatly improve the travelling speed of the wheel-type base on a flat ground.
Description
Technical Field
The invention relates to the technical field of complex terrain detection equipment, in particular to a wheel leg balance robot with a double-shaft holder and a working method.
Background
The legged robot has the advantages of capability of walking on flat ground and rugged ground, capability of crossing gullies, ascending and descending steps, capability of performing non-sliding complete and unidirectional motion, and capability of providing a stable dynamic platform for a sensor on the legged robot, so that the legged robot has wide applicability, but has the defects that stable gait planning and stable balance control are difficult to realize, the utilization efficiency of the motion speed and energy is low, and the legged robot is generally heavy and has a complex structure.
The wheel type robot has the advantages of simple automatic operation, stable action, higher movement speed and energy utilization efficiency, is particularly suitable for moving on flat ground, and is a type of robot widely used at present. But compared with a legged robot, the legged robot has poor adaptability to the terrain, and is difficult to cross the height and climb stairs.
Although the existing wheel-leg balance robot combines the advantages of a wheel type robot and a leg type robot and has good terrain adaptability and energy utilization efficiency, the existing wheel-leg balance robot is basically only a common base and does not carry a specific functional mechanism, cannot complete functions except for movement in complex terrains, and is low in practicability.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the problems of small monitoring range, high monitoring cost, poor maneuverability and complex structure of the complex terrain monitoring equipment of the wheel leg balance robot in the prior art, so that the wheel leg balance robot with the double-shaft holder and the working method are provided.
In order to solve the above technical problem, the present invention provides a wheel leg balancing robot having a biaxial holder, including: the device comprises a machine body, a driving mechanism and a control mechanism, wherein the machine body is of a frame structure and is internally provided with a joint driving mechanism; the leg structure comprises two driving arms and two driven arms, one end of each driving arm is connected with the joint driving mechanism, the other end of each driving arm is hinged with each driven arm, the other end of each driven arm is connected with the wheel type power mechanism, and the two driving arms, the two driven arms and the machine body form a five-connecting-rod mechanism; the joint driving mechanism drives the driving arm and the driven arm to rotate so as to change the gravity center of the machine body; the cradle head bottom mechanism is positioned in the machine body, the bottom of the cradle head bottom mechanism is sequentially provided with a cradle head lower mechanism and a cradle head upper mechanism from bottom to top, and the cradle head bottom mechanism, the cradle head lower mechanism and the cradle head upper mechanism are coaxially arranged; and the camera shooting mechanism is arranged on the upper mechanism of the holder.
Further, the length of the driven arm is greater than the length of the driving arm.
Furthermore, the joint driving mechanism comprises at least two power elements, a gap is formed between the two power elements, and a vertical line where the wheel type power mechanism is located in the gap.
Furthermore, the leg structures are provided with two groups, and the two groups of leg structures are symmetrically arranged on two sides of the machine body.
Furthermore, a support frame is arranged at the bottom of the machine body, and an unpowered guide wheel is arranged on the support frame.
Further, still include crashproof structure, crashproof structure locates on the outer wall of organism, just crashproof structure is used for the protection shank structure.
Further, the wheeled power mechanism includes: a motor connected to the driven arm; and the travelling wheel is sleeved on the motor, and the motor drives the travelling wheel to move.
Furthermore, a power supply element is arranged inside the machine body and connected with the joint driving mechanism.
Further, an image processing mechanism is arranged on the lower mechanism of the holder, and a lens switching mechanism and an attitude sensing mechanism are arranged on the upper mechanism of the holder.
The invention also provides a working method of the wheel leg balance robot with the double-shaft holder, which comprises the following steps: through the horizontal movement of the leg structure, the gravity center position of the leg structure is rapidly changed, the acceleration and deceleration performance during movement is improved, the active suspension function and the bounce function are obtained through the vertical movement of the leg structure, and the terrain trafficability is greatly improved; when the bicycle runs in an accelerated manner, the gravity center of the bicycle is moved forwards by utilizing the leg structure, so that the wheel type power mechanism can ensure that the bicycle cannot topple backwards under the condition of outputting higher power; when the vehicle runs at a reduced speed, the gravity center of the vehicle is moved backwards by utilizing the leg structure, so that the wheel type power mechanism can ensure that the vehicle cannot topple backwards under the condition of outputting smaller power; when the vehicle runs on an undulating road surface, the undulating data of the vehicle body read by the attitude sensing mechanism is utilized to compensate the undulation of the road surface through the vertical movement of the leg structure, so that the self attitude is kept stable.
The technical scheme of the invention has the following advantages:
1. the invention provides a wheel leg balance robot with a double-shaft holder, which comprises: the device comprises a machine body, a driving mechanism and a control mechanism, wherein the machine body is of a frame structure and is internally provided with a joint driving mechanism; the leg structure comprises two driving arms and two driven arms, one end of each driving arm is connected with the joint driving mechanism, the other end of each driving arm is hinged with each driven arm, the other end of each driven arm is connected with the wheel type power mechanism, and the two driving arms, the two driven arms and the machine body form a five-connecting-rod mechanism; the joint driving mechanism drives the driving arm and the driven arm to rotate so as to change the gravity center of the machine body; the cradle head bottom mechanism is positioned in the machine body, the bottom of the cradle head bottom mechanism is sequentially provided with a cradle head lower mechanism and a cradle head upper mechanism from bottom to top, and the cradle head bottom mechanism, the cradle head lower mechanism and the cradle head upper mechanism are coaxially arranged; and the camera shooting mechanism is arranged on the upper mechanism of the holder.
The joint driving mechanism is arranged in the robot body, meanwhile, the driving arm of the leg structure is connected with the joint driving mechanism, the other end of the driving arm is hinged with the driven arm, the other end of the driven arm is connected with the wheel type power structure, and when the balance robot needs to move, the joint driving mechanism is driven to rotate so as to drive the driving arm and the driven arm to rotate; because the two driving arms, the two driven arms and the machine body form a five-link mechanism, when the joint driving mechanism rotates, the driving arms and the driven arms can be driven to horizontally move, the gravity center position of the joint driving mechanism can be rapidly changed, and the acceleration and deceleration performance during movement can be improved; when the joint driving mechanism rotates, the driving arm and the driven arm can be driven to vertically move, the driving suspension function and the bouncing function are obtained through the vertical movement of the leg structure, and the terrain trafficability is greatly improved.
When the bicycle runs in an accelerated manner, the gravity center of the bicycle is moved forwards by utilizing the leg structure, so that the wheel type power mechanism can ensure that the bicycle cannot topple backwards under the condition of outputting higher power; when the vehicle runs at a reduced speed, the gravity center of the vehicle is moved backwards by utilizing the leg structure, so that the wheel type power mechanism can ensure that the vehicle cannot topple backwards under the condition of outputting smaller power.
Meanwhile, the machine body is also provided with two cloud platforms, namely a cloud platform lower mechanism and a cloud platform upper mechanism, and the cloud platform lower mechanism and the cloud platform upper mechanism are provided with a camera shooting mechanism, so that the detection efficiency and the detection range of the balance robot are increased.
The tripod head bottom mechanism, the movement lower mechanism and the tripod head upper mechanism are coaxially arranged, so that the stability of the camera shooting mechanism is improved, and the condition that the balance robot shakes when jumping over obstacles is avoided. The balance robot greatly expands the movement capability of the monitoring robot, and improves the monitoring efficiency and the detection range. The wheel-leg balancing machine body can easily jump over obstacles which cannot be passed by the wheel-type base, and compared with a simple leg-type structure, the wheel-type mechanism arranged at the tail end of the leg can greatly improve the travelling speed of the wheel-type base on a flat ground.
2. The invention provides a wheel leg balance robot with a double-shaft holder, wherein a joint driving mechanism comprises at least two power elements, a gap is formed between the two power elements, and a vertical line where the wheel type power mechanism is located is positioned in the gap. The wheel type power mechanism is arranged at the bottom of the gap between the two power elements, so that the motion stability of the wheel type power mechanism is ensured.
3. The wheel leg balance robot with the double-shaft holder is characterized in that the two sets of leg structures are symmetrically arranged on two sides of the robot body. The both sides of this organism all are equipped with shank structure promptly to guaranteed the stability of this organism motion, avoided the condition that the slope appears in the motion process.
4. The wheel leg balance robot with the double-shaft holder further comprises an anti-collision structure, wherein the anti-collision structure is arranged on the outer wall of the robot body and is used for protecting the leg structure. Wherein, anticollision structure is the support body, and this support body encircles shank structure and sets up, and mainly used protection shank structure receives the damage. Because the organism is frame construction, consequently, can establish into the fillet with crashproof structure's corner, avoids balanced robot at the in-process of actual motion, when receiving the striking, the condition of fracture appears in crashproof structure's corner, and influences this balanced robot's normal use.
5. The invention provides a wheel leg balancing robot with a double-shaft holder. Through the arrangement of the power supply element, a power source is provided for the joint driving mechanism, so that the joint driving mechanism can continuously drive the leg structure.
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the disclosure, nor is it intended to be used to limit the scope of the disclosure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural view of a wheel leg balancing robot with a biaxial holder provided by the invention;
FIG. 2 is a side view of a wheel leg balance robot with a two-axis pan-tilt provided by the present invention;
fig. 3 is a schematic structural diagram of a leg structure of the wheel leg balance robot with the biaxial holder provided by the invention;
fig. 4 is a schematic structural diagram of a wheel type power mechanism of the wheel leg balancing robot with the double-shaft pan-tilt provided by the invention.
Description of reference numerals:
1. a body; 2. a joint drive mechanism; 3. a leg structure; 31. a master arm; 32. a driven arm; 4. a wheel type power mechanism; 41. a motor; 42. a traveling wheel; 5. a tripod head bottom mechanism; 6. a lower mechanism of the holder; 7. a cradle head upper mechanism; 8. a support frame; 9. an unpowered guide wheel; 10. an anti-collision structure; 11. and an image processing mechanism.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art can appreciate, the described embodiments can be modified in various different ways, without departing from the spirit or scope of the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "straight", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present disclosure. 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 implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present disclosure, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixed or removable or integral, either mechanically, electrically or communicatively coupled; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.
In the present disclosure, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. The first feature being "under," "beneath," and "under" the second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the disclosure. To simplify the disclosure of the present disclosure, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Moreover, the present disclosure may repeat reference numerals and/or reference letters in the various examples for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
The preferred embodiments of the present disclosure will be described below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described herein are merely for purposes of illustrating and explaining the present disclosure and are not intended to limit the present disclosure.
Referring to fig. 1 to 4, the present invention provides a wheel leg balancing robot with a dual-axis pan/tilt head, including: the device comprises a machine body 1, wherein the machine body 1 is of a frame structure, and a joint driving mechanism 2 is arranged in the machine body 1; the leg structure 3 comprises two driving arms 31 and two driven arms 32, one end of each driving arm 31 is connected with the joint driving mechanism 2, the other end of each driving arm 31 is hinged to the corresponding driven arm 32, the other end of each driven arm 32 is connected with the wheel type power mechanism 4, and the two driving arms 31, the two driven arms 32 and the machine body 1 form a five-link mechanism; the joint driving mechanism 2 drives the driving arm 31 and the driven arm 32 to rotate so as to change the gravity center of the machine body 1; the cradle head bottom mechanism 5 is positioned in the machine body 1, the bottom of the cradle head bottom mechanism 5 is sequentially provided with a cradle head lower mechanism 6 and a cradle head upper mechanism 7 from bottom to top, and the cradle head bottom mechanism 5, the movement lower mechanism and the cradle head upper mechanism 7 are coaxially arranged; a camera mechanism (not shown in the figure), and the upper part mechanism 7 of the tripod head.
The joint driving mechanism 2 is arranged in the machine body 1, meanwhile, the driving arm 31 of the leg structure 3 is connected with the joint driving mechanism 2, the other end of the driving arm 31 is hinged with the driven arm 32, the other end of the driven arm 32 is connected with the wheel type power structure, and when the balance robot needs to move, the joint driving mechanism 2 is driven to rotate, so that the driving arm 31 and the driven arm 32 are driven to rotate; because the two driving arms 31, the two driven arms 32 and the machine body 1 form a five-link mechanism, when the joint driving mechanism 2 rotates, the driving arms 31 and the driven arms 32 can be driven to move horizontally, the gravity center position of the joint driving mechanism can be changed rapidly, and the acceleration and deceleration performance during movement can be improved; when the joint driving mechanism 2 rotates, the driving arm 31 and the driven arm 32 can be driven to vertically move, and the driving suspension function and the bouncing function are obtained through the vertical movement of the leg structure 3, so that the terrain trafficability is greatly improved.
When the vehicle runs in an accelerated manner, the gravity center of the vehicle is moved forwards by the leg structure 3, so that the wheel type power mechanism 4 can ensure that the vehicle cannot topple backwards under the condition of outputting higher power; when the vehicle runs at a reduced speed, the gravity center of the vehicle is moved backwards by the leg structure 3, so that the wheel type power mechanism 4 can ensure that the vehicle cannot fall backwards under the condition of outputting smaller power.
Meanwhile, the machine body 1 is also provided with double cloud platforms, namely a cloud platform lower mechanism 6 and a cloud platform upper mechanism 7, and the cloud platform lower mechanism 6 and the cloud platform upper mechanism 7 are provided with camera shooting mechanisms, so that the detection efficiency and the detection range of the balance robot are increased.
The tripod head bottom mechanism 5, the movement lower mechanism and the tripod head upper mechanism 7 are coaxially arranged, so that the stability of the camera shooting mechanism is improved, and the condition of shaking when the balance robot jumps over an obstacle is avoided. The balance robot greatly expands the movement capability of the monitoring robot, and improves the monitoring efficiency and the detection range. The wheel-leg balancing machine body can easily jump over obstacles which cannot be passed by the wheel-type base, and compared with a simple leg-type structure, the wheel-type mechanism arranged at the tail end of the leg can greatly improve the travelling speed of the wheel-type base on a flat ground.
In alternative embodiments, the length of the follower arm 32 is greater than the length of the master arm 31, thereby facilitating the joint movement of the follower arm 32 with the master arm 31.
In some alternative embodiments, the joint driving mechanism 2 comprises at least two power elements, a gap is formed between the two power elements, and a vertical line in which the wheel type power mechanism 4 is located is positioned in the gap. The wheel type power mechanism 4 is arranged at the bottom of the gap between the two power elements, so that the motion stability of the wheel type power mechanism 4 is ensured.
In some alternative embodiments, the leg structures 3 have two sets, and the two sets of leg structures 3 are symmetrically disposed on two sides of the machine body 1. Namely, the two sides of the machine body 1 are provided with the leg structures 3, thereby ensuring the stability of the movement of the machine body 1 and avoiding the inclination in the movement process.
In some optional embodiments, a support frame 8 is provided at the bottom of the machine body 1, and an unpowered guide wheel 9 is provided on the support frame 8. The unpowered guide wheel 9 is arranged on the machine body 1 and used for preventing the robot from being damaged by dumping. Wherein, unpowered guide pulleys 9 are arranged at two ends of the support frame 8 and are symmetrically arranged. In this embodiment, the supporting frames 8 can be arranged on both sides of the machine body 1, i.e. there are two supporting frames 8, so that there are four unpowered guide wheels 9.
In some optional embodiments, the balancing robot further includes a collision avoidance structure 10, the collision avoidance structure 10 is disposed on an outer wall of the machine body 1, and the collision avoidance structure 10 is used for protecting the leg structure 3. Wherein, crashproof structure 10 is the support body, and this support body encircles the setting of shank structure 3, and mainly used protection shank structure 3 receives the damage. Because organism 1 is frame construction, consequently, can establish into the fillet with crashproof structure 10's corner, avoids balanced robot in the in-process of actual motion, when receiving the striking, the condition that the crack appears in crashproof structure's corner, and influences this balanced robot's normal use.
In some alternative embodiments, the wheeled power mechanism 4 comprises a motor 41 and road wheels 42; wherein, the motor 41 is connected with the driven arm 32; the travelling wheels 42 are sleeved on the motor 41, and the motor 41 drives the travelling wheels 42 to move. By arranging the wheel type power mechanism 4, the wheel type power mechanism 4 can obtain the mobility far beyond that of a common biped robot on a flat road surface.
Specifically, the motor 41 is a brushless motor 41. Other forms of motors can be adopted, and the specific setting can be set according to the actual situation.
In some alternative embodiments, the interior of the body 1 is provided with a power supply element, and the power supply element is connected with the joint driving mechanism 2. Through the arrangement of the power supply element, the joint driving mechanism 2 is provided with a power source, so that the joint driving mechanism 2 can continuously drive the leg structure 3.
In some optional embodiments, an image processing mechanism 10 is arranged on the lower holder mechanism 6, and the image processing mechanism 10 is connected with a camera mechanism; the upper mechanism 7 of the pan/tilt head is provided with a lens switching mechanism (not shown in the figure) and an attitude sensing mechanism (not shown in the figure).
The invention also provides a working method of the wheel leg balance robot with the double-shaft holder, which comprises the following steps: the gravity center position of the leg structure 3 is rapidly changed through the horizontal movement of the leg structure, the acceleration and deceleration performance during movement is improved, the active suspension function and the bouncing function are obtained through the vertical movement of the leg structure 3, and the terrain trafficability is greatly improved;
when the vehicle runs in an accelerated manner, the gravity center of the vehicle is moved forwards by the leg structure 3, so that the wheel type power mechanism 4 can ensure that the vehicle cannot topple backwards under the condition of outputting higher power; when the vehicle runs at a reduced speed, the gravity center of the vehicle is moved backwards by the leg structure 3, so that the wheel type power mechanism 4 can ensure that the vehicle cannot topple backwards under the condition of outputting smaller power;
when the vehicle runs on an undulating road surface, the undulation of the road surface is compensated by utilizing the undulation data of the machine body 1 read by the attitude sensing mechanism through the vertical motion of the leg structure 3, and the self attitude is kept stable.
The robot can normally use the leg structure 3 to move the center of gravity forward when accelerating, so as to obtain larger acceleration under the premise of keeping balance. When the robot encounters the fluctuation, a resistance opposite to the moving direction of the robot is generated instantly at the contact point of the fluctuation and the wheel type power mechanism 4, the robot tends to incline forwards due to inertia, and meanwhile, under the normal condition, the robot is judged to need to accelerate due to the reduction of the speed, and the gravity center is moved forwards through the leg structure 3, so that the gravity center of the robot is too far forwards, the wheel type power mechanism 4 cannot maintain the balance of the robot, and finally the robot is inclined forwards. Therefore, the situation encountered by the robot needs to be further analyzed through the posture sensing mechanism, the gravity center should be adjusted according to the resistance when the robot encounters heave, and in order to preferentially ensure self balance, the gravity center needs to be moved backwards more under the condition of larger resistance.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. The utility model provides a wheel leg balance robot who possesses biax cloud platform which characterized in that includes:
the device comprises a machine body (1), wherein the machine body (1) is of a frame structure, and a joint driving mechanism (2) is arranged in the machine body (1);
the leg structure (3) comprises two driving arms (31) and two driven arms (32), one end of each driving arm (31) is connected with the joint driving mechanism (2), the other end of each driving arm is hinged to the corresponding driven arm (32), the other end of each driven arm (32) is connected with the wheel type power mechanism (4), and the two driving arms (31), the two driven arms (32) and the machine body (1) form a five-connecting-rod mechanism;
the joint driving mechanism (2) drives the driving arm (31) and the driven arm (32) to rotate so as to change the gravity center of the machine body (1);
the cradle head bottom mechanism (5) is positioned in the machine body (1), the bottom of the cradle head bottom mechanism (5) is sequentially provided with a cradle head lower mechanism (6) and a cradle head upper mechanism (7) from bottom to top, and the cradle head bottom mechanism (5), the cradle head lower mechanism (6) and the cradle head upper mechanism (7) are coaxially arranged;
the camera shooting mechanism is arranged on the upper mechanism (7) of the holder.
2. The wheel leg balance robot with a two-axis pan/tilt head according to claim 1, wherein the length of the slave arm (32) is longer than the length of the master arm (31).
3. The wheel-leg balance robot with two-axis pan-tilt according to claim 2, characterized in that the joint driving mechanism (2) comprises at least two power elements, a gap is formed between the two power elements, and a vertical line where the wheel-type power mechanism (4) is located is positioned in the gap.
4. The wheel-leg balance robot with a dual-axis pan-tilt according to any one of claims 1-3, characterized in that the leg structures (3) have two sets, and the two sets of leg structures (3) are symmetrically arranged on two sides of the body (1).
5. The wheel leg balance robot with the double-shaft holder is characterized in that a support frame (8) is arranged at the bottom of the machine body (1), and an unpowered guide wheel (9) is arranged on the support frame (8).
6. The wheel leg balance robot with the double-shaft holder according to claim 4, further comprising an anti-collision structure (10), wherein the anti-collision structure (10) is arranged on the outer wall of the machine body (1), and the anti-collision structure (10) is used for protecting the leg structure (3).
7. The wheel-leg balance robot with a two-axis pan/tilt head according to claim 5 or 6, wherein the wheel-type power mechanism (4) comprises:
a motor (41) connected to the driven arm (32);
and the travelling wheel (42) is sleeved on the motor (41), and the motor (41) drives the travelling wheel (42) to move.
8. The wheel-leg balance robot with a dual-axis pan-tilt according to claim 7, wherein a power supply element is provided inside the body (1), and the power supply element is connected to the joint driving mechanism (2).
9. The wheel leg balance robot with a two-axis pan/tilt head according to claim 8, wherein the lower pan/tilt mechanism (6) is provided with an image processing mechanism (11), and the upper pan/tilt mechanism (7) is provided with a lens switching mechanism and an attitude sensing mechanism.
10. The working method of the wheel-leg balance robot with the biaxial holder according to any one of claims 1 to 9, comprising:
the gravity center position of the leg structure (3) is rapidly changed through the horizontal movement of the leg structure, the acceleration and deceleration performance during movement is improved, the active suspension function and the bouncing function are obtained through the vertical movement of the leg structure (3), and the terrain trafficability is greatly improved;
when the bicycle runs in an accelerated manner, the gravity center of the bicycle is moved forwards by the leg structure (3), so that the wheel type power mechanism (4) can ensure that the bicycle cannot topple backwards under the condition of outputting higher power; when the vehicle runs at a reduced speed, the gravity center of the vehicle is moved backwards by the leg structure (3), so that the wheel type power mechanism (4) can ensure that the vehicle cannot topple backwards under the condition of outputting smaller power;
when the vehicle runs on an undulating road surface, the undulation of the road surface is compensated by utilizing the undulation data of the machine body (1) read by the attitude sensing mechanism through the vertical motion of the leg structure (3), and the self attitude is kept stable.
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