CN220281534U

CN220281534U - Walking robot with quick response

Info

Publication number: CN220281534U
Application number: CN202321501619.1U
Authority: CN
Inventors: 豆飞飞; 董智
Original assignee: Shaanxi Vihero Technology Co ltd
Current assignee: Shaanxi Vihero Technology Co ltd
Priority date: 2023-06-13
Filing date: 2023-06-13
Publication date: 2024-01-02
Anticipated expiration: 2033-06-13

Abstract

The utility model discloses a walking robot with quick response, which comprises a carrier frame platform, wherein the upper part of the carrier frame platform is connected with a body mechanism which swings back and forth along the vertical central line of the walking robot, the top of the carrier frame platform is provided with a front-back gravity center adjusting mechanism, the body mechanism and/or the front-back gravity center adjusting mechanism are used for changing the gravity center for enabling the robot to move, the body mechanism and/or the front-back gravity center adjusting mechanism are linked to maintain the balance of the robot when grabbing or transporting loads, the bottom of the carrier frame platform is symmetrically provided with a left walking wheel and a right walking wheel, and the carrier frame platform is provided with a left driving motor and a right driving motor which are used for independently driving the left walking wheel and the right walking wheel and are corresponding to each other, the left driving motor and the right driving motor are respectively connected with a control processor arranged in the carrier frame platform, and the control processor is connected with a posture sensor arranged on the carrier frame platform; wherein the front and rear center of gravity adjusting mechanism adopts a quick response mode of driving the swing arm by a motor. The walking robot provided by the utility model has multiple functions of quick response, autonomous navigation, obstacle avoidance, material distribution and the like on the premise of ensuring the safety.

Description

Walking robot with quick response

Technical Field

The utility model belongs to the technical field of robots, and relates to a walking robot with quick response.

Background

Robots are well known as robotic devices that automatically perform work. It can be controlled manually, run pre-programmed programs, and act according to principles set by artificial intelligence techniques. It is used to as a service robot, and its task is to assist or replace a human to perform a specific job, which is widely used in various industries, for example, to transfer some objects in a place such as a production shop, a mall, a restaurant, etc., so as to save manpower and improve efficiency.

In particular, in recent years, with the development of high quality of science and technology, robots are developed more and more rapidly, so that the impression of the robots is broken through at the beginning, and the robots do not walk like infants when the robots come out from the beginning. At present, the robot walking mode mainly comprises the following four modes: firstly, a wheeled mobile robot; secondly, a crawler-type mobile robot; thirdly, a jumping type mobile robot; and fourthly, a legged mobile robot. The wheel type mobile robot has the advantages of highest efficiency, high travelling speed, flexible steering, lower manufacturing cost and easy fault treatment, and in addition, the wheel type mobile robot has more advantages than feet on the relatively flat ground, and is relatively simple to control, so that the wheel type mobile robot is the main stream direction of current researches. The existing wheeled mobile robot drives the robot to walk through a control mechanism after the gravity center of the robot is changed mainly by changing the gravity center of the robot, but the main problem is that the response time is slow, so that the response of the robot is slightly slow; particularly, when grabbing or transporting loads, rebalancing is not easy to achieve quickly, and stability and safety of the walking robot are affected.

In view of the above, the present inventors have provided a walking robot with a fast response to solve the above-mentioned problems.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art, and provides a walking robot with quick response, which adjusts the gravity center by controlling a swing arm through a motor and/or controlling a body mechanism through a processor, and simultaneously the two are in linkage for maintaining the balance when the walking robot grabs or transports a load.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

the utility model provides a walking robot with quick response, which comprises a carrier frame platform, wherein the upper part of the carrier frame platform is connected with a body mechanism capable of swinging back and forth along the vertical central line of the walking robot, the top of the body mechanism is provided with a front-back gravity center adjusting mechanism, the gravity center of the walking robot is changed through the body mechanism and/or the front-back gravity center adjusting mechanism and used for moving the walking robot, meanwhile, the two mechanisms are linked to maintain the balance of the walking robot when grabbing or transporting loads, the bottom of the carrier frame platform is symmetrically provided with a left walking wheel and a right walking wheel, the carrier frame platform is provided with a left driving motor and a right driving motor which are used for independently driving the left walking wheel and the right walking wheel, the left driving motor and the right driving motor are respectively connected with a control processor arranged in the carrier frame platform, and the control processor is connected with a posture sensor arranged on the carrier frame platform;

the front-rear gravity center adjusting mechanism comprises a swing arm arranged on the body mechanism and a first motor fixedly arranged at the top of the body mechanism, an output shaft of the first motor is fixedly connected with the swing arm and used for driving the swing arm to rotate, and the first motor is connected with the control processor.

Further, when the walking robot is grabbing or transporting a load, the control processor controls the body mechanism and the front-rear gravity center adjusting mechanism respectively, so that the swinging direction of the body mechanism is opposite to the rotating direction of the swing arm, and the control processor is used for maintaining balance when the walking robot grabs or transports.

Further, the body mechanism is a parallel four-bar swinging assembly or a single-arm swinging assembly, the parallel four-bar swinging assembly and the single-arm swinging assembly are both provided with limiting structures, and the limiting structures are used for limiting included angles between the parallel four-bar swinging assembly or the single-arm swinging assembly and the vertical central line of the walking robot when the parallel four-bar swinging assembly or the single-arm swinging assembly swings back and forth so as to avoid instability of the walking robot.

Further, the limiting structure comprises at least two limiting blocks, and the two limiting blocks are fixedly arranged at the included angles of the parallel four-bar swinging assembly and the single-arm swinging assembly in a back-and-forth swinging mode.

Further, the parallel four-bar linkage swinging component consists of a second motor and two parallel four-bars arranged at intervals, the bottom edges of the two parallel four-bars are symmetrically arranged on the surface of the carrier frame platform, the top edge of the parallel four-bars is fixed through a connecting plate and forms a carrying platform for installing a first motor, the second motor is installed on the carrier frame platform, an output shaft of the second motor is connected with the parallel four-bars and is used for driving the two parallel four-bars to swing integrally, and the second motor is connected with a control processor.

Further, each parallel four-bar linkage is formed by hinging an upper transverse plate, a lower transverse plate, a front vertical plate and a rear vertical plate, a fixed pin shaft hinged with the bottom transverse plate is arranged at the bottom of each vertical plate, and the pin shaft penetrates through the bottom transverse plate and is connected with an output shaft of a second motor through a coupler.

Further, the single-arm swinging assembly comprises a single-arm supporting piece and a driving device arranged on the carrier frame platform, wherein the bottom of the single-arm supporting piece is rotationally connected with a fixing piece at the top of the frame platform, the driving device is used for driving the single-arm supporting piece to swing back and forth, and the driving device is connected with the control processor.

Further, the swing arm is single arm or both arms, when the swing arm is both arms, the symmetry sets up in the outer both sides of body mechanism, corresponding first motor is two-way synchronous motor, just the synchronous output shaft of two sides of two-way synchronous motor is when being connected with the swing arm, and its middle part is provided with the supporting seat, the supporting seat is embedded to have antifriction bearing to be used for rotating with two-way synchronous motor to be connected.

Further, the walking robot further includes:

the infrared sensor is detachably arranged on the carrier frame platform and used for detecting the obstacle distance in front of the walking robot;

the object observation camera is detachably arranged at the top of the body mechanism and is used for observing road conditions in front of the walking robot and identifying a load target;

the navigation positioning module is detachably arranged on the carrier frame platform and is used for navigation and positioning of the walking robot;

the infrared sensor, the object observation camera and the navigation positioning module are all connected with the control processor, and the control processor enables the walking robot to walk according to a preset navigation route on the premise of avoiding the obstacle by controlling the left driving motor and the right driving motor.

Further, the walking robot further comprises a voice interaction system, the voice interaction system comprises a voice receiver and a voice player, the voice receiver and the voice player are both connected with the control processor, the voice receiver is used for acquiring voice commands and converting the voice commands into instruction signals to be sent to the control processor, and the control processor controls the left driving motor and the right driving motor based on the instruction signals to enable the walking robot to move forwards, backwards or turn.

Compared with the prior art, the utility model has the following beneficial effects:

1. according to the walking robot with the rapid response, after receiving a moving instruction, the control processor changes the gravity center of the walking robot through controlling the body mechanism and/or the front-back gravity center adjusting mechanism to enable the walking robot to move, the swing arm on one side or two sides of the body mechanism is driven by the first motor to rotate, so that the gravity center of the walking robot is changed rapidly, the gesture sensor acquires data of the change of the gravity center and then transmits the data to the control processor, and the control processor respectively controls the left driving motor and the right driving motor to achieve the aim of advancing, retreating or turning according to the instruction.

2. According to the walking robot with the rapid response, the limiting structures formed by the limiting blocks are arranged at the positions of the included angles of the front and back swinging of the body mechanism, so that the maximum swinging amplitude of the body mechanism is limited, and the safety of the walking robot is ensured.

3. The walking robot with the rapid response comprises a voice interaction system, a touch screen, an infrared sensor and a navigation positioning module, so that the walking robot can receive instructions in different modes and can realize multiple functions of autonomous navigation, obstacle avoidance, material distribution and the like.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate principles of the utility model and together with the description, serve to explain the principles of the utility model.

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a schematic structural view of an embodiment 1 (body is a four-bar linkage) of a walking robot of the present utility model;

fig. 2 is a schematic front view of an embodiment 1 (body is a four-bar linkage) of the walking robot of the present utility model;

FIG. 3 is a schematic side view of an embodiment 1 (body is a four bar linkage) of the walking robot of the present utility model;

fig. 4 is a schematic structural view of an embodiment 2 (body is a single arm) of the walking robot of the present utility model;

fig. 5 is a schematic front view of embodiment 2 (body is single arm) of the walking robot of the present utility model;

FIG. 6 is a schematic side view of example 2 (body is single arm) of the walking robot of the present utility model;

fig. 7 is a schematic structural diagram of an embodiment 3 (another mode in which the body is a single arm) of the walking robot of the present utility model.

Wherein: 1 is a frame platform; 2 is a body mechanism; 3 is a front-rear gravity center adjusting mechanism; 4 is a left walking wheel; 5 is a right walking wheel; 6 is a limiting structure; 7 is an infrared sensor; 8 is an object observing camera; 9 is a navigation positioning module; 11 is a fixing piece; 21 is a parallel four-bar linkage swinging assembly; 22 is a single arm swing assembly; 31 is a swing arm; 32 is a first motor; 33 is a supporting seat; 211 is a second motor; 212 is a parallel four bar linkage; 221 is a single arm support; 222 is a driving device; 223 is a push rod; 2121 is a cross plate; 2122 are risers.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are not intended to represent all embodiments consistent with the utility model. Rather, they are merely examples of devices that are consistent with aspects of the utility model that are set forth in the following claims.

Referring to fig. 1 to 7, the present utility model provides a walking robot with rapid response, the walking robot includes a carrier frame platform 1, the upper portion of the carrier frame platform 1 is connected with a body mechanism 2 capable of swinging back and forth along the vertical center line of the walking robot, the top of the body mechanism 2 is provided with a front-back gravity center adjusting mechanism 3, the gravity center of the walking robot is changed by the body mechanism 2 and/or the front-back gravity center adjusting mechanism 3 for moving, at the same time, the front-back gravity center adjusting mechanism 3 and the body mechanism 2 are linked for maintaining balance when the walking robot grabs or transports a load, the load and the walking stability are ensured, the bottom of the carrier frame platform 1 is symmetrically provided with a left walking wheel 4 and a right walking wheel 5, and a left driving motor for independently driving the left walking wheel 4 and a right driving motor for independently driving the right walking wheel 4 are installed in the carrier frame platform 1, the left driving motor and the right driving motor are respectively connected with a control processor installed in the carrier frame platform 1, the control processor is connected with a posture sensor installed on the carrier frame platform 1, and of course, an energy storage battery and a charging interface (in a display image) are also installed on the carrier frame platform 1, and the energy storage battery is not electrically connected with each electric consumer.

Specifically, the attitude sensor adopted by the utility model uses an MPU6050 attitude detection chip, and the chip is a Liu Zhou motion tracking component integrating a triaxial accelerometer and a triaxial gyroscope. The posture data is the inclination angle of the walking robot; the accelerometer directly collects acceleration, the gyroscope collects angular velocity, and the inclination angle of the walking robot is obtained through cooperative measurement of the accelerometer and the gyroscope, wherein the maximum inclination angle allowed by the walking robot in a starting state is theta.

In order to achieve the purpose of quick response, the gravity center adjusting mechanism 3 adopted by the utility model comprises swing arms 31 symmetrically arranged on the body mechanism 2 and a first motor 32 fixedly arranged at the middle position of the top of the body mechanism 2. The swing arm 31 may be a single arm or double arms, preferably double arms, and is symmetrically disposed on two sides of the body mechanism 2, at this time, the corresponding first motor 32 is a bidirectional synchronous motor (having two synchronous output shafts and capable of rotating in opposite directions), the output shaft of the first motor 32 is fixedly connected with the swing arm 31 on two sides for driving the swing arm 31 to rotate, the first motor 32 is connected with the control processor, meanwhile, in order to ensure the straightness of the output shaft of the first motor 32 and prevent the unbalance during the swing, a supporting seat 33 is disposed in the middle of the first motor 32 and the swing arm 31, a rolling bearing is embedded in the supporting seat 33 for rotating with the output shaft of the bidirectional synchronous motor, and the two supporting seats 33 are symmetrically disposed on two sides of the first motor 32, and can install a balancing block at the bottom end of the swing arm 31 according to practical situations. Through the arrangement, after the walking robot receives a walking instruction, the control processor drives the swing arm to quickly respond and rotate through the first motor 32, and then the gravity center of the walking robot is changed, so that the carrier frame platform 1 tilts forwards or backwards, the attitude sensor obtains the variation of the forward and backward movement of the gravity center and sends the variation to the control processor, and the control processor controls the left walking wheel 4 and the right walking wheel 5 to rotate so as to keep balance, so that the purpose of quickly responding and walking is realized.

In addition, when the walking robot is grabbing or transporting the load, the control processor controls the body mechanism 2 and the front-rear center-of-gravity adjusting mechanism 3 respectively so that the direction in which the body mechanism 2 swings is opposite to the direction in which the swing arm 31 rotates, for maintaining the balance when the walking robot grabs or transports the load, that is, achieving m ₁ gL ₁ ＝m ₂ gL ₂ The mass center is on the vertical central line of the walking robot; wherein m is ₁ For loading mass, L ₁ Distance m between the center of mass of load and the vertical center line of the walking robot ₂ Is the mass of the mechanical arm, L ₂ Is the distance between the mass center of the mechanical arm and the vertical center line of the walking robot.

According to the arrangement, the front and rear gravity centers of the walking robot are adjusted, so that the gravity centers of the walking robot deviate from the vertical center line when the walking robot is stationary, and three modes are adopted for driving the walking robot to move: one is to drive the swing arm 31 to rotate forwards or backwards along the vertical center line of the walking robot through the first motor 32; the second is that the body mechanism 2 is controlled by the control processor to swing forwards or backwards along the vertical central line of the walking robot; and thirdly, the control processor respectively controls the body mechanism 2 and the front-rear gravity center adjusting mechanism 3 to incline forwards or backwards along the vertical central line of the walking robot. The control processor receives the walking instruction, and the preferential mode of gravity center adjustment is that the first motor 32 drives the swing arm 31, the second motor controls the body mechanism 2 to swing, and the third motor changes the gravity center together.

In addition, the walking robot of the utility model further comprises: an infrared sensor 7 detachably mounted on the carrier frame platform 1 for detecting an obstacle distance in front of the walking robot; an object observing camera 8 detachably installed on the top of the body mechanism 2 for observing road conditions in front of the walking robot and recognizing a load target; the navigation positioning module 9 is detachably arranged on the carrier frame platform 1 and is used for navigation and positioning of the walking robot; the infrared sensor 7, the object observation camera 8 and the navigation positioning module 9 are all connected with a control processor, and the control processor controls a left driving motor and a right driving motor according to data collected by the infrared sensor 7, the object observation camera 8 and the navigation positioning module 9, so that the walking robot can travel to a destination according to a preset navigation route on the premise of avoiding an obstacle.

Furthermore, the walking robot also comprises a man-machine interaction system, wherein the man-machine interaction system can be composed of a touch screen, remote communication and a voice interaction system. The voice interaction system is taken as an example for explanation, and comprises a voice receiver and a voice player, wherein the voice receiver and the voice player are both connected with a control processor, the voice receiver is used for acquiring voice commands and converting the voice commands into instruction signals to be sent to the control processor, and the control processor controls a left driving motor and a right driving motor to enable the walking load 3 robot to move forwards, backwards or turn according to the voice instructions.

In particular, in order to ensure the stability and the safety of the walking robot when grabbing or transporting the load, the body mechanism 2 is arranged in a swinging structure so as to realize linkage with the front-rear gravity center adjusting mechanism 3 and maintain the balance of the walking robot when the load is transported; meanwhile, limiting structures 6 are respectively arranged in the front-back direction of the swinging of the body mechanism 2, and the limiting structures 6 are used for limiting included angles between the body mechanism 2 and the vertical central line of the walking robot when the body mechanism swings back and forth, namely, the angle theta' of the actual mass center of the walking robot, which is required to be inclined back and forth after adjustment, is smaller than or equal to the maximum inclination angle theta allowed by the walking robot, so that the walking robot is prevented from unstably falling down. Preferably, the limiting structure 6 comprises at least two limiting blocks, and the two limiting blocks are fixedly arranged at the included angle of the front-back swing of the body mechanism 2.

The structure of the torso mechanism 2 of the present utility model is preferably a parallel four-bar linkage swinging assembly 21 or a single-arm swinging assembly 22, but other structures are also possible, as long as the back-and-forth swinging function of the present utility model can be achieved, and detailed description thereof will be omitted, and the preferred modes of the torso mechanism 2 of the present utility model will be described below by way of example only.

Example 1 (body mainly four-bar)

As shown in fig. 1 to 3, this embodiment is a parallel four-bar swinging assembly 21, which is composed of a second motor 211 and two parallel four-bars 212 arranged at intervals, the bottom edges of the two parallel four-bars 212 are symmetrically arranged on the surface of a carrier frame platform 1, the top edges of the two parallel four-bars are fixed through a connecting plate and form a carrying platform for installing a first motor 32, a protective cover is arranged outside the first motor 32, the second motor 211 is installed on the carrier frame platform 1, an output shaft of the second motor 211 is connected with the parallel four-bars 212 and is used for driving the two parallel four-bars 212 to swing back and forth integrally, and the second motor 211 is connected with a control processor. In practical design, the whole weight of the body mechanism 2 should be larger than the weight of the front-rear gravity center adjusting mechanism 3, so that the load capacity is increased and the safety is ensured on the premise that the height of the body mechanism 2 is fixed.

Specifically, each parallel four-bar 212 is formed by hinging an upper transverse plate 2121 and a lower transverse plate 2121 with a front vertical plate 2122 and a rear vertical plate 2122, and because the transverse plates 2121 only play a role of connecting and supporting and are smaller in stress relative to the vertical plates 2122, the transverse plates 2121 adopted in the embodiment are provided with weight reducing holes so as to reduce dead weight as much as possible while not affecting the strength of the whole walking robot, and thus the load carrying capacity is increased. The bottom of the riser 2122 has a fixed pin shaft hinged to the bottom transverse plate 2121, and the fixed pin shaft passes through the bottom transverse plate 2121 and is coupled to an output shaft of the second motor 211 through a coupling, where the second motor 211 is a forward and reverse rotating motor. That is, after the control processor controls the second motor 211 to start, the output shaft of the second motor 211 drives the vertical plate 2122 with the fixed pin shaft to rotate around the pin shaft, and the vertical plate 2122 and the transverse plate 2121 form a hinged parallel four-bar linkage, so that the whole parallel four-bar linkage 212 can swing back and forth around the central line of the fixed pin shaft.

In addition, the limiting structure 6 in this embodiment is composed of eight limiting blocks, and the eight limiting blocks are respectively installed at eight inner angle positions of the two parallel four-bar links 212, and may be specifically and fixedly disposed on the transverse plate 2121.

Example 2 (body mainly single arm)

As shown in fig. 4 to 6, the present embodiment is a single-arm swing assembly 22, which includes a single-arm support 221 and a driving device 222 disposed on the carrier frame platform 1, wherein the bottom of the single-arm support 221 is rotationally connected with the top fixing member 11 of the frame platform 1, the driving device 222 is used for driving the single-arm support 221 to swing back and forth, and the driving device 222 is connected with the control processor.

Preferably, the bottom of the single-arm support 221 is fixedly provided with a pin shaft, the top of the single-arm support 221 is fixedly provided with a carrier platform, one end of the pin shaft at the bottom of the single-arm support 221 is connected with the top fixing piece 11 through a bearing, the other end of the pin shaft is connected with a driving device 222, and the driving device is a gear motor. In addition, a limiting structure 6 consisting of two limiting blocks is respectively arranged on the fixing piece 11 and in the direction of the front-back swing of the single-arm supporting piece 221, so that the swing amplitude is prevented from being too large, and the stability and the safety of the walking robot are prevented from being influenced.

Example 3 (alternative mode where the body is a single arm)

The present embodiment is different from embodiment 2 in that, on the basis of the rotational connection of the single arm support 221 with the front point of the fixing member 11, the middle part of the single arm support 221 is hinged with the rear point of the fixing member 11 through the push rod 223, forming a triangle with stable structure. The power of the push rod 223 is not particularly limited, and may be in the form of hydraulic pressure or a gear motor+a screw rod, etc., and only the push rod 223 can be extended or retracted, so that the single-arm support 221 can swing forwards or backwards.

The utility model provides a walking robot with quick response, which walks and loads the following workflow:

firstly, starting a walking robot, controlling a processor to acquire gesture data acquired by a gesture sensor, and controlling a left driving motor and a right driving motor to correspondingly rotate a left walking wheel 4 and a right walking wheel 5, so that the walking robot keeps static balance;

finally, the control processor controls the front and rear gravity center adjusting mechanism 3 and/or the body mechanism 2 to change the gravity center of the walking robot and then drive the walking robot to move according to the acquired walking instruction;

when the walk command is forward and there is no load: the control processor controls the first motor 32 to rotate forward, so that the swing arm 31 in the front-rear center of gravity adjusting mechanism 3 rotates forward (the priority is highest); or the control processor controls the body mechanism 2 to enable the body mechanism 2 to swing forwards; or the control processor simultaneously controls the swing arm 31 and the body mechanism 2 to incline forwards; meanwhile, the control processor controls the left driving motor and the right driving motor to enable the left travelling wheel 4 and the right travelling wheel 5 to keep the same rotation speed to advance;

when the walk command is forward and when grabbing or transporting a load: the control processor controls the first motor 32 to rotate forwards, so that the swing arm 31 in the front-rear gravity center adjusting mechanism 3 rotates forwards, and simultaneously controls the body mechanism 2 to swing backwards by a set angle according to the weight of a load and collected gesture data, so as to maintain the balance of the walking robot when grabbing or transporting the load, and then controls the walking robot to adjust the gravity center forwards through the control processor, and simultaneously controls the left and right driving motors to enable the left travelling wheel 4 and the right travelling wheel 5 to keep the same rotating speed to advance;

when the walking instruction is backward, the control processor controls to execute control opposite to that of forward;

when the walking instruction is turning, the control processor controls the left driving motor and the right driving motor to enable the left walking wheel 4 and the right walking wheel 5 to generate speed difference, namely, corresponding left turning and right turning can be realized.

The foregoing is only a specific embodiment of the utility model to enable those skilled in the art to understand or practice the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model.

It will be understood that the utility model is not limited to what has been described above and that various modifications and changes may be made without departing from the scope thereof. The scope of the utility model is limited only by the appended claims.

Claims

1. The walking robot with the rapid response is characterized by comprising a carrier frame platform (1), wherein a body mechanism (2) capable of swinging back and forth along the vertical central line of the walking robot is connected to the upper part of the carrier frame platform (1), a front-back gravity center adjusting mechanism (3) is arranged at the top of the body mechanism (2), the gravity center of the walking robot is changed through the body mechanism (2) and/or the front-back gravity center adjusting mechanism (3) and used for moving the walking robot, meanwhile, the two mechanisms are linked and used for maintaining balance when the walking robot grabs or transports a load, a left walking wheel (4) and a right walking wheel (5) are symmetrically arranged at the bottom of the carrier frame platform (1), a left driving motor and a right driving motor which are used for independently driving the left walking wheel (4) and the right walking wheel (5) are respectively connected with a control processor arranged in the carrier frame platform (1), and the control processor is connected with a posture sensor arranged on the carrier frame platform (1);

the front-rear gravity center adjusting mechanism (3) comprises a swing arm (31) arranged on the body mechanism (2) and a first motor (32) fixedly arranged at the top of the body mechanism (2), an output shaft of the first motor (32) is fixedly connected with the swing arm (31) to drive the swing arm (31) to rotate, and the first motor (32) is connected with the control processor.

2. A walking robot with quick response according to claim 1, characterized in that the control processor controls the body mechanism (2) and the front-rear center of gravity adjustment mechanism (3), respectively, so that the body mechanism (2) swings in the opposite direction to the swing arm (31) rotates for maintaining balance when the walking robot grabs or transports a load.

3. The walking robot with the rapid response according to claim 1, wherein the body mechanism (2) is a parallel four-bar swinging assembly (21) or a single-arm swinging assembly (22), the parallel four-bar swinging assembly (21) and the single-arm swinging assembly (22) are both provided with limiting structures (6), and the limiting structures (6) are used for limiting included angles with the vertical central line of the walking robot when the parallel four-bar swinging assembly (21) or the single-arm swinging assembly (22) swings back and forth so as to avoid instability of the walking robot.

4. A walking robot with fast response according to claim 3, characterized in that the limit structure (6) comprises at least two limit blocks, and two limit blocks are fixedly installed at the angle of the front-back swing of the parallel four-bar swinging assembly (21) and the single-arm swinging assembly (22).

5. A walking robot with fast response according to claim 3, characterized in that the parallel four-bar linkage swinging assembly (21) consists of a second motor (211) and two parallel four-bars (212) arranged at intervals, the bottom edges of the two parallel four-bars (212) are symmetrically arranged on the surface of the carrier frame platform (1), the top edges of the two parallel four-bars are fixed through connecting plates and form a carrying platform for mounting a first motor (32), the second motor (211) is mounted on the carrier frame platform (1), an output shaft of the second motor (211) is connected with the parallel four-bars (212) and is used for driving the two parallel four-bars (212) to swing integrally, and the second motor (211) is connected with a control processor.

6. The walking robot with rapid response according to claim 5, characterized in that each parallel four-bar linkage (212) is composed of an upper and a lower cross plate (2121) and a front and a rear vertical plates (2122) hinged, the bottom of the vertical plates (2122) is provided with a fixed pin shaft hinged with the bottom cross plate (2121), and the pin shaft passes through the bottom cross plate (2121) and is connected with the output shaft of the second motor (211) through a coupling.

7. A walking robot with fast response according to claim 3, characterized in that the single-arm swing assembly (22) comprises a single-arm support (221) and a driving device (222) arranged on the carrier frame platform (1), the bottom of the single-arm support (221) is rotatably connected with the top fixing part (11) of the frame platform (1), the driving device (222) is used for driving the single-arm support (221) to swing back and forth, and the driving device (222) is connected with the control processor.

8. The walking robot with rapid response according to claim 1, wherein the swing arm (31) is a single arm or double arms, when the swing arm (31) is a double arm, the swing arm is symmetrically arranged at two sides outside the body mechanism (2), the corresponding first motor (32) is a bidirectional synchronous motor, synchronous output shafts at two sides of the bidirectional synchronous motor are connected with the swing arm (31), a supporting seat (33) is arranged at the middle part of the synchronous output shafts, and a rolling bearing is embedded in the supporting seat (33) for being rotationally connected with the bidirectional synchronous motor.

9. The walking robot with rapid response according to any one of claims 1 to 7, further comprising:

an infrared sensor (7) detachably mounted on the carrier frame platform (1) for detecting an obstacle distance in front of the walking robot;

the object observation camera (8) is detachably arranged at the top of the body mechanism (2) and is used for observing road conditions in front of the walking robot and identifying a load target;

the navigation positioning module (9) is detachably arranged on the carrier frame platform (1) and is used for navigation and positioning of the walking robot;

the infrared sensor (7), the object observation camera (8) and the navigation positioning module (9) are all connected with the control processor, and the control processor enables the walking robot to walk according to a preset navigation route on the premise of obstacle avoidance by controlling the left driving motor and the right driving motor.

10. The walking robot of claim 9 further comprising a voice interactive system comprising a voice receiver and a voice player, the voice receiver and the voice player each being coupled to the control processor, the voice receiver being configured to obtain voice commands and to convert the voice commands into command signals for the control processor, the control processor controlling the left and right drive motors based on the command signals to cause the walking robot to move forward, backward, or turn.