CN111616494A - Wheel-legged load carrying device - Google Patents

Abstract

The present application provides a wheel-leg type load carrying device, the wheel-leg type load-bearing device includes a backpack, a strap connected with the backpack, and a leg-pack structure for supporting the backpack on the ground movably along the ground, and the wheel-leg structure includes a support And fix the support plate of the backpack, the bag legs connected with the support plate and the casters installed at the bottom of the bag legs. In the process of walking with the backpack on, the user only needs to contact the ground through the casters, and the backpack can be supported on the ground through the legs and the support plate so as to move along the ground, and there will be heavy loads in the vertical direction. The backpack plays a good supporting role, which can not only reduce the amplitude of the backpack reciprocating up and down in the vertical direction, but also make part of the weight of the backpack load directly transmitted to the ground through the wheel leg structure. In this way, the load weight on the user's shoulders can be effectively reduced, the comfort of the user when walking with the backpack is improved, and the user can walk with the backpack easily and freely.

Description

Wheel-legged load carrying device

technical field

The present application belongs to the technical field of carrying devices, and more particularly, relates to a wheel-leg type load carrying device.

Background technique

The backpack has the advantages of simple structure and large load, and has become one of the load-bearing equipment often used in people's daily life. When the human body is carrying a heavy-loaded backpack, the weight of the backpack is mainly transmitted to the shoulders of the human body through the straps, which easily causes shoulder muscle soreness. Especially when the human body is walking with a backpack loaded with heavy objects, due to the effect of inertia, the backpack usually produces a relatively large up and down reciprocating shaking in the vertical direction, causing the shoulders to bear a large impact and compression force, increasing the human body. It reduces the comfort of the human body when walking with a backpack, making it difficult to walk with a backpack.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present application is to provide a wheel-legged load carrying device, so as to solve the technical problem in the prior art that when the human body walks with the backpack, the backpack shakes in the vertical direction and increases the load on the human body. question.

In order to achieve the above-mentioned purpose, the technical solution adopted in this application is to provide a wheel-legged load bearing device, comprising:

Backpack;

a harness attached to the backpack; and

The wheel-leg structure is used to support the backpack on the ground movably along the ground, so that the backpack can follow the walking movement of the human body; the wheel-leg structure includes a support plate, a bag leg and casters, and the backpack supports and It is fixed on the supporting plate, the wrapping leg is connected with the supporting plate, and the caster is mounted on the bottom end of the wrapping leg.

Optionally, the wheel-legged load carrying device further includes a first driving device for driving the bag leg to move up and down, the first driving device is connected to the support plate, and the bag leg is connected to the first driving device. connected to the output of the device.

Optionally, the wheel-legged weight bearing device further includes:

a pressure detector for obtaining the pressure of the backpack on the wheel leg structure; and

The controller is configured to receive the pressure information fed back by the pressure detector, and send a control instruction to control the operation of the first driving device.

Optionally, the first driving device includes a support base, a lead screw rotatably mounted on the support base, a motor for driving the lead screw to rotate, a nut mounted on the lead screw, and a drive to drive the wrapping leg. A slide table that moves up and down and a linear guide rail that guides the movement of the slide table, the support base is connected to the support plate, the linear guide rail is installed on the support base, and the slide table is slidably installed on the linear guide rail On the upper side, the sliding table is connected with the nut, and the wrapping leg is fixedly connected with the sliding table.

Optionally, the wheel-legged load carrying device further comprises a connecting seat connecting the wrapping legs with the sliding table, and the connecting seat includes a horizontal plate arranged horizontally and a vertical plate connected with the horizontal plate. and a reinforcing plate arranged on one side of the vertical plate, the reinforcing plate is respectively connected with the horizontal plate and the vertical plate.

Optionally, the caster is a triangular wheel, and the triangular wheel includes a caster frame, a wheel frame shaft, a tripod frame, a wheel shaft and three wheels, the caster frame is connected to the bottom end of the leg, and the triangular frame is connected to the bottom end of the leg. The three wheels are rotatably mounted on the caster frame through the wheel frame shaft, and the three wheels are respectively rotatably installed on the tripod through the wheel shaft, and the three wheels are respectively corresponding to the three wheels of the tripod. corner.

Optionally, the wrapping leg includes a first supporting leg, a second supporting leg, and a pivot rotatably connecting the first end of the second supporting leg to the first end of the first supporting leg, so The wheel-leg type load carrying device further includes a second driving device for driving the second support leg to rotate around the pivot, the second end of the first support leg is connected to the support plate, and the caster is mounted on the support plate. the second end of the second support leg.

Optionally, the wheel-legged weight bearing device further includes:

an inertial measurement unit to monitor and feedback the user's gait phase; and

The controller is configured to receive the gait phase information fed back by the inertial measurement unit, and send a control instruction to control the second driving device to work.

Optionally, the inertial measurement unit includes:

a first inertial sensor for placement at a foot position of one of the user's legs; and

The second inertial sensor is arranged at the foot position of the other leg of the user.

Optionally, the wheel leg structure further includes a shock absorbing mechanism provided at the connection between the caster and the wrapping leg.

Compared with the prior art, the above-mentioned one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

The wheel-leg type load carrying device provided by the embodiment of the present application is provided with a strap for carrying the backpack on the user's shoulders and a wheel-leg structure for supporting the backpack on the ground movably along the ground. The wheel-leg structure includes a support plate for supporting the backpack , a package leg connected with the support plate and a caster mounted on the bottom end of the package leg. In the process of walking with the backpack on, the user only needs to contact the ground through the casters, and the legs and the support plate can be used to support the backpack with heavy objects in the vertical direction. The backpack swings up and down in the vertical direction, which reduces the impact and pressure on the shoulders of the user, and also enables part of the weight of the backpack to be directly transmitted to the ground through the wheel leg structure. In this way, the load weight on the user's shoulders can be effectively reduced, the fatigue damage to the shoulder muscles can be avoided, the comfort of the user when walking with the backpack is improved, and the user can walk with the backpack easily and freely.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a wheel-legged load carrying device provided in Embodiment 1 of the present application;

Fig. 2 is the partially enlarged structural representation in Fig. 1;

3 is a schematic three-dimensional structural diagram of a first driving device according to an embodiment of the present application;

4 is a schematic side view of the structure of the wheel-legged load carrying device provided in the second embodiment of the present application;

5 is a schematic three-dimensional structural diagram of a wheel leg structure provided in Embodiment 2 of the present application;

FIG. 6 is a side view structural schematic diagram of the wheel leg structure provided in Embodiment 2 of the present application;

Fig. 7 is the partial enlarged structural representation in Fig. 6;

FIG. 8 is a schematic three-dimensional structural diagram of the wheel-legged load carrying device provided in the second embodiment of the present application;

FIG. 9 is a schematic three-dimensional structure diagram of a caster provided in Embodiment 2 of the present application.

Among them, each reference sign in the figure:

1 - Backpack;

2 - straps;

3-wheel leg structure; 31-support plate; 32-package leg; 321-first support leg; 322-second support leg; 323-pivot; 33-caster; 331-caster frame; 332-wheel frame shaft; 333-tripod; 334-axle; 335-wheel; 34-shock absorber;

4- The first drive device; 41- Support seat; 42- Lead screw; 43- Motor; 44- Nut; 45- Slide table; 46- Linear guide rail; 47- Bearing seat; 48- Slide block; 49- Coupling ;

5-connecting seat; 51-horizontal plate; 52-vertical plate; 53-strengthening plate;

6-Second drive.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

It should be noted that when an element is referred to as being "connected to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

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

In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; may be mechanical connection or electrical connection; may be direct connection or indirect connection through an intermediate medium, may be internal communication between two elements or an interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

It is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the application and simplifying the description, rather than indicating or implying the indicated A device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application.

Please refer to FIG. 1 to FIG. 3 together, and now the wheel-legged load carrying device provided in the first embodiment of the present application will be described. The wheel-leg type load carrying device provided in the first embodiment of the present application includes a backpack 1 , a strap 2 and a wheel-leg structure 3 , and the backpack 1 is used to accommodate articles to be carried. The strap 2 is connected with the backpack 1 , and the backpack 1 containing and loaded with items can be carried on the shoulders of the user through the strap 2 . It can be understood that the backpack 1 can be, but is not limited to, an ordinary backpack for daily use. For example, the backpack 1 can also use a back frame, a back frame, or a back bag that can carry heavy objects to replace the objects carried by the human body. The straps 2 can be provided with but not limited to two, so as to form a backpack that is convenient for the user to carry. The wheel leg structure 3 is used to support and roll the backpack 1. The wheel leg structure 3 supports the backpack 1 carried on the user's shoulders on the ground, and enables the backpack 1 to move along the ground, so that the backpack 1 is placed on the wheel legs. Under the action of the rolling support of the structure 3, it can follow the walking motion of the human body. Please refer to FIG. 1 , the wheel leg structure 3 includes a support plate 31 , a bag leg 32 and casters 33 , and the backpack 1 is supported and fixed on the support plate 31 . It can be understood that the bottom of the backpack 1 can be fixedly connected to the support plate 31 through fasteners such as bolts, screws, or a buckle structure, so as to enhance the stability of the support plate 31 for supporting the backpack 1 . The legs 32 are connected with the support plate 31, and the casters 33 are installed at the bottom ends of the legs 32, so that the backpack 1 on the support plate 31 can be supported by the legs 32, and can be installed on the bottom of the legs 32. The casters 33 enable the backpack 1 to roll and move along the ground following the walking motion of the user.

Compared with the prior art, the wheel-legged load carrying device provided in the first embodiment of the present application is provided with a strap 2 for carrying the backpack 1 on the user's shoulders and wheel legs for supporting the backpack 1 on the ground movably along the ground. Structure 3, the wheel leg structure 3 includes a support plate 31 supporting the backpack 1 , a bag leg 32 connected to the support plate 31 , and a caster 33 mounted on the bottom end of the bag leg 32 . In the process of walking with the backpack 1 on the user's back, the user only needs to contact the ground through the casters 33, and then the legs 32 and the support plate 31 can be used to support the backpack 1 loaded with heavy objects in the vertical direction. It can not only reduce the amplitude of the up and down reciprocating shaking of the backpack 1 in the vertical direction, reduce the impact force and pressure on the shoulders of the user, but also make part of the weight of the backpack 1 directly transmitted to the ground through the wheel leg structure 3 . In this way, the load weight on the user's shoulders can be effectively reduced, the fatigue damage to the shoulder muscles can be avoided, the comfort of the user when walking with the backpack is improved, and the user can walk with the backpack easily and freely.

Further, in the first embodiment of the present application, please refer to FIG. 1 and FIG. 2 together, the wheel-legged load carrying device also includes a first driving device 4 for driving the bag legs 32 to move up and down, the first driving device 4 and the support The plate 31 is connected, and the leg 32 is connected with the output end of the first driving device 4 .

By adopting the above solution, a first driving device 4 for driving the leg 32 to move up and down is provided. The first driving device 4 can drive the leg 32 to move up and down in the vertical direction, and the leg 32 drives the caster 33 to move up and down, so that the leg 32 can move up and down. The wheel-leg type weight bearing device can adapt to the use requirements of users of different heights, and has good versatility. In addition, the first driving device 4 drives the bag leg 32 to move up and down in the vertical direction, so as to fine-tune the extended length of the bag leg 32 and increase or decrease the extended length of the bag leg 32 . In this way, under the premise that the range of up and down reciprocating shaking of the backpack 1 in the vertical direction is allowed, combined with the different weights of the heavy loads in the backpack 1, the legs 32 drive the casters 33 to move up and down a small distance, so that the casters 33 can interact with The ground forms a good contact, and the support force of the wheel leg structure 3 to the backpack 1 can be adjusted, so that the pressure on the user's shoulders and the support force of the wheel leg structure 3 can be balanced, and the comfort of the user when walking with the backpack is improved. And it enables the user to carry the backpack for walking easily and freely. In addition, in the case of complex terrain or bumpy road conditions, the first driving device 4 can drive the leg 32 to move up and down in the vertical direction, and the leg 32 can quickly and automatically drive the caster 33 to rise to avoid the wheel leg. The structure 3 collides with the obstacle strongly and interferes with the walking movement of the user carrying the backpack 1 .

Further, in the first embodiment of the present application, the wheel-legged load bearing device further includes a pressure detector (not shown in the figure) for obtaining the pressure of the backpack 1 on the wheel-leg structure 3, and an electrical connection with the pressure detector. A connected controller (not shown in the figure), after receiving the pressure information fed back by the pressure detector, the controller sends corresponding control instructions to control the first driving device 4 to work according to the pressure information fed back by the pressure detector. Wherein, the pressure detector and the first driving device 4 are respectively electrically connected with the controller.

By adopting the above solution, in the process of walking with the user carrying the backpack, when the road conditions are good, the pressure of the backpack 1 on the wheel-leg structure 3 is detected and obtained through the pressure detector, and the controller is based on the pressure information fed back by the pressure detector in real time. , send the corresponding control command to automatically control the first drive device 4 to work, the first drive device 4 drives the wheel legs to drive the casters 33 to move up and down, so that the casters 33 can form a good contact with the ground, realize the effective support for the backpack 1, and can The size of the supporting force of the wheel-leg structure 3 to the backpack 1 is adjusted so that the pressure on the user's shoulders and the supporting force of the wheel-leg structure 3 are balanced. It can be understood that the pressure detector in this embodiment can also use a tensile force detector, or a pressure detector and a tensile force detector are simultaneously set on the wheel-leg structure 3 to further improve the support force of the wheel-leg structure 3 on the backpack 1 The accuracy is favorable for the controller to control the work of the first driving device 4 accurately and efficiently.

Further, in the first embodiment of the present application, the wheel-legged weight carrying device further includes an inertial measurement unit (not shown in the figure) for monitoring and feeding back the gait phase of the user, and an inertial measurement unit that is electrically connected to the inertial measurement unit. controller (not shown). The controller is electrically connected with the first driving device 4 , and the controller is used for receiving the gait phase information fed back by the inertial measurement unit, and sending control instructions to control the first driving device 4 to work.

By adopting the above scheme, the walking state and characteristics of the human body are obtained through the inertial measurement unit, such as gait phase information such as gait cycle, foot landing time, foot off the ground time, etc. The controller receives the gait phase information fed back by the inertial measurement unit, and the controller Internally stored control algorithms determine real-time road conditions using kinematic gait parameters obtained from the inertial measurement unit during the pre-swing phase of the gait cycle. If the controller obtains the walking state and characteristics of the human body according to the inertial measurement unit, and determines that the user is walking on the ground with better road conditions, the controller automatically controls the first driving device 4 to drive the wheel legs to drive the casters 33 to move up and down, so that the casters 33 can move up and down with the The ground forms a good contact to achieve effective support for the backpack 1 . If the controller obtains the walking state and characteristics of the human body according to the inertial measurement unit, and determines that the user is walking on the ground with poor road conditions or high obstacles, the controller automatically controls the first driving device 4 to drive the leg 32 along the vertical axis. Moving upwards in a straight direction, the legs 32 can quickly and automatically drive the casters 33 to rise, preventing the wheel leg structure 3 from colliding with obstacles and interfering with the walking movement of the user carrying the backpack 1 .

Further, in the first embodiment of the present application, please refer to FIG. 2 and FIG. 3 together, the first driving device 4 includes a support base 41 , a lead screw 42 rotatably mounted on the support base 41 , and a drive for driving the lead screw 42 to rotate. The motor 43, the nut 44 installed on the lead screw 42, the sliding table 45 that drives the leg 32 to move up and down, and the linear guide rail 46 that guides the sliding table 45 to move, the support base 41 is connected to the support plate 31, and the linear guide rail 46 is installed on the support base 41 , the sliding table 45 is slidably installed on the linear guide rail 46 , the sliding table 45 is connected with the nut 44 , and the wrapping leg 32 is fixedly connected with the sliding table 45 .

By adopting the above solution, the first driving device 4 includes a support base 41 , a lead screw 42 , a motor 43 , a nut 44 , a sliding table 45 and a linear guide rail 46 , the support base 41 is connected to the support plate 31 , and the linear guide rail 46 is installed on the support base 41 . The slide table 45 is slidably installed on the linear guide rail 46, the lead screw 42 is rotatably mounted on the support base 41, the nut 44 is mounted on the lead screw 42, the slide table 45 is connected with the nut 44, and the wrapping leg 32 is fixedly connected with the slide table 45 . When in use, the lead screw 42 is driven to rotate by the motor 43 , and the nut 44 installed on the lead screw 42 drives the sliding table 45 to reciprocate linearly along the linear guide rail 46 . When the road conditions are good, during the reciprocating linear motion of the sliding table 45 along the linear guide rail 46, it can drive the wheel legs and the casters 33 installed at the bottom of the wheel legs to move up and down together, so that the casters 33 can form a good formation with the ground. It can effectively support the backpack 1, and can adjust the support force of the wheel leg structure 3 to the backpack 1, so that the pressure on the user's shoulders and the support force of the wheel leg structure 3 can be balanced. When the road conditions are poor or the obstacles with high height are encountered, the sliding table 45 can drive the wheel legs and the casters 33 installed at the bottom of the wheel legs to rise correspondingly during the reciprocating linear motion along the linear guide rail 46. The distance between the wheel legs and the casters 33 installed at the bottom ends of the wheel legs can be prevented from colliding with obstacles, which will interfere with the walking movement of the user carrying the backpack 1 .

It can be understood that in the first embodiment of the present application, referring to FIG. 3 in conjunction with FIG. 3 , both ends of the lead screw 42 are rotatably mounted on the support base 41 through the bearing and the bearing seat 47 , and one end of the lead screw 42 passes through the coupling 49 It is connected to the output shaft of the motor 43 to enhance the stability of the lead screw 42 driving the nut 44 installed on the lead screw 42 to move, thereby improving the working stability of the leg backpack device. Understandably, in order to reduce friction and improve the stability of the linear reciprocating motion of the sliding table 45 along the linear guide rail 46 , the sliding table 45 is correspondingly provided with a sliding block 48 slidably matched with the linear guide rail 46 , and the sliding table 45 slides through the sliding block 48 . Mounted on the linear guide 46 . In addition, the number of the sliders 48 can be reasonably selected and set according to actual needs, which is not uniquely limited here. It can be understood that, in another embodiment of the present application, the first driving device 4 may also adopt one of a hydraulic cylinder, an electric cylinder, a rack-and-pinion mechanism, and a linear motor 43, etc., which can be selected and set according to actual use requirements. , which is not uniquely limited here.

Further, in the first embodiment of the present application, please refer to FIG. 2 together, the wheel-legged load carrying device further includes a connecting seat 5 connecting the legs 32 with the sliding table 45, and the connecting seat 5 includes a horizontal plate arranged horizontally 51. The vertical plate 52 connected with the horizontal plate 51 and the reinforcing plate 53 arranged on one side of the vertical plate 52, the reinforcing plate 53 is connected with the horizontal plate 51 and the vertical plate 52 respectively.

By adopting the above solution, a connecting seat 5 is provided for connecting the leg 32 and the sliding table 45, and the connecting seat 5 is set as a horizontal plate 51 arranged horizontally and a vertical plate 52 arranged vertically, and the vertical plate 52 and the horizontal plate 51 Vertically connected, only the vertical plate 52 and the sliding table 45 are fixedly connected by bolts, screws and other fasteners, and the horizontal plate 51 is fixedly connected to the top of the wrapping leg 32, then the wrapping leg 32 can be vertically and quickly connected. It is installed on the sliding table 45 and can ensure the strength of the vertical installation of the bag legs 32, further enhancing the stability and reliability of the bag legs 32 and the casters 33 installed at the bottom of the bag legs 32 to support the backpack 1 . In addition, a reinforcing plate 53 is provided on the side of the vertical plate 52 away from the sliding table 45, and the reinforcing plate 53 is respectively connected with the horizontal plate 51 and the vertical plate 52, so that the connection seat 5 can be further strengthened to connect the leg 32 and the sliding table 45. The stability of the bag leg 32 and the caster 33 installed at the bottom end of the bag leg 32 are further enhanced to support the backpack 1 with stability and reliability. It can be understood that, one reinforcing plate 53 can be provided, or more than two can be provided. The specific number of the reinforcing plates 53 can be reasonably set according to the strength required by the connection base 5 , which is not limited here.

In the second embodiment of the present application, please refer to FIG. 8 to FIG. 9 together, the caster 33 is a triangular wheel, and the triangular wheel includes a caster frame 331, a wheel frame shaft 332, a tripod frame 333, a wheel shaft 334 and three wheels 335. The caster wheel The frame 331 is connected with the bottom end of the leg 32, the tripod 333 is rotated and installed on the caster frame 331 through the wheel frame shaft 332, and the three wheels 335 are respectively rotated and installed on the tripod 333 through the wheel shaft 334, and the three wheels 335 correspond to Installed at three corners of the tripod 333 .

By adopting the above scheme, the casters 33 are set as triangular wheels, and the three wheels 335 are used to rotate around the corresponding wheel shafts 334 respectively, and the tripod 333 drives the three wheels 335 to revolve around the wheel frame shaft 332, so as to slow down the wheels 335 to the stairs. The impact force of the vertical plane enables the triangular wheel to roll on the stairs stably. In this way, by installing the triangular wheel at the bottom end of the bag leg 32, the wheel leg structure 3 can also support the backpack 1 when the user is climbing the stairs with the backpack, which can effectively reduce the load on the user's shoulders and improve the performance. The comfort of the user carrying the backpack to climb the stairs allows the user to carry the backpack easily and freely to climb the stairs. The tripod 333 in this example is in the shape of an equilateral triangle, so that the triangular wheel can roll on the stairs more stably.

Further, in the second embodiment of the present application, please refer to FIGS. 6 to 8 together, the wrapping leg 32 includes a first supporting leg 321 , a second supporting leg 322 and the first end of the second supporting leg 322 is rotatable Connected to the pivot shaft 333 at the first end of the first support leg 321, the wheel-legged load carrying device further comprises a second driving device 6 for driving the second support leg 322 to rotate around the pivot shaft 333. The two ends are connected to the support plate 31 , the caster 33 is mounted on the second end of the second support leg 322 , and the second drive device 6 is fixedly connected to the first support leg 321 .

By adopting the above solution, the package leg 32 includes a first support leg 321 and a second support leg 322, and the first end of the second support leg 322 is rotatably connected to the first end of the first support leg 321 through the pivot shaft 333, so that the The wrapped leg 32 constitutes a leg structure similar to a human knee joint. Please refer to FIG. 8 , when the user is carrying the backpack down the stairs, the second supporting leg 322 can be driven by the second driving device 6 to rotate around the pivot shaft 333 , so that the second supporting leg 322 drives the caster 33 to tilt upwards. The second end caster 33 installed on the second support leg 322 can avoid strong contact or impact with the horizontal plane of the stair step, thereby interfering with the user's walking movement down the stairs with the backpack. It can be understood that the second driving device 6 in the above solution may be the rotating electrical machine 43 but is not limited to the rotating electrical machine 43 . For example, the second driving device 6 may also be a rotary cylinder or a cam mechanism.

Further, in the second embodiment of the present application, the wheel-legged weight carrying device further includes an inertial measurement unit (not shown in the figure) for monitoring and feeding back the gait phase of the user, and an inertial measurement unit that is electrically connected to the inertial measurement unit. controller (not shown). The controller is electrically connected with the second driving device 6 , and the controller is used for receiving the gait phase information fed back by the inertial measurement unit, and sending control instructions to control the second driving device 6 to work.

By adopting the above scheme, the walking state and characteristics of the human body are obtained through the inertial measurement unit, such as gait phase information such as gait cycle, foot landing time, foot off the ground time, etc. The controller receives the gait phase information fed back by the inertial measurement unit, and the controller Internally stored control algorithms determine real-time road conditions using kinematic gait parameters obtained from the inertial measurement unit during the pre-swing phase of the gait cycle. If the controller determines that the user is climbing stairs according to the walking state and characteristics of the human body obtained by the inertial measurement unit, the controller automatically controls the second driving device 6 to drive the second supporting leg 322 to rotate around the pivot 333, so that the second supporting leg 322 drives the caster 33 upward. The tilting can avoid strong contact or impact between the second end caster 33 installed on the second supporting leg 322 and the horizontal plane of the stair step, thereby interfering with the walking movement of the user carrying the backpack down the stairs.

Further, in the second embodiment of the present application, the inertial measurement unit includes a first inertial sensor (not shown in the figure) for being arranged at the foot position of one leg of the user and a first inertial sensor for being arranged at the other leg of the user The second inertial sensor (not shown in the figure) of the foot position. By adopting the above solution, the stepping and walking state and characteristics of the human body's legs can be obtained through the first inertial sensor and the second inertial sensor, and the controller receives the gait phase information fed back by the inertial measurement unit to more accurately determine the real-time road conditions of the user's walking. , so that the controller can scientifically and reasonably control the first driving device 4 or the second driving device 6 .

Further, in the second embodiment of the present application, please refer to FIG. 4 together, the wheel leg structure 3 further includes a shock absorbing mechanism 34 disposed at the connection between the caster 33 and the leg 32 . By adopting the above solution, the damping mechanism 34 is arranged at the connection between the caster 33 and the bag leg 32, so that the fluctuation change of the support force of the backpack by the wheel leg structure 3 can be reduced, so that the wheel leg structure 3 can stably support the backpack 1, and make the backpack 1 stable. The backpack 1 can move stably along the ground following the walking movement of the human body, so that the user can carry the backpack for walking easily and freely. It can be understood that the damping mechanism 34 in the above solution may be, but is not limited to, a spring damping mechanism. For example, the damping mechanism 34 in the above solution may also be a hydraulic shock absorber or a gas-filled shock absorber. Since the specific structures and working principles of the spring damping mechanism, the hydraulic shock absorber or the gas-filled shock absorber are well known to those skilled in the art, they will not be repeated here.

The above descriptions are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection of the present application. within the range.

Claims (10)

1. A wheel-leg type weight-bearing carrying device is characterized in that, comprising: Backpack; a harness attached to the backpack; and The wheel-leg structure is used to support the backpack on the ground movably along the ground, so that the backpack can follow the walking movement of the human body; the wheel-leg structure includes a support plate, a bag leg and casters, and the backpack supports and It is fixed on the supporting plate, the wrapping leg is connected with the supporting plate, and the caster is mounted on the bottom end of the wrapping leg. 2 . The wheel-leg type load carrying device according to claim 1 , wherein the wheel-leg type load carrying device further comprises a first driving device for driving the bag legs to move up and down, and the first driving device is connected to The support plate is connected, and the package leg is connected with the output end of the first driving device. 3. The wheel-leg type heavy-duty carrying device according to claim 2, wherein the wheel-leg type heavy-duty carrying device further comprises: a pressure detector for obtaining the pressure of the backpack on the wheel leg structure; and The controller is configured to receive the pressure information fed back by the pressure detector, and send a control instruction to control the operation of the first driving device. 4 . The wheel-leg type load carrying device according to claim 2 , wherein the first driving device comprises a support base, a lead screw rotatably mounted on the support base, and a motor for driving the lead screw to rotate. 5 . , a nut installed on the lead screw, a sliding table that drives the leg to move up and down, and a linear guide rail that guides the movement of the sliding table, the support seat is connected to the support plate, and the linear guide rail is installed on the On the support base, the sliding table is slidably mounted on the linear guide rail, the sliding table is connected with the nut, and the wrapping leg is fixedly connected with the sliding table. 5 . The wheel-leg type load carrying device according to claim 4 , wherein the wheel-leg type load-bearing device further comprises a connecting seat for connecting the wrapping leg with the sliding table, and the connecting seat comprises: 6 . A horizontal plate arranged horizontally, a vertical plate connected with the horizontal plate, and a reinforcing plate arranged on one side of the vertical plate, the reinforcing plate is connected with the horizontal plate and the vertical plate respectively. 6 . The wheel-leg type load carrying device according to claim 1 , wherein the caster is a triangular wheel, and the triangular wheel comprises a caster frame, a wheel frame shaft, a tripod, a wheel shaft and three wheels, 6 . The caster frame is connected with the bottom end of the leg, the tripod is rotatably mounted on the caster frame through the wheel frame shaft, and the three wheels are respectively rotatably installed on the tripod through the wheel shaft, And the three wheels are respectively arranged on the three corners of the tripod. 7. The wheel-legged load carrying device according to any one of claims 1 to 6, wherein the wrapping leg comprises a first supporting leg, a second supporting leg, and a first supporting leg that connects the second supporting leg The end is rotatably connected to the pivot at the first end of the first support leg, and the wheel-legged load carrying device further comprises a second driving device for driving the second support leg to rotate around the pivot, so The second end of the first support leg is connected to the support plate, and the caster is mounted on the second end of the second support leg. 8. The wheel-leg type heavy-duty carrying device according to claim 7, wherein the wheel-leg type heavy-duty carrying device further comprises: an inertial measurement unit to monitor and feedback the user's gait phase; and The controller is configured to receive the gait phase information fed back by the inertial measurement unit, and send a control instruction to control the second driving device to work. 9. The wheel-legged load carrying device of claim 8, wherein the inertial measurement unit comprises: a first inertial sensor for placement at a foot position of one of the user's legs; and The second inertial sensor is arranged at the foot position of the other leg of the user. 10. The wheel-legged load carrying device according to any one of claims 1 to 6, wherein the wheel-leg structure further comprises a shock absorbing mechanism provided at the connection between the caster and the wrapped leg.

Images