A robot wheel foot and a two-wheel-foot robot

Abstract

The present invention relates to a robot wheel foot, which comprises a leg, a walking wheel and a foot component; the walking wheel is rotatably arranged at the lower end of the leg; the foot component is movably connected to the leg, and the foot component can be switched between a working state and a non-working state; the present application also discloses a two-wheel-foot robot with the above-mentioned robot wheel foot. Through this structural design, the robot can seamlessly switch between flat ground and rough terrain, significantly improving its adaptability and movement efficiency on various terrains. The structure of the robot is relatively simple, and the control algorithm is easy to implement, having good market application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a robot wheel foot and a two-wheel foot robot. Background Art

[0002] In modern robot technology, traditional robots have significant deficiencies in multi-terrain adaptability. Although wheeled robots have high moving efficiency on flat roads, they perform poorly on uneven or obstacle-ridden terrains and are easily restricted by the terrain and unable to move effectively. For example, when facing rough terrains, traditional wheeled robots may slip or be unable to cross obstacles due to insufficient wheel grip. In addition, although legged robots perform well in terrain adaptability and can walk on complex terrains, their structures are complex and costly, and their moving efficiency on flat roads is lower than that of wheeled robots. This limitation restricts the application scope of robots in diverse environments, especially in scenarios that require rapid movement and efficient operation.

[0003] Therefore, how to improve the adaptability and moving efficiency of robots under multi-terrain conditions has become an important technical problem in the current development of robot technology. Summary of the Invention

[0004] Based on the above description, the present invention provides a robot wheel foot and a two-wheel foot robot to solve the technical problems of low adaptability and low moving efficiency of robots under multi-terrain conditions in the prior art.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] A robot wheel foot, which comprises a leg, a walking wheel, and a foot component;

[0007] The walking wheel is rotatably arranged at the lower end of the leg;

[0008] The foot component is movably connected to the leg, and the foot component can be switched between a working state and a non-working state.

[0009] Compared with the prior art, the technical solution of the present application has the following beneficial technical effects:

[0010] This robot wheel foot significantly improves the adaptability and moving efficiency of the robot under multi-terrain conditions through the leg, the walking wheel, and the foot component. Among them, the foot component can be switched between a working state and a non-working state according to actual needs, enabling this robot wheel foot to form different states, improving the flexibility and obstacle-crossing ability of the robot applying this robot wheel foot in motion, and expanding the application scope of the robot in diverse environments.

[0011] Based on the above technical solution, the present invention can also be improved as follows.

[0012] Further, the foot assembly includes a connecting member, a footrest, and a driving mechanism. The connecting member is movably connected to the leg, the footrest is movably connected to the connecting member, and the driving mechanism is connected to the footrest to switch between the working state and the non-working state.

[0013] Further, the connecting member includes a first end and a second end. The first end is rotatably connected to the leg, and the second end is disposed outside the circumference of the traveling wheel. The footrest is rotatably connected to the second end, and the rotation axis of the footrest is perpendicular to the rotation axis of the connecting member. The driving mechanism is disposed on the leg and connected to the footrest for driving the footrest to fold up and down and / or swing left and right.

[0014] Further, the connecting member is in a U-shaped structure, and the open end thereof is the first end. The traveling wheel is disposed inside the opening, and the footrest is connected to the end of the U-shaped structure away from the opening.

[0015] Further, the footrest includes a seat body and a movable shaft. One end of the movable shaft is rotatably connected to the connecting member, and the seat body is fixed to the other end of the movable shaft.

[0016] Further, the driving mechanism is a linear motor.

[0017] Further, the driving mechanism includes a rotating motor, a turntable, and a connecting rod. The rotating motor is disposed on the leg, the turntable is drivingly connected to the rotating motor, and both ends of the connecting rod are movably connected to the edge of the turntable and the seat body respectively.

[0018] Further, the traveling wheel is a driving wheel with a built-in driving motor.

[0019] This application also provides a two-wheeled foot robot, including the above-mentioned robot wheel foot.

[0020] Further, it includes a torso and a fulcrum support module. The fulcrum support module is disposed at the lower end of the torso. The robot wheel foot is directly connected to the torso or indirectly connected to the torso through an intermediate member.

[0021] Further, the intermediate member is two thigh modules;

[0022] The two thigh modules are respectively disposed on both sides of the torso. The upper end of the thigh module is connected to the torso, and the lower end of the thigh module is rotatably connected to the upper end of the leg;

[0023] The fulcrum support module is disposed at the lower end of the torso.

[0024] Further, the torso includes a torso main body, an energy system, and a control system. The energy system and the control system are disposed on the torso main body. The energy system is used to supply energy to the two-wheeled foot robot. The control system includes an inertia unit and a central processor, and is used to control the postures of the fulcrum support module and the two leg modules according to the robot posture information to maintain balance.

[0025] Further, the thigh module includes a hip joint and a thigh rod. The hip joints are disposed on both sides of the torso main body, and the thigh rods are correspondingly connected to the hip joints.

[0026] Further, the fulcrum support module includes a support joint, a support rod, and a universal wheel. The support joint is disposed at the lower end of the torso and connected to the upper end of the support rod, and is used to control the lifting or lowering of the support rod. The universal wheel is installed at the lower end of the support rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 FIG. is a schematic side structure diagram of a robot wheel foot in a two-wheeled foot robot provided by an embodiment of the present invention;

[0028] Figure 2 is Figure 1 an isometric structure diagram of;

[0029] Figure 3 is Figure 1 a front structure diagram of. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. Embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0032] It will be appreciated that spatial relationship terms such as "under", "below", "lower", "beneath", "above", "upper", etc. may be used herein to describe the relationship of one element or feature shown in the figures to other elements or features. It should be understood that, in addition to the orientations shown in the figures, spatial relationship terms also include different orientations of the device during use and operation. For example, if the device in the attached figures is flipped, an element or feature described as "under other elements" or "beneath them" or "underneath them" will be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "beneath" can include both the upper and lower orientations. In addition, the device may also have other orientations (such as being rotated 90° or other orientations), and the spatial descriptors used herein are accordingly interpreted.

[0033] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediate element. In the following embodiments, "connection", if there is a transfer of electrical signals or data between the connected circuits, modules, units, etc., should be understood as "electrical connection", "communication connection", etc.

[0034] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprise / include" or "have" etc. specify the presence of the stated features, wholes, steps, operations, components, parts or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0035] Embodiment 1

[0036] As Figure 1 and Figure 2 shown, a robot wheel foot provided by the present invention includes a leg 10, a walking wheel 20 and a foot component 30.

[0037] The leg 10 serves as the support structure of the entire wheel foot, and a walking wheel 20 is rotatably provided at its lower end. The walking wheel 20 is preferably a driving wheel with a built-in driving motor and can independently drive the robot to move.

[0038] The foot component 30 is movably connected to the leg 10, and the foot component 30 can be switched between a working state and a non-working state. It should be noted that in the present invention, the working state and the non-working state are only used to illustrate whether the foot component 30 functions in this state, and have nothing to do with whether the whole robot is in a working or non-working state.

[0039] When the foot component 30 is in a non-operating state, the foot component 30 is fully retracted or lifted. For example, when retracted, it is close to the leg 10 and is approximately parallel to the leg 10. At this time, the foot component 30 does not contact the ground, and the foot component 30 does not function. Only the traveling wheels 20 contact the ground for movement. This state is applicable to relatively continuous and flat road surfaces.

[0040] Correspondingly, when the foot component 30 is not fully retracted or not fully lifted, it is in an operating state at this time. In the operating state, it can be divided into at least two operating modes. The first operating mode is that the foot component 30 intermittently leaves and contacts the ground according to the walking frequency of the robot. At this time, the traveling wheels 20 and the foot base 32 (the component where the foot component 30 contacts the ground) are like the heel and the sole of the foot, contacting the ground successively, and the two feet cooperate to form a bipedal walking mode (the traveling wheels can be set to a locked and non-rotating state at this time), which can adapt to uneven ground, even slopes and steps; the second operating mode is that when the robot is stationary, its foot base 32 is in full contact with the ground to provide stable support, so that the robot is not easily moved even when subjected to an external force, ensuring its stability.

[0041] Among them, the foot component 30 includes a connecting member 31, a foot base 32, and a driving mechanism 33. The connecting member 31 has a U-shaped structure. One end with an opening is the first end 311, which is rotatably connected to the leg 10; the other end is the second end 312, which is arranged on the circumferential outer side of the traveling wheel 20. The foot base 32 includes a seat body 321 and a movable shaft 322. One end of the movable shaft 322 is rotatably connected to the connecting member 31, and the seat body 321 is fixed to the other end of the movable shaft 322. The rotation axis of the foot base 32 is perpendicular to the rotation axis of the connecting member 31.

[0042] The driving mechanism 33 includes a first driving member, a first link 332, a second driving member 3, and a second link 334. The first driving member and the second driving member 3 are arranged on the leg 10 at intervals along the length direction of the leg 10. The first driving member is composed of a first driving motor 3311 and a first turntable 3312. The first turntable 3312 is drivingly connected to the first driving motor 3311. The upper end of the first link 332 is hinged to the edge of the first turntable 3312, and the lower end is hinged to one side of the seat body 321; the second driving member 3 is composed of a second driving motor 3331 and a second turntable 3332. The second turntable 3332 is drivingly connected to the second driving motor 3331. The upper end of the second link 334 is hinged to the edge of the second turntable 3332, and the lower end is hinged to the other side of the seat body 321. The first turntable 3312 and the second turntable 3332 are respectively located on both sides of the leg 10.

[0043] The first driving motor 3311 and the second driving motor 3331 respectively drive the first turntable 3312 and the second turntable 3332 to rotate. Through the lifting or lowering of the first connecting rod 332 and the second connecting rod 334, the footrest 32 is driven to achieve up-and-down folding and left-and-right swinging. This design enables the robot's wheel feet to flexibly adapt to different terrains, improving the robot's mobility and stability in complex environments.

[0044] Specifically, in order to realize the switching between the working state and the non-working state of the foot component, at this time, it is necessary to realize the left-and-right swinging of the footrest 32. The first driving motor 3311 and the second driving motor 3331 work synchronously to ensure that the lifting or lowering degrees of the first connecting rod 332 and the second connecting rod 334 are the same. Specifically, if the footrest 32 is to be completely retracted or lifted upward (i.e., switched to the non-working state), the two motors rotate in the same direction, driving the two connecting rods to be lifted simultaneously. The footrest 32 drives the connecting piece to flip and fold upward along the axis of the connecting piece 31, and the angle with the horizontal plane increases, which is suitable for rapid travel on flat roads; if the footrest 32 is to be swung downward and spread out (i.e., switched to the working state), the two motors rotate in the opposite direction, driving the two connecting rods to be lowered simultaneously. The footrest 32 drives the connecting piece to flip and lower along the axis of the connecting piece, and the angle with the horizontal plane decreases to contact the ground, improving the grip, which is suitable for moving on complex terrains.

[0045] When the footrest is in the working state, in order to adapt to different terrains, the footrest 32 can be offset left and right. Specifically, when it is necessary to realize the left-and-right swinging of the footrest 32, the first driving motor 3311 and the second driving motor 3331 work separately, so that the lifting or lowering degrees of the first connecting rod 332 and the second connecting rod 334 are inconsistent. For example, when swinging to the left, the first driving motor 3311 drives the first connecting rod 332 to be lifted, and the second driving motor 3331 drives the second connecting rod 334 to be lowered. The footrest 32 swings to the left around the movable shaft 322, which is suitable for terrains with a higher right side or a lower left side; for example, when swinging to the right, the first driving motor 3311 drives the first connecting rod 332 to be lowered, and the second driving motor 3331 drives the second connecting rod 334 to be lifted. The footrest 32 swings to the right around the movable shaft 322, which is suitable for terrains with a higher left side or a lower right side, so that at least two points of the footrest of a single leg contact the ground and are coplanar with the walking wheel 20 at three points, forming a stable support. By precisely controlling the rotation speeds and rotation directions of the two motors, precise adjustment of the footrest 32 can be achieved, enabling the robot's wheel feet to flexibly adapt to complex terrains and improving the mobility and stability.

[0046] When the robot wheel foot with the above structure is in the working state, the first link 332 and the second link 334 are lowered, so that the foot base 32 is put down, and thus it contacts the ground and bears the force, similar to the sole of a human when walking. Among them, the first link 332 and the second link 334 enable the two sides of the foot base 32 to bear the ground pressure. At this time, the walking wheel 20 and the foot base 32 form a three-point contact form to ensure the stability during walking.

[0047] It can be understood that the rotation driving mode of the foot base 32 and the connecting member 31 can also adopt directly installing or externally arranging a motor at the position of the movable shaft 322 to realize the controllable rotation of the foot base 32. Correspondingly, a corresponding rotation driving motor is also designed at the position where the connecting member 31 is connected to the leg 10 to realize the controllable rotation of the connecting member 31.

[0048] Among them, the driving mechanism 33 can also be directly designed as two corresponding linear motors or electric push cylinders, and the lifting or lowering of the foot base 32 is controlled by the telescopic movement of the linear motor or the electric push cylinder.

[0049] Through the coordinated work of the leg 10, the walking wheel 20 and the foot component 30, the robot wheel foot significantly improves the adaptability and movement efficiency of the robot under multi-terrain conditions. The combination of the leg 10 and the walking wheel 20 not only ensures the rapid progress of the robot on flat roads, but also provides the necessary support and buffering for complex terrains. The built-in design of the driving motor of the walking wheel 20 simplifies the transmission structure and improves the energy transfer efficiency, enabling the robot to move more flexibly on various roads. The introduction of the foot component 30 endows the robot with stronger terrain adaptability. The U-shaped structure of the connecting member 31 cleverly connects the foot base 32 and the walking wheel 20, enabling the foot base 32 to rotate flexibly in different directions. The up-and-down folding and left-and-right swinging functions of the foot base 32 enable the robot to easily cope with uneven or obstacle-ridden ground. In addition, the robot wheel foot also has good expandability and compatibility. The modular design of the leg 10, the walking wheel 20 and the foot component 30 enables different models of robots to be quickly assembled and replaced according to actual needs, expanding the application scope of the robot in complex environments.

[0050] Embodiment 2

[0051] Combined with Figure 3 As shown in the figure, this embodiment provides a two-wheel foot robot adopting the robot wheel foot 100 disclosed in the previous embodiment. It further includes a torso 40 and a fulcrum support module 50, wherein the fulcrum support module 50 is arranged at the lower end of the torso 40, and the robot wheel foot 100 is directly connected to the torso 40 or indirectly connected to the torso 40 through an intermediate member.

[0052] The direct connection method is relatively simple and will not be elaborated here. Instead, the method of indirect connection through the middleware will be mainly described. Specifically, the middleware consists of two thigh modules 60.

[0053] The two thigh modules 60 are respectively arranged on both sides of the torso 40. The upper end of the thigh module 60 is connected to the torso 40, and the lower end of the thigh module 60 is rotatably connected to the upper end of the leg 10.

[0054] Among them, the torso 40 serves as the main body structure of the robot, undertaking the functions of support and load-bearing. It includes a torso main body 41, an energy system, and a control system. The torso main body 41 is the core load-bearing structure of the robot, and the energy system and the control system are arranged thereon. The energy system supplies energy to the entire two-wheeled foot robot to ensure that the robot can operate continuously and stably. The control system includes an inertia unit and a central processor. The inertia unit is used to detect the current posture information of the robot, such as the tilt angle, acceleration, etc.; the central processor calculates and controls the postures of the fulcrum thigh module 50 and the two leg modules 60 in real time according to these posture information to maintain the overall balance of the robot and enable it to walk stably under various terrains and motion states.

[0055] The two thigh modules 60 are respectively arranged on both sides of the torso 40, providing the main moving and supporting functions for the robot. It includes a thigh rod 61 and a hip joint 62. Among them, the upper end of the thigh rod 61 is connected to both sides of the torso main body 41 through the hip joint 62, and the hip joint 62 enables the robot to flexibly adjust the orientation and gait of the legs.

[0056] The lower end of the thigh rod 61 is rotatably connected to the upper end of the leg 10. The walking wheel 20 at the lower end of the leg 10 is a driving wheel with a built-in driving motor, which can independently drive the robot to move. The footrest 32 of the foot component 30 can swing up and down and left and right, further enhancing the adaptability and stability of the robot in complex terrains.

[0057] The fulcrum support module 50 is arranged at the lower end of the torso 40, providing additional support and balance adjustment functions for the robot. It includes a support joint 51, a support rod 52, and a universal wheel 53. The support joint 51 is installed at the lower end of the torso and is connected to the upper end of the support rod 52, and can control the lifting or lowering of the support rod 52. When the robot needs to maintain balance on the ground, the support joint 51 can drive the support rod 52 to lower, so that the universal wheel 53 contacts the ground, providing a stable fulcrum for the robot.

[0058] The universal wheel 53 is installed at the lower end of the support rod 52 and has the ability to rotate 360°, enabling the robot to flexibly adjust the position and direction of the fulcrum during the movement process, further enhancing the mobility and adaptability of the robot.

[0059] According to the above design, the robot can achieve at least the following modes according to the lifting (non-working state) and lowering (working state) of the footrest and the retraction and lowering of the fulcrum support module 50;

[0060] 1. The footrest 32 is fully lifted (non-working state). If the fulcrum support module 50 is retracted at this time, only two driving wheels 20 are in contact with the ground and can rotate. The two feet cooperate to form a two-wheel movement mode. It can adapt to continuous roads without sudden changes, is extremely flexible, and is similar to the movement of commercially available two-wheel self-balancing scooters.

[0061] 2. The driving wheels 20 are locked and cannot rotate. The footrest 32 is lowered. The driving wheels 20 and the footrest 32 cooperate and contact the ground successively. Because there are two link driving heads and the rotation drive of the movable shaft 322 on the footrest 32 respectively, a three-point contact effect is formed after both the driving wheels 20 and the footrest 32 are in contact with the ground. The two feet cooperate to form a biped walking mode, which can adapt to uneven ground, even slopes and steps.

[0062] 3. The fulcrum support module 50 is lowered, the universal wheel 53 contacts the ground, the driving wheels 20 are closed and locked, and the two driving wheels 20 and the universal wheel 53 touch the ground at three points. At this time, the robot can rest in place, forming a rest mode, saving energy consumption; the footrest 32 can be selected to be lifted or lowered. If it is lowered, it can assist in braking, making the robot not easy to move even under external force and ensuring its stability.

[0063] 4. The fulcrum support module 50 is lowered, the universal wheel 53 contacts the ground, the footrest 32 is lifted, and the driving wheels 20 can rotate, forming a three-wheel movement mode, which is suitable for movement on paved roads; the control is simple, safe and reliable. At this time, the motors of the robot's legs can be powered off to rest, reducing energy consumption and increasing service life.

[0064] Through the coordinated work of the torso 40, the fulcrum support module 50 and the two leg modules 60, the two-wheel-foot robot significantly improves the adaptability and movement efficiency of the robot on various terrains. The design of the robot's wheel feet enables the leg module 60 to flexibly adjust the foot posture, easily cope with uneven or obstacle-ridden ground, and at the same time can maintain a fast pace on flat ground, realizing seamless switching between different terrains, expanding the application scenarios of the robot, and enhancing its practicality. The universal wheel 53 of the fulcrum support module 50 provides additional support when needed, forming a three-point support structure with the two leg modules, keeping the whole machine relatively stable during movement and reducing the risk of tipping over. In addition, the structure of this robot is relatively simple, the control algorithm is easy to implement, the inertia unit and the central processor can accurately detect the attitude information and quickly adjust the attitudes of each module, ensuring that the robot can operate stably in various environments, reducing the R & D and maintenance costs, and improving the market competitiveness of the robot.

[0065] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A working method for a two-wheeled foot robot, characterized in that, The two-wheeled foot robot includes a torso, a fulcrum support module, and two robot wheel feet. The fulcrum support module is arranged at the lower end of the torso. The robot wheel feet are directly connected to the torso or indirectly connected to the torso through an intermediate member; The fulcrum support module includes a support joint, a support rod, and a universal wheel. The support joint is arranged at the lower end of the torso and connected to the upper end of the support rod for controlling the lifting or lowering of the support rod. The universal wheel is installed at the lower end of the support rod; Each of the robot wheel feet includes a leg, a walking wheel, and a foot component. The walking wheel is rotatably arranged at the lower end of the leg. The foot component is movably connected to the leg, and the foot component can be switched between a working state and a non-working state; Its working method includes: When the foot component is in the non-working state, the foot component is completely retracted or lifted, and the following working modes can be realized: (1) The fulcrum support module retracts upwards. The two walking wheels are in contact with the ground and can rotate. The two feet cooperate to form a two-wheel movement mode; (2) The fulcrum support module lowers down. The two walking wheels are in contact with the ground and can rotate. The universal wheel contacts the ground to form a three-wheel movement mode; When the foot component is not completely retracted or not completely lifted, it is in the working state. In the working state, the following working modes can be realized: (1) The foot component intermittently leaves and contacts the ground according to the walking frequency of the robot. At this time, the walking wheel and the foot component are like the heel and the sole of the foot, and contact the ground successively. The two feet cooperate to form a bipedal walking mode; (2) The fulcrum support module lowers down. The universal wheel contacts the ground, the walking wheels are closed and locked. The two walking wheels and the universal wheel touch the ground at three points to realize the robot's rest in place. The foot component can be lowered to assist in braking.

2. The working method of the two-wheeled foot robot according to claim 1, wherein The foot component includes a connecting member, a foot seat, and a driving mechanism. The connecting member is movably connected to the leg. The foot seat is movably connected to the connecting member. The driving mechanism is connected to the foot seat to switch between the working state and the non-working state.

3. The working method of the two-wheeled foot robot according to claim 2, characterized in that The connecting member includes a first end and a second end. The first end is rotatably connected to the leg. The second end is arranged on the circumferential outer side of the walking wheel. The foot seat is rotatably connected to the second end. The rotation axis of the foot seat is perpendicular to the rotation axis of the connecting member. The driving mechanism is arranged on the leg and connected to the foot seat for driving the foot seat to fold up and down and / or swing left and right.

4. The working method of the two-wheeled foot robot according to claim 3, characterized in that The connecting member is of a U-shaped structure and the open end thereof is the first end. The walking wheel is arranged inside the opening. The foot seat is connected to the end of the U-shaped structure away from the opening.

5. The working method of the two-wheeled foot robot according to claim 3, characterized in that, The foot seat includes a seat body and a movable shaft. One end of the movable shaft is rotatably connected to the connecting member, and the seat body is fixed to the other end of the movable shaft.

6. The working method of the two-wheeled foot robot according to claim 3, characterized in that, The driving mechanism is a linear motor.

7. The working method of the two-wheeled foot robot according to claim 5, characterized in that, The driving mechanism includes a rotating motor, a turntable, and a connecting rod. The rotating motor is arranged on the leg. The turntable is drivingly connected to the rotating motor. The two ends of the connecting rod are respectively movably connected to the edge of the turntable and the seat body.

8. The working method of the two-wheeled foot robot according to claim 3, characterized in that, The walking wheel is a driving wheel with a built-in driving motor.

9. The working method of the two-wheeled foot robot according to claim 1, characterized in that, The intermediate member is two thigh modules; The two thigh modules are respectively arranged on both sides of the torso, the upper end of the thigh module is connected to the torso, and the lower end of the thigh module is rotatably connected to the upper end of the leg.

10. The working method of the two-wheeled foot robot according to claim 9, characterized in that, The torso includes a torso main body, an energy system and a control system. The energy system and the control system are arranged on the torso main body. The energy system is used for supplying energy to the two-wheeled foot robot. The control system includes an inertia unit and a central processor, and is used for controlling the postures of the fulcrum support module and the two leg modules according to the robot posture information to maintain balance.

11. The working method of the two-wheeled foot robot according to claim 10, characterized in that, The thigh module includes a hip joint and a thigh rod. The hip joints are arranged on both sides of the torso main body, and the thigh rods are correspondingly connected to the hip joints.

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