Battery counterweight wheel-foot robot

Abstract

The invention belongs to the technical field of wheel-foot robots, particularly relates to a battery counterweight wheel-foot robot, and provides the following scheme aiming at solving the problems that when a wheel-foot robot conducts steering operation, due to the fact that outward centrifugal force can be generated during steering, the gravity center of the wheel-foot robot shifts, and then the robot easily topples over or collides with objects on the two sides. Comprising a robot body, thigh supports are arranged on the outer walls of the two sides of the robot body, shank supports are arranged at one ends of the two thigh supports, hubs are arranged on the two shank supports, and movable sleeve wheels are arranged on the outer walls of the two hubs. The battery counterweight wheel-foot robot disclosed by the invention has the effect of improving the use stability, and during use, the device can perform lateral counterweight compensation on the wheel-foot robot when the wheel-foot robot performs steering operation, so that the situation that the gravity center of the wheel-foot robot shifts excessively during steering is avoided, and the use effect of the device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wheel-legged robots, and in particular to a battery counterweight wheel-legged robot. Background Art

[0002] A wheel-legged robot is a mobile robot that combines wheeled and legged locomotion capabilities. It usually has wheels for fast movement and also equipped with foot structures to walk on uneven or complex terrains. This design enables the wheel-legged robot to flexibly respond in various environments and has strong adaptability.

[0003] The main features include locomotion flexibility, capable of moving under various ground conditions; high efficiency, using wheels in suitable environments can achieve efficient straight-line movement and save energy; climbing ability, the foot structure can help the robot overcome obstacles and slopes; wide applications, can be used in multiple fields such as search and rescue and logistics transportation.

[0004] Existing wheel-legged robots use batteries for counterweight balance during operation. However, when performing counterweight balance, only the front and rear ends can be counterweighted. When the wheel-legged robot performs a turning operation, due to the turning generating an outward centrifugal force, the center of gravity of the wheel-legged robot will shift, which is likely to cause the robot to tip over or collide with objects on both sides. Summary of the Invention

[0005] The present invention discloses a battery counterweight wheel-legged robot, aiming to solve the technical problem that during counterweight balance in the background art, only the front and rear ends can be counterweighted. When the wheel-legged robot performs a turning operation, due to the turning generating an outward centrifugal force, the center of gravity of the wheel-legged robot will shift, which is likely to cause the robot to tip over or collide with objects on both sides.

[0006] A battery counterweight wheel-legged robot proposed by the present invention includes a robot main body. Outer walls on both sides of the robot main body are provided with thigh brackets, and one ends of the two thigh brackets are both provided with calf brackets. Wheels are provided on the two calf brackets, and movable sleeve wheels are provided on outer walls of the two wheels. A centrifugal counterweight module is provided on the robot main body and the two calf brackets, and a counterweight battery is provided on the robot main body. A working arm one is provided on the robot main body, a working arm two is provided at one end of the working arm one, an operation base is provided at one end of the working arm two, and a counterweight compensation module is provided on the robot main body, the counterweight battery and the operation base; The centrifugal counterweight module includes two counterweight blocks, and the two counterweight blocks are both provided above the robot main body. The centrifugal counterweight module is used for lateral counterweight when the wheel-legged robot turns, so as to prevent its center of gravity from shifting excessively during turning, and further prevent tipping over or colliding with objects on both sides due to turning; The counterweight compensation module includes a counterweight bin and two telescopic compensation bins. The counterweight bin is arranged below the counterweight battery, and both telescopic compensation bins are located outside the operation base. The counterweight compensation module is used to increase the counterweight mass of the counterweight battery to increase the counterweight stable load of the wheel-legged robot.

[0007] In a preferred solution, the centrifugal counterweight module further includes a mounting bracket. The mounting bracket is fixedly connected to the top of the robot body. The same mounting rod is movably connected to the inner walls on both sides of the mounting bracket. Both counterweight blocks are fixedly connected to the outer wall of the mounting rod. And a driving motor is fixedly connected to the outer wall of one side of the mounting bracket. The output shaft of the driving motor is connected to one end of the mounting rod through a coupling.

[0008] In a preferred solution, a control device is fixedly connected to the outer wall of one side of the mounting bracket. A control wiring is fixedly connected to the outer wall of one side of the control device. One end of the control wiring is arranged on the driving motor. And connection brackets are arranged on the opposite outer walls of both calf brackets. Mounting openings are formed in the outer walls of both connection brackets. Centrifugal bins are fixedly connected to the inner walls of both mounting openings. Two guiding rods are fixedly connected to the inside of both centrifugal bins.

[0009] In a preferred solution, the same eccentric part is movably connected to the outer walls of the two guiding rods inside the same centrifugal bin. Contact rings are arranged on the outer walls of both eccentric parts. Telescopic springs are fixedly connected to the inner walls of one side of both centrifugal bins. One ends of both telescopic springs are fixedly connected to the outer walls of one side of both eccentric parts. And fixing openings are formed in the outer walls of one side of both centrifugal bins. A plurality of mounting holes are formed in the outer walls of both centrifugal bins.

[0010] In a preferred solution, receiving devices are fixedly connected to the inner walls of both fixing openings. A plurality of conveying lines are fixedly connected to the tops of both receiving devices. One ends of the plurality of conveying lines are fixedly connected to triggering devices. And the triggering devices are respectively fixedly connected to the inner walls of the plurality of mounting holes. One ends of the plurality of triggering devices are respectively located inside the two centrifugal bins.

[0011] In a preferred solution, connection lines are fixedly connected to the outer walls of one side of both receiving devices. One ends of the two connection lines are respectively fixedly connected to the outer walls of both sides of the control device. And two mounting parts are fixedly connected to the bottom of the robot body. Damping spring rods are arranged on both mounting parts. One ends of both damping spring rods are fixedly connected to the outer walls of both centrifugal bins.

[0012] In a preferred embodiment, the counterweight compensation module further includes a fixed frame fixedly connected to the bottom of the robot body. Inside the fixed frame, there are three counterweight water tanks. One outer wall of the three counterweight water tanks is connected to the same communication tank through a pipeline. Two connecting pipe fittings are fixedly connected to the outer wall of the communication tank. One end of each of the two connecting pipe fittings is fixedly connected to a delivery pump and a reflux pump respectively, and both the delivery pump and the reflux pump are fixedly connected to the bottom of the fixed frame.

[0013] In a preferred embodiment, side frames are fixedly connected to both outer walls of the counterweight battery. The counterweight bin is fixedly connected to the inner walls of the two opposite sides of the side frames. Inside the counterweight bin, there are two telescopic spring rods. One end of the two telescopic spring rods is fixedly connected to the same movable plate member. The outer wall of the movable plate member is in contact with the inner wall of the counterweight bin. The output end of the delivery pump is fixedly connected to a delivery pipe and a compensation through pipe. The input end of the reflux pump is fixedly connected to a first reflux pipe and a second reflux pipe. Control valves are arranged on the outer walls of the first reflux pipe, the second reflux pipe, the delivery pipe, and the compensation through pipe.

[0014] In a preferred embodiment, one end of the second reflux pipe and the compensation through pipe are both communicated with the inside of the counterweight bin. One end of the delivery pipe and the first reflux pipe are fixedly connected to the same through pipe fitting. The two ends of the through pipe fitting are respectively communicated with the inside of the two telescopic compensation bins. A fixed ring frame is fixedly connected to the outer wall of the operation base. Four circular holes are opened at the top of the fixed ring frame.

[0015] In a preferred embodiment, fixed rods are movably connected to the inner walls of the four circular holes. The bottom ends of the four fixed rods are fixedly connected to the same mounting plate member. The two telescopic compensation bins are both fixedly connected to the top of the mounting plate member. Return springs are arranged on the outer walls of the four fixed rods. The top ends of the four return springs are fixedly connected to the outer walls of the four fixed rods respectively. The bottom ends of the four return springs are fixedly connected to the top of the fixed ring frame.

[0016] As can be seen from the above, a battery counterweight wheel-foot robot provided by the present invention has the function of improving the use stability. When in use, the device can perform lateral counterweight compensation on the wheel-foot robot during the turning operation, so as to avoid excessive center-of-gravity deviation of the wheel-foot robot during turning and improve the use effect of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of a battery counterweight wheel-foot robot proposed by the present invention; Figure 2 is a schematic side view structure diagram of the overall battery counterweight wheel-foot robot proposed by the present invention; Figure 3 is a schematic diagram of the centrifugal counterweight module structure of a battery counterweight wheel-foot robot proposed by the present invention; Figure 4 Schematic diagram of the combined structure of the damping spring rod and the connecting bracket of a battery counterweight wheel-foot robot proposed by the present invention; Figure 5 Schematic cross-sectional view of the centrifugal chamber of a battery counterweight wheel-foot robot proposed by the present invention; Figure 6 Schematic diagram of the combined structure of the control device and the drive motor of a battery counterweight wheel-foot robot proposed by the present invention; Figure 7 Schematic diagram of the counterweight compensation module structure of a battery counterweight wheel-foot robot proposed by the present invention; Figure 8 Schematic diagram of the combined structure of the communication chamber and the counterweight water chamber of a battery counterweight wheel-foot robot proposed by the present invention; Figure 9 Schematic diagram of the combined structure of the movable plate member and the telescopic spring rod of a battery counterweight wheel-foot robot proposed by the present invention; Figure 10 Schematic diagram of the combined structure of the mounting rod member and the telescopic compensation chamber of a battery counterweight wheel-foot robot proposed by the present invention.

[0018] In the figure: 1. Robot main body; 2. Movable sleeve wheel; 3. Wheel hub; 4. Counterweight battery; 5. Centrifugal counterweight module; 501. Counterweight block; 502. Damping spring rod; 503. Connecting bracket; 504. Centrifugal chamber; 505. Mounting member; 506. Guide rod member; 507. Receiving device; 508. Connecting line; 509. Trigger device; 510. Delivery line; 511. Telescopic spring; 512. Eccentric member; 513. Contact ring; 514. Drive motor; 515. Control wiring; 516. Control device; 517. Mounting rod member; 518. Mounting bracket; 6. Thigh bracket; 7. Calf bracket; 8. Working arm 1; 9. Working arm 2; 10. Counterweight compensation module; 1001. Side frame; 1002. Counterweight chamber; 1003. Fixed frame; 1004. Delivery pipe; 1005. Return pipe 1; 1006. Return pipe 2; 1007. Compensation through pipe; 1008. Control valve; 1009. Delivery pump; 1010. Return pump; 1011. Connecting pipe fitting; 1012. Communication chamber; 1013. Counterweight water chamber; 1014. Movable plate member; 1015. Telescopic spring rod; 1016. Through pipe fitting; 1017. Mounting plate member; 1018. Telescopic compensation chamber; 1019. Return spring; 1020. Fixed rod member; 1021. Fixed ring frame; 11. Operation base. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0020] A battery counterweight wheel-foot robot disclosed by the present invention is mainly applied when a wheel-foot robot performs a turning operation. Since an outward centrifugal force will be generated during turning, the center of gravity of the wheel-foot robot will shift, which may easily cause the robot to tip over or collide with objects on both sides.

[0021] Refer to Figures 1 - 10 , a battery counterweight wheel-foot robot, comprising a robot main body 1. Outer walls on both sides of the robot main body 1 are both provided with thigh brackets 6, and one ends of the two thigh brackets 6 are both provided with calf brackets 7. Wheels 3 are arranged on the two calf brackets 7, and movable sleeve wheels 2 are arranged on outer walls of the two wheels 3. A centrifugal counterweight module 5 is arranged on the robot main body 1 and the two calf brackets 7, and a counterweight battery 4 is arranged on the robot main body 1. A working arm I 8 is arranged on the robot main body 1, a working arm II 9 is arranged at one end of the working arm I 8, an operation base 11 is arranged at one end of the working arm II 9, and a counterweight compensation module 10 is arranged on the robot main body 1, the counterweight battery 4 and the operation base 11; The centrifugal counterweight module 5 comprises two counterweight blocks 501, and the two counterweight blocks 501 are both arranged above the robot main body 1. The centrifugal counterweight module 5 is used for performing lateral counterweight when the wheel-foot robot turns, so as to prevent its center of gravity from shifting excessively during turning, thereby avoiding tipping over or colliding with objects on both sides due to turning; The counterweight compensation module 10 comprises a counterweight bin 1002 and two telescopic compensation bins 1018. The counterweight bin 1002 is arranged below the counterweight battery 4, and the two telescopic compensation bins 1018 are both located outside the operation base 11. The counterweight compensation module 10 is used for increasing the counterweight mass of the counterweight battery 4, so as to increase the counterweight stable load of the wheel-foot robot.

[0022] Specifically, the thigh bracket 6 and the calf bracket 7 can cooperate to perform a foot-type movement during use, and the wheel 3 and the movable sleeve wheel 2 are used for performing a wheel-type movement during use; the counterweight battery 4 is used for the basic balance counterweight of the wheel-foot robot; the counterweight compensation module 10 can increase the counterweight mass of the counterweight battery 4 during use, thereby increasing the load mass at the operation base 11, and further increasing the counterweight stable load of the wheel-foot robot to meet the counterweight requirement of the wheel-foot robot; the centrifugal counterweight module 5 can perform lateral counterweight compensation on the wheel-foot robot during a turning operation, so that the center of gravity of the wheel-foot robot remains within a stable range during turning, thereby preventing the center of gravity of the wheel-foot robot from shifting excessively during turning and meeting the turning stability and balance requirements of the wheel-foot robot.

[0023] Refer to Figure 1 and Figures 3 - 6, in a preferred embodiment, the centrifugal counterweight module 5 further includes a mounting bracket 518. The mounting bracket 518 is fixedly connected to the top of the robot body 1. The same mounting rod 517 is movably connected to the inner walls on both sides of the mounting bracket 518. Both counterweight blocks 501 are fixedly connected to the outer wall of the mounting rod 517. And a driving motor 514 is fixedly connected to the outer wall of one side of the mounting bracket 518. The output shaft of the driving motor 514 is connected to one end of the mounting rod 517 through a coupling; a control device 516 is fixedly connected to the outer wall of one side of the mounting bracket 518. A control wiring 515 is fixedly connected to the outer wall of one side of the control device 516. One end of the control wiring 515 is arranged on the driving motor 514. And connection brackets 503 are arranged on the opposite outer walls of the two calf brackets 7. Mounting openings are formed in the outer walls of one side of the two connection brackets 503. Centrifugal bins 504 are fixedly connected to the inner walls of the two mounting openings. Two guiding rods 506 are fixedly connected to the inside of each of the two centrifugal bins 504; The same eccentric member 512 is movably connected to the outer walls of the two guiding rods 506 inside the same centrifugal bin 504. Contact rings 513 are arranged on the outer walls of the two eccentric members 512. Telescopic springs 511 are fixedly connected to the inner walls of one side of the two centrifugal bins 504. One ends of the two telescopic springs 511 are respectively fixedly connected to the outer walls of one side of the two eccentric members 512. And fixing openings are formed in the outer walls of one side of the two centrifugal bins 504. A plurality of mounting holes are formed in the outer walls of the two centrifugal bins 504; Receiving devices 507 are fixedly connected to the inner walls of the two fixing openings. A plurality of conveying lines 510 are fixedly connected to the tops of the two receiving devices 507. One ends of the plurality of conveying lines 510 are fixedly connected to triggering devices 509. And the plurality of triggering devices 509 are respectively fixedly connected to the inner walls of the plurality of mounting holes. One ends of the plurality of triggering devices 509 are respectively located inside the two centrifugal bins 504; Connection lines 508 are fixedly connected to the outer walls of one side of the two receiving devices 507. One ends of the two connection lines 508 are respectively fixedly connected to the outer walls of both sides of the control device 516. And two mounting members 505 are fixedly connected to the bottom of the robot body 1. Damping spring rods 502 are arranged on the two mounting members 505. One ends of the two damping spring rods 502 are respectively fixedly connected to the outer walls of the two centrifugal bins 504.

[0024] Specifically, when turning, the eccentric member 512 inside the centrifugal bin 504 on one side will be subjected to an outward centrifugal force and move on the guiding rod 506, causing the telescopic spring 511 to compress. As the eccentric member 512 moves, it will drive the contact ring 513 to move and contact the triggering device 509 (the magnitude of the centrifugal force can be judged according to the number of contacts). At this time, the triggering device 509 transmits the signal to the inside of the receiving device 507 through the transmission line 510, and the receiving device 507 conveys the signal to the inside of the control device 516, and further controls the operation of the driving motor 514 through the control wiring 515, so that the driving motor 514 drives the mounting rod 517 and the counterweight 501 to rotate and rotate to the opposite side of the operating eccentric member 512 to complete the lateral counterweight compensation; In a specific application scenario, the centrifugal counterweight module 5 is applicable to the turning link of the wheel-legged robot, that is, the centrifugal counterweight module 5 can perform lateral counterweight compensation on the wheel-legged robot during the turning operation, so that the center of gravity of the wheel-legged robot moves inward during turning, thereby offsetting the outward centrifugal force generated during turning, so that the center of gravity of the wheel-legged robot remains within a stable range during turning, thus avoiding excessive offset of the center of gravity of the wheel-legged robot during turning, improving the stability and balance of the wheel-legged robot during turning, and further avoiding the situation of the wheel-legged robot tipping over or colliding with objects on both sides, and further avoiding its damage and improving the use effect of the device.

[0025] Refer to Figure 2 and Figures 7 - 10, in a preferred embodiment, the counterweight compensation module 10 further includes a fixed frame 1003, the fixed frame 1003 is fixedly connected to the bottom of the robot body 1, and three counterweight water tanks 1013 are arranged inside the fixed frame 1003. One outer wall of the three counterweight water tanks 1013 is connected to the same communication chamber 1012 through a pipeline. Two connecting pipe fittings 1011 are fixedly connected to the outer wall of the communication chamber 1012. One end of each of the two connecting pipe fittings 1011 is fixedly connected to a delivery pump 1009 and a reflux pump 1010 respectively, and both the delivery pump 1009 and the reflux pump 1010 are fixedly connected to the bottom of the fixed frame 1003; Side frames 1001 are fixedly connected to both outer walls of the counterweight battery 4, the counterweight bin 1002 is fixedly connected to the inner walls of the opposite sides of the two side frames 1001, two telescopic spring rods 1015 are arranged inside the counterweight bin 1002, and one end of each of the two telescopic spring rods 1015 is fixedly connected to the same movable plate member 1014. The outer wall of the movable plate member 1014 is in contact with the inner wall of the counterweight bin 1002, and the output end of the delivery pump 1009 is fixedly connected to a delivery pipe 1004 and a compensation through pipe 1007. The input end of the reflux pump 1010 is fixedly connected to a first reflux pipe 1005 and a second reflux pipe 1006. Control valves 1008 are arranged on the outer walls of the first reflux pipe 1005, the second reflux pipe 1006, the delivery pipe 1004 and the compensation through pipe 1007; One ends of the second reflux pipe 1006 and the compensation through pipe 1007 are both communicated with the inside of the counterweight bin 1002. One end of the delivery pipe 1004 and the first reflux pipe 1005 are fixedly connected to the same through pipe fitting 1016. The two ends of the through pipe fitting 1016 are respectively communicated with the inside of the two telescopic compensation bins 1018, and a fixed ring frame 1021 is fixedly connected to the outer wall of the working base 11. Four round holes are formed in the top of the fixed ring frame 1021; The inner walls of the four round holes are all movably connected with fixed rods 1020. The bottom ends of the four fixed rods 1020 are fixedly connected to the same mounting plate member 1017. The two telescopic compensation bins 1018 are both fixedly connected to the top of the mounting plate member 1017, and reset springs 1019 are arranged on the outer walls of the four fixed rods 1020. The top ends of the four reset springs 1019 are respectively fixedly connected to the outer walls of the four fixed rods 1020, and the bottom ends of the four reset springs 1019 are all fixedly connected to the top of the fixed ring frame 1021.

[0026] Specifically, when counterweighting, start the delivery pump 1009 and open the control valve 1008 on the compensation through pipe 1007. At this time, the delivery pump 1009 can transport the water inside the communication chamber 1012 to the inside of the compensation through pipe 1007 through the connecting pipe fitting 1011 and further transport it to the inside of the counterweight bin 1002. As the water flow increases, the telescopic spring rods 1015 inside the counterweight bin 1002 are compressed, and the movable plate member 1014 is moved to increase the counterweight mass. When replacing the working device, start the delivery pump 1009 and open the control valve 1008 on the delivery pipe 1004, so that the delivery pump 1009 delivers water through the delivery pipe 1004 into the inside of the through fitting 1016, and further into the inside of the telescopic compensation bin 1018, causing it to expand. At this time, the return spring 1019 is compressed, and as the working device is disassembled and replaced, the counterweight mass at the working end is gradually increased until the replacement of the working device is completed; After the operation, the return pump 1010 operates and, in cooperation with the second return pipe 1006 and the first return pipe 1005, can respectively deliver the water inside the counterweight bin 1002 and the telescopic compensation bin 1018 back into the counterweight water bin 1013 for subsequent counterweight compensation operations; In a specific application scenario, the counterweight compensation module 10 is applicable to the counterweight load adjustment link, that is, when the counterweight compensation module 10 is in use, it can increase the counterweight mass of the counterweight battery 4, thereby increasing the load mass at the operation base 11, and further increasing the counterweight stable load of the wheel-legged robot, enabling the wheel-legged robot to perform operation tasks on higher-quality objects, improving the use effect of the device. Moreover, the operation base 11 can replace the working device according to operation requirements during use. During this process, the device can compensate for the mass at the working end through the telescopic compensation bin 1018 to prevent the wheel-legged robot from becoming unstable when replacing the working device.

[0027] Working principle: When steering, the eccentric member 512 inside the centrifugal bin 504 on one side will be subjected to an outward centrifugal force and move on the guiding rod member 506, causing the telescopic spring 511 to be compressed. As the eccentric member 512 moves, it will drive the contact ring 513 to move and contact the triggering device 509. At this time, the triggering device 509 transmits a signal through the transmission line 510 into the receiving device 507, and through the receiving device 507, the signal is transmitted into the controller device 516, and further controls the driving motor 514 to operate through the control wiring 515, so that the driving motor 514 drives the installation rod member 517 and the counterweight block 501 to rotate and rotate to the opposite side of the operating eccentric member 512 to complete lateral counterweight compensation; When counterweighting, start the delivery pump 1009 and open the control valve 1008 on the compensation through pipe 1007. At this time, the delivery pump 1009 can deliver the water inside the communication bin 1012 into the compensation through pipe 1007 through the connecting fitting 1011, and further into the counterweight bin 1002. As the water flow increases, the telescopic spring rod 1015 inside the counterweight bin 1002 is compressed, causing the movable plate member 1014 to move to increase the counterweight mass; When replacing the working device, start the transfer pump 1009 and open the control valve 1008 on the transfer pipe 1004, so that the transfer pump 1009 conveys water through the transfer pipe 1004 into the inside of the through fitting 1016, and further conveys it into the inside of the expansion compensation bin 1018 and causes it to expand. At this time, the return spring 1019 is compressed, and as the working device is disassembled and replaced, the counterweight mass at the working end is gradually increased until the replacement of the working device is completed.

[0028] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A battery counterweight wheel-foot robot, comprising a robot main body (1), characterized in that, On both outer walls of the robot main body (1), thigh brackets (6) are provided, and at one end of each of the two thigh brackets (6), calf brackets (7) are provided. On each of the two calf brackets (7), a wheel hub (3) is provided, and on the outer walls of the two wheel hubs (3), movable sleeve wheels (2) are provided. An eccentric counterweight module (5) is provided on the robot main body (1) and the two calf brackets (7), and a counterweight battery (4) is provided on the robot main body (1). A working arm one (8) is provided on the robot main body (1), a working arm two (9) is provided at one end of the working arm one (8), a working base (11) is provided at one end of the working arm two (9), and a counterweight compensation module (10) is provided on the robot main body (1), the counterweight battery (4) and the working base (11). The eccentric counterweight module (5) includes two counterweight blocks (501), and both of the two counterweight blocks (501) are provided above the robot main body (1). The eccentric counterweight module (5) is used for lateral counterweight when the wheeled-foot robot turns, so as to avoid excessive offset of its center of gravity during turning, and further avoid tipping over due to turning or colliding with objects on both sides. The counterweight compensation module (10) includes a counterweight bin (1002) and two telescopic compensation bins (1018). The counterweight bin (1002) is provided below the counterweight battery (4), and both of the two telescopic compensation bins (1018) are located outside the working base (11). The counterweight compensation module (10) is used to increase the counterweight mass of the counterweight battery (4), so as to increase the counterweight stable load of the wheeled-foot robot.

2. The battery counterweight wheel-foot robot according to claim 1, wherein The eccentric counterweight module (5) further includes a mounting bracket (518). The mounting bracket (518) is fixedly connected to the top of the robot main body (1). The inner walls of both sides of the mounting bracket (518) are movably connected to the same mounting rod (517). Both of the two counterweight blocks (501) are fixedly connected to the outer wall of the mounting rod (517). And a driving motor (514) is fixedly connected to the outer wall of one side of the mounting bracket (518). The output shaft of the driving motor (514) is connected to one end of the mounting rod (517) through a coupling.

3. The battery counterweight wheel-foot robot according to claim 2, wherein, A control device (516) is fixedly connected to the outer wall of one side of the mounting bracket (518). A control wire (515) is fixedly connected to the outer wall of one side of the control device (516). One end of the control wire (515) is arranged on the driving motor (514). And on the opposite outer walls of the two calf brackets (7), connecting brackets (503) are provided. On the outer walls of both sides of the two connecting brackets (503), mounting openings are provided. Centrifugal bins (504) are fixedly connected to the inner walls of the two mounting openings. Two guiding rods (506) are fixedly connected to the inside of each of the two centrifugal bins (504).

4. The battery counterweight wheel-foot robot according to claim 3, wherein The outer walls of two guiding rods (506) inside the same centrifugal bin (504) are both movably connected to the same eccentric member (512). Contact rings (513) are arranged on the outer walls of the two eccentric members (512). One end of a telescopic spring (511) is fixedly connected to the inner wall of one side of each of the two centrifugal bins (504), and the other ends of the two telescopic springs (511) are respectively fixedly connected to the outer walls of one side of the two eccentric members (512). Fixing openings are formed in the outer walls of one side of the two centrifugal bins (504), and a plurality of mounting holes are formed in the outer walls of the two centrifugal bins (504).

5. The battery counterweight wheel-foot robot according to claim 4, characterized in that, Receiving devices (507) are fixedly connected to the inner walls of the two fixing openings. A plurality of conveying lines (510) are fixedly connected to the tops of the two receiving devices (507). Trigger devices (509) are fixedly connected to one ends of the plurality of conveying lines (510), and the plurality of trigger devices (509) are respectively fixedly connected to the inner walls of the plurality of mounting holes. One ends of the plurality of trigger devices (509) are respectively located inside the two centrifugal bins (504).

6. The battery counterweight wheel-foot robot according to claim 5, wherein, Connecting lines (508) are fixedly connected to the outer walls of one side of the two receiving devices (507). One ends of the two connecting lines (508) are respectively fixedly connected to the outer walls of both sides of a control device (516). Two mounting members (505) are fixedly connected to the bottom of the robot main body (1). Damping spring rods (502) are arranged on the two mounting members (505), and one ends of the two damping spring rods (502) are respectively fixedly connected to the outer walls of the two centrifugal bins (504).

7. A battery counterweight wheel-foot robot according to claim 1, characterized in that, The weight compensation module (10) further includes a fixed frame (1003). The fixed frame (1003) is fixedly connected to the bottom of the robot main body (1). Three weight water bins (1013) are arranged inside the fixed frame (1003). The outer walls of one side of the three weight water bins (1013) are connected to the same communication bin (1012) through pipelines. Two connecting pipe fittings (1011) are fixedly connected to the outer wall of the communication bin (1012). A delivery pump (1009) and a reflux pump (1010) are respectively fixedly connected to one ends of the two connecting pipe fittings (1011), and the delivery pump (1009) and the reflux pump (1010) are both fixedly connected to the bottom of the fixed frame (1003).

8. A battery counterweight wheel-foot robot according to claim 7, characterized in that, Both outer walls of the counterweight battery (4) are fixedly connected with side frames (1001). The counterweight bin (1002) is fixedly connected to the inner walls of the opposite sides of the two side frames (1001). Two telescopic spring rods (1015) are arranged inside the counterweight bin (1002). One ends of the two telescopic spring rods (1015) are fixedly connected to the same movable plate member (1014). The outer wall of the movable plate member (1014) is in contact with the inner wall of the counterweight bin (1002). And the output end of the delivery pump (1009) is fixedly connected with a delivery pipe (1004) and a compensation through pipe (1007). The input end of the reflux pump (1010) is fixedly connected with a first reflux pipe (1005) and a second reflux pipe (1006). Control valves (1008) are arranged on the outer walls of the first reflux pipe (1005), the second reflux pipe (1006), the delivery pipe (1004) and the compensation through pipe (1007).

9. The battery counterweight wheel-foot robot according to claim 8, wherein, One ends of the second reflux pipe (1006) and the compensation through pipe (1007) are both communicated with the inside of the counterweight bin (1002). One ends of the delivery pipe (1004) and the first reflux pipe (1005) are fixedly connected to the same pipe fitting (1016). Two ends of the pipe fitting (1016) are respectively communicated with the inside of the two telescopic compensation bins (1018). And a fixed ring frame (1021) is fixedly connected to the outer wall of the operation base (11). Four round holes are formed in the top of the fixed ring frame (1021).

10. A battery counterweight wheel-foot robot according to claim 9, characterized in that, Fixed rods (1020) are movably connected to the inner walls of the four round holes. The bottom ends of the four fixed rods (1020) are fixedly connected to the same mounting plate member (1017). The two telescopic compensation bins (1018) are both fixedly connected to the top of the mounting plate member (1017). And return springs (1019) are arranged on the outer walls of the four fixed rods (1020). The top ends of the four return springs (1019) are respectively fixedly connected to the outer walls of the four fixed rods (1020). The bottom ends of the four return springs (1019) are all fixedly connected to the top of the fixed ring frame (1021).

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