A battery-powered wheel-foot robot

Abstract

The application belongs to the technical field of wheel-legged robots, and particularly relates to a battery counterweight wheel-legged robot. When the wheel-legged robot is turned, outward centrifugal force is generated, which causes the center of gravity of the wheel-legged robot to deviate, and thus the robot is prone to falling or colliding with objects on both sides. The following scheme is proposed, which comprises a robot main body, the two side outer walls of the robot main body are provided with thigh supports, one end of each of the two thigh supports is provided with a calf support, each of the two calf supports is provided with a hub, and the outer wall of each of the two hubs is provided with a movable sleeve wheel. The battery counterweight wheel-legged robot disclosed by the application has the effect of improving use stability. When the device is used, lateral counterweight compensation can be performed on the wheel-legged robot during turning operation, so that the deviation of the center of gravity of the wheel-legged robot during turning 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-balanced wheel-legged robot. Background Art

[0002] A wheeled-legged robot is a mobile robot that combines the locomotion capabilities of wheels and legs. It typically has wheels for rapid movement and feet for walking on uneven or complex terrain. This design allows wheeled-legged robots to flexibly adapt to a variety of environments.

[0003] The main features include flexibility of movement, which allows it to move under various ground conditions; high efficiency, as the use of wheels in suitable environments can achieve efficient linear movement and save energy; climbing ability, as the foot structure can help the robot overcome obstacles and slopes; and a wide range of applications, including search and rescue, logistics and transportation, and many other fields.

[0004] Existing wheeled robots use batteries for counterweight balancing during operation. However, counterweight balancing can only be performed on the front and rear ends. When the wheeled robot turns, the outward centrifugal force generated by turning will cause the center of gravity of the wheeled robot to shift, which can easily cause the robot to tip over or collide with objects on both sides. Summary of the Invention

[0005] The present invention discloses a battery-balanced wheeled robot, which aims to solve the technical problem in the background technology that only the counterweight operation can be performed on the front and rear ends during counterweight balancing. When the wheeled robot performs a steering operation, the steering will generate an outward centrifugal force, which will cause the center of gravity of the wheeled robot to shift, and thus easily cause the robot to tip over or collide with objects on both sides.

[0006] The present invention proposes a battery-weighted wheel-foot robot, comprising a robot body, thigh supports being provided on both sides of the outer walls of the robot body, and a calf support being provided at one end of each of the two thigh supports, wheel hubs being provided on each of the two calf supports, and movable sheaves being provided on the outer walls of each of the two wheel hubs, centrifugal counterweight modules being provided on the robot body and the two calf supports, and a counterweight battery being provided on the robot body, a working arm 1 being provided on the robot body, a working arm 2 being provided at one end of the working arm 1, and an operating base being provided at one end of the working arm 2, and a counterweight compensation module being provided on the robot body, the counterweight battery, and the operating base;

[0007] The centrifugal counterweight module includes two counterweight blocks, and both counterweight blocks are arranged above the robot body. The centrifugal counterweight module is used to perform lateral counterweighting when the wheel-foot robot turns, so as to prevent its center of gravity from shifting excessively during turning, thereby preventing it from tipping over or colliding with objects on both sides due to turning;

[0008] The counterweight compensation module includes a counterweight bin and two telescopic compensation bins. The counterweight bin is arranged below the counterweight battery, and the two telescopic compensation bins are both located outside the working base. The counterweight compensation module is used to increase the counterweight mass of the counterweight battery to increase the counterweight stability load of the wheeled robot.

[0009] In a preferred embodiment, the centrifugal counterweight module also includes a mounting bracket, which is fixedly connected to the top of the robot body, and the inner walls on both sides of the mounting bracket are movably connected to the same mounting rod, and the two counterweights are fixedly connected to the outer wall of the mounting rod, and the outer wall on one side of the mounting bracket is fixedly connected to a drive motor, and the output shaft of the drive motor is connected to one end of the mounting rod through a coupling.

[0010] In a preferred embodiment, a control device is fixedly connected to an outer wall on one side of the mounting bracket, a control wiring is fixedly connected to an outer wall on one side of the control device, one end of the control wiring is arranged on the drive motor, and connecting brackets are provided on the outer walls on opposite sides of the two calf brackets, mounting openings are provided on the outer walls on one side of the two connecting brackets, the inner walls of the two mounting openings are fixedly connected to centrifugal bins, and two guide rods are fixedly connected to the interiors of the two centrifugal bins.

[0011] In a preferred solution, the outer walls of the two guide rods inside the same centrifugal bin are movably connected to the same eccentric piece, the outer walls of the two eccentric pieces are provided with contact rings, one side inner wall of the two centrifugal bins are fixedly connected to a telescopic spring, one end of the two telescopic springs is respectively fixedly connected to the outer wall of one side of the two eccentric pieces, and one side outer wall of the two centrifugal bins is provided with a fixing port, and the outer walls of the two centrifugal bins are provided with multiple mounting holes.

[0012] In a preferred embodiment, the inner walls of the two fixed ports are fixedly connected with receiving devices, the tops of the two receiving devices are fixedly connected with multiple conveying lines, one end of the multiple conveying lines is fixedly connected with a trigger device, and the multiple trigger devices are respectively fixedly connected to the inner walls of the multiple mounting holes, and one end of the multiple trigger devices is respectively located inside the two centrifugal bins.

[0013] In a preferred solution, one side outer wall of the two receiving devices is fixedly connected with a connecting line, one end of the two connecting lines is fixedly connected to the outer walls on both sides of the control device, and the bottom of the robot body is fixedly connected with two mounting parts, and the two mounting parts are provided with damping spring rods, and one end of the two damping spring rods is fixedly connected to the outer walls of the two centrifugal bins.

[0014] In a preferred solution, the counterweight compensation module also includes a fixed frame, which is fixedly connected to the bottom of the robot body. Three counterweight water tanks are arranged inside the fixed frame. The outer walls of one side of the three counterweight water tanks are connected to the same connecting tank through pipes. The outer wall of the connecting tank is fixedly connected to two connecting pipes, and one end of the two connecting pipes is respectively fixedly connected to a delivery pump and a return pump, and the delivery pump and the return pump are both fixedly connected to the bottom of the fixed frame.

[0015] In a preferred solution, the outer walls on both sides of the counterweight battery are fixedly connected to the side frames, the counterweight bin is fixedly connected to the inner walls on the opposite side of the two side frames, two telescopic spring rods are provided inside the counterweight bin, one end of the two telescopic spring rods is fixedly connected to the same movable plate, the outer wall of the movable plate is in contact with the inner wall of the counterweight bin, and the output end of the delivery pump is fixedly connected to the delivery pipe and the compensation pipe, the input end of the reflux pump is fixedly connected to the reflux pipe 1 and the reflux pipe 2, and the outer walls of the reflux pipe 1, the reflux pipe 2, the delivery pipe and the compensation pipe are all provided with control valves.

[0016] In a preferred solution, one end of the return pipe 2 and the compensation pipe are both connected to the interior of the counterweight bin, and one end of the delivery pipe and the return pipe 1 are fixedly connected to the same pipe fitting, and the two ends of the pipe fitting are respectively connected to the interior of the two telescopic compensation bins, and the outer wall of the working base is fixedly connected to a fixed ring frame, and four circular holes are opened on the top of the fixed ring frame.

[0017] In a preferred solution, the inner walls of the four circular holes are movably connected to fixed rods, the bottom ends of the four fixed rods are fixedly connected to the same mounting plate, the two telescopic compensation bins are fixedly connected to the top of the mounting plate, and the outer walls of the four fixed rods are provided with reset springs, the top ends of the four reset springs are respectively fixedly connected to the outer walls of the four fixed rods, and the bottom ends of the four reset springs are fixedly connected to the top of the fixed ring frame.

[0018] From the above, it can be seen that the battery-balanced wheeled robot provided by the present invention has the function of improving the stability of use. When in use, the device can perform lateral weight compensation on the wheeled robot when it performs a turning operation, thereby avoiding excessive deviation of the center of gravity of the wheeled robot during turning, thereby improving the use effect of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of a battery-balanced wheel-foot robot proposed in the present invention;

[0020] Figure 2 This is a schematic side view of the overall structure of a battery-balanced wheel-legged robot proposed by the present invention;

[0021] Figure 3This is a structural schematic diagram of a centrifugal counterweight module of a battery-counterweight wheel-foot robot proposed in the present invention;

[0022] Figure 4 This is a schematic diagram of the combined structure of a damping spring rod and a connecting bracket of a battery-weighted wheel-foot robot proposed in the present invention;

[0023] Figure 5 This is a schematic cross-sectional structural diagram of a centrifugal compartment of a battery-weighted wheeled robot proposed in the present invention;

[0024] Figure 6 This is a schematic diagram of the combined structure of the control device and drive motor of a battery-balanced wheel-foot robot proposed in the present invention;

[0025] Figure 7 This is a schematic structural diagram of a counterweight compensation module for a battery-counterweight wheel-foot robot proposed in the present invention;

[0026] Figure 8 This is a schematic diagram of the combined structure of the connecting compartment and the counterweight water compartment of a battery-balanced wheeled robot proposed in the present invention;

[0027] Figure 9 This is a schematic diagram of the combined structure of the movable plate and telescopic spring rod of a battery-weighted wheel-foot robot proposed in the present invention;

[0028] Figure 10 This is a schematic diagram of the combined structure of the mounting rod and telescopic compensation compartment of a battery-balanced wheeled robot proposed in the present invention.

[0029] In the figure: 1. Robot body; 2. Movable sheave; 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 part; 506. Guide rod; 507. Receiving device; 508. Connecting line; 509. Triggering device; 510. Transmission line; 511. Telescopic spring; 512. Eccentric member; 513. Contact ring; 514. Driving motor; 515. Control wiring; 516. Control device; 517. Mounting rod; 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 bin; 1003. Fixed frame; 1004. Delivery pipe; 1005. Return pipe 1; 1006. Return pipe 2; 1007. Compensation pipe; 1008. Control valve; 1009. Delivery pump; 1010. Return pump; 1011. Connecting pipe; 1012. Connecting bin; 1013. Counterweight water bin; 1014. Movable plate; 1015. Telescopic spring rod; 1016. Pipe fitting; 1017. Mounting plate; 1018. Telescopic compensation bin; 1019. Return spring; 1020. Fixed rod; 1021. Fixed ring frame; 11. Working base. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] The battery-weighted wheeled robot disclosed in the present invention is mainly used for steering operations of the wheeled robot. Since steering will generate outward centrifugal force, the center of gravity of the wheeled robot will be offset, which may easily cause the robot to fall over or collide with objects on both sides.

[0032] Reference Figures 1-10 A battery-balanced wheel-foot robot includes a robot body 1, thigh supports 6 are provided on both sides of the outer wall of the robot body 1, and a calf support 7 is provided at one end of the two thigh supports 6, a wheel hub 3 is provided on the two calf supports 7, and a movable sleeve 2 is provided on the outer wall of the two wheel hubs 3, a centrifugal counterweight module 5 is provided on the robot body 1 and the two calf supports 7, and a counterweight battery 4 is provided on the robot body 1, a working arm 1 8 is provided on the robot body 1, a working arm 2 9 is provided at one end of the working arm 1 8, and an operating base 11 is provided at one end of the working arm 2 9, and a counterweight compensation module 10 is provided on the robot body 1, the counterweight battery 4 and the operating base 11;

[0033] The centrifugal counterweight module 5 includes two counterweight blocks 501, and both counterweight blocks 501 are arranged above the robot body 1. The centrifugal counterweight module 5 is used to perform lateral counterweighting when the wheeled robot turns, so as to prevent its center of gravity from shifting excessively during turning, thereby preventing it from tipping over or colliding with objects on both sides due to turning;

[0034] The counterweight compensation module 10 includes 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 working base 11. The counterweight compensation module 10 is used to increase the counterweight mass of the counterweight battery 4 to increase the counterweight stability load of the wheeled robot.

[0035] Specifically, the thigh support 6 and the calf support 7 can cooperate to perform foot-type movements when in use, and the wheel hub 3 and the movable wheel 2 are used for wheel-type movements when in 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 when in use, thereby improving the load mass at the working base 11, and then increasing the counterweight stability load of the wheel-foot robot to meet the counterweight requirements of the wheel-foot robot; the centrifugal counterweight module 5 can perform lateral counterweight compensation on the wheel-foot robot when it performs a steering operation, so that the center of gravity of the wheel-foot robot remains within a stable range when turning, thereby avoiding excessive deviation of the center of gravity of the wheel-foot robot when turning, and meeting the steering stability and balance requirements of the wheel-foot robot.

[0036] Reference Figure 1 and Figure 3-Figure 6In a preferred embodiment, the centrifugal counterweight module 5 further includes a mounting bracket 518, which is fixedly connected to the top of the robot body 1. The inner walls on both sides of the mounting bracket 518 are movably connected to the same mounting rod 517. The two counterweights 501 are fixedly connected to the outer wall of the mounting rod 517, and the outer wall of one side of the mounting bracket 518 is fixedly connected to the drive motor 514. The output shaft of the drive motor 514 is connected to one end of the mounting rod 517 through a coupling; the outer wall of one side of the mounting bracket 518 is fixedly connected to the control device 516, the controller The outer wall of one side of the component 516 is fixedly connected with a control wiring 515, one end of the control wiring 515 is set on the drive motor 514, and the outer walls of the opposite sides of the two calf supports 7 are provided with connecting brackets 503, and the outer walls of one side of the two connecting brackets 503 are provided with mounting openings, and the inner walls of the two mounting openings are fixedly connected with centrifugal bins 504, and the interiors of the two centrifugal bins 504 are fixedly connected with two guide rods 506; the outer walls of the two guide rods 506 in the same centrifugal bin 504 are movably connected with the same eccentric member 512, and the two eccentric members 512 are fixed with the inner walls of the two centrifugal bins 504. The outer walls are both provided with contact rings 513, and the inner walls of one side of the two centrifugal chambers 504 are both fixedly connected with telescopic springs 511, one end of the two telescopic springs 511 is respectively fixedly connected to the outer wall of one side of the two eccentric members 512, and the outer walls of one side of the two centrifugal chambers 504 are both provided with fixed openings, and the outer walls of the two centrifugal chambers 504 are both provided with multiple mounting holes; the inner walls of the two fixed openings are both fixedly connected with receiving devices 507, the tops of the two receiving devices 507 are both fixedly connected with multiple transmission lines 510, and one end of the multiple transmission lines 510 is fixedly connected with a trigger device 509 , and multiple trigger devices 509 are respectively fixedly connected to the inner walls of multiple mounting holes, one end of the multiple trigger devices 509 is respectively located inside the two centrifugal chambers 504; one side outer wall of the two receiving devices 507 is fixedly connected with a connecting line 508, one end of the two connecting lines 508 is respectively fixedly connected to the outer walls on both sides of the control device 516, and the bottom of the robot body 1 is fixedly connected to two mounting parts 505, and the two mounting parts 505 are respectively provided with a damping spring rod 502, and one end of the two damping spring rods 502 is respectively fixedly connected to the outer wall of the two centrifugal chambers 504.

[0037] Specifically, when turning, the eccentric member 512 inside the centrifugal chamber 504 on one side will be subjected to the outward centrifugal force and move on the guide rod 506, causing the telescopic spring 511 to be compressed. As the eccentric member 512 moves, the contact ring 513 will be driven to move and contact the trigger device 509 (the magnitude of the centrifugal force can be determined based on the number of contacts). At this time, the trigger device 509 transmits a signal to the inside of the receiving device 507 through the transmission line 510, and the signal is transmitted to the inside of the control device 516 through the receiving device 507. The control wiring 515 further controls the operation of the drive motor 514, so that the drive motor 514 drives the mounting rod 517 and the counterweight block 501 to rotate and rotate toward the side opposite to the running eccentric member 512 to complete the lateral counterweight compensation.

[0038] In a specific application scenario, the centrifugal counterweight module 5 is suitable for the steering link of the wheel-foot robot, that is, the centrifugal counterweight module 5 can perform lateral counterweight compensation on the wheel-foot robot when performing a steering operation, so that the center of gravity of the wheel-foot robot is shifted inward through lateral counterweight, thereby offsetting the outward centrifugal force generated during steering, so that the center of gravity of the wheel-foot robot remains within a stable range during steering, thereby avoiding excessive shift of the center of gravity of the wheel-foot robot during steering, thereby improving the stability and balance of the wheel-foot robot during steering, and thereby avoiding the wheel-foot robot from tipping over or colliding with objects on both sides, further avoiding damage to the wheel-foot robot, and improving the use effect of the device.

[0039] Reference Figure 2 and Figure 7-10In 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 provided inside the fixed frame 1003. The outer walls of one side of the three counterweight water tanks 1013 are connected to the same connecting tank 1012 through a pipe, and the outer wall of the connecting tank 1012 is fixedly connected to two connecting pipes 1011, and one end of the two connecting pipes 1011 is fixedly connected to a delivery pump 1009 and a return pump 1010, and the delivery pump 1009 and the return pump 1010 are fixed. The outer walls of both sides of the counterweight battery 4 are fixedly connected to the side frames 1001, and 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 provided inside the counterweight bin 1002, and one end of the two telescopic spring rods 1015 is fixedly connected to the same movable plate 1014. The outer wall of the movable plate 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 the delivery pipe 1004 and the compensation pipe 1007, and the input end of the reflux pump 1010 is fixed. A return pipe 1005 and a return pipe 2 1006 are fixedly connected, and the outer walls of the return pipe 1005, the return pipe 2 1006, the delivery pipe 1004 and the compensation pipe 1007 are all provided with a control valve 1008; one end of the return pipe 2 1006 and the compensation pipe 1007 are both connected to the interior of the counterweight bin 1002, and the delivery pipe 1004 and one end of the return pipe 1005 are fixedly connected to the same pipe fitting 1016, and the two ends of the pipe fitting 1016 are respectively connected to the interior of the two telescopic compensation bins 1018, and the outer wall of the working base 11 is fixedly connected to the fixed ring frame 1016. 21. Four circular holes are provided on the top of the fixed ring frame 1021; the inner walls of the four circular holes are movably connected with fixed rods 1020, the bottom ends of the four fixed rods 1020 are fixedly connected to the same mounting plate 1017, the two telescopic compensation chambers 1018 are fixedly connected to the top of the mounting plate 1017, and the outer walls of the four fixed rods 1020 are provided with return springs 1019, the top ends of the four return springs 1019 are respectively fixedly connected to the outer walls of the four fixed rods 1020, and the bottom ends of the four return springs 1019 are fixedly connected to the top of the fixed ring frame 1021.

[0040] Specifically, when balancing weights, the delivery pump 1009 is started and the control valve 1008 on the compensation pipe 1007 is opened. At this time, the delivery pump 1009 can deliver water inside the communication chamber 1012 to the compensation pipe 1007 through the connecting pipe 1011, and further deliver it to the inside of the balancing weight chamber 1002. As the water flow increases, the telescopic spring rod 1015 inside the balancing weight chamber 1002 is compressed, and the movable plate 1014 is moved to increase the quality of the balancing weight.

[0041] 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 to the inside of the pipe 1016, and further delivers it to the inside of the telescopic compensation chamber 1018, causing it to expand. At this time, the return spring 1019 is compressed, and the counterweight mass of the working end is gradually increased as the working device is disassembled and replaced until the replacement of the working device is completed;

[0042] After the operation, the reflux pump 1010 operates and cooperates with the reflux pipe 2 1006 and the reflux pipe 1 1005 to respectively transport the water inside the counterweight tank 1002 and the telescopic compensation tank 1018 back to the counterweight water tank 1013 to facilitate the subsequent counterweight compensation operation;

[0043] In a specific application scenario, the counterweight compensation module 10 is suitable for the counterweight load adjustment link, that is, the counterweight compensation module 10 can increase the counterweight mass of the counterweight battery 4 when in use, thereby increasing the load mass at the working base 11, and then increasing the counterweight stability load of the wheel-foot robot, so that the wheel-foot robot can perform operations on objects with higher mass, thereby improving the use effect of the device, and the working base 11 can replace the working device according to the working requirements when in use. During this process, the device can compensate for the mass of the working end through the telescopic compensation chamber 1018 to avoid instability of the wheel-foot robot when the working device is replaced.

[0044] Working principle: When turning, the eccentric piece 512 inside the centrifugal compartment 504 on one side will be subjected to the outward centrifugal force and move on the guide rod 506, causing the telescopic spring 511 to be compressed. As the eccentric piece 512 moves, the contact ring 513 will be driven to move and contact the trigger device 509. At this time, the trigger device 509 transmits the signal to the inside of the receiving device 507 through the transmission line 510, and transmits the signal to the inside of the control device 516 through the receiving device 507, and further improves the control wiring 515 to control the operation of the drive motor 514, so that the drive motor 514 drives the installation rod 517 and the counterweight block 501 to rotate, and rotate to the side opposite to the running eccentric piece 512 to complete the lateral counterweight compensation;

[0045] When balancing weights, the delivery pump 1009 is started and the control valve 1008 on the compensation pipe 1007 is opened. At this time, the delivery pump 1009 can deliver the water inside the communication chamber 1012 to the compensation pipe 1007 through the connecting pipe 1011, and further deliver it to the inside of the balancing weight chamber 1002. As the water flow increases, the telescopic spring rod 1015 inside the balancing weight chamber 1002 is compressed, and the movable plate 1014 is moved to increase the quality of the balancing weight.

[0046] When the operating device is replaced, start the delivery pump 1009 and open the control valve 1008 on the delivery pipe 1004, so that the delivery pump 1009 delivers water to the inside of the pipe 1016 through the delivery pipe 1004, and further delivers it to the inside of the telescopic compensation chamber 1018 and causes it to expand. At this time, the reset spring 1019 is compressed, and the counterweight mass of the operating end is gradually increased as the operating device is disassembled and replaced until the replacement of the operating device is completed.

[0047] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A battery-balanced wheel-foot robot, comprising a robot body (1), characterized in that: The outer walls of both sides of the robot body (1) are provided with thigh brackets (6), and one end of each of the two thigh brackets (6) is provided with a calf bracket (7), each of the two calf brackets (7) is provided with a wheel hub (3), and the outer walls of each of the two wheel hubs (3) are provided with a movable sheave (2), the robot body (1) and the two calf brackets (7) are provided with a centrifugal counterweight module (5), and the robot body (1) is provided with a counterweight battery (4), the robot body (1) is provided with a working arm 1 (8), one end of the working arm 1 (8) is provided with a working arm 2 (9), one end of the working arm 2 (9) is provided with an operating base (11), and the robot body (1), the counterweight battery (4) and the operating base (11) are provided with a counterweight compensation module (10); The centrifugal counterweight module (5) includes two counterweight blocks (501), and the two counterweight blocks (501) are both arranged above the robot body (1). The centrifugal counterweight module (5) is used to perform lateral counterweighting when the wheeled robot turns, so as to prevent its center of gravity from shifting excessively during the turning, thereby preventing it from tipping over or colliding with objects on both sides due to the turning; The counterweight compensation module (10) comprises a counterweight bin (1002) and two telescopic compensation bins (1018), wherein the counterweight bin (1002) is arranged below the counterweight battery (4), and the two telescopic compensation bins (1018) are both located outside the working base (11), and the counterweight compensation module (10) is used to increase the counterweight mass of the counterweight battery (4) to increase the counterweight stability load of the wheeled robot; The centrifugal counterweight module (5) further comprises a mounting bracket (518), the mounting bracket (518) being fixedly connected to the top of the robot body (1), the inner walls on both sides of the mounting bracket (518) being movably connected to the same mounting rod (517), the two counterweight blocks (501) being fixedly connected to the outer wall of the mounting rod (517), and the outer wall on one side of the mounting bracket (518) being fixedly connected to a drive motor (514), and the output shaft of the drive motor (514) being connected to one end of the mounting rod (517) via a coupling; The counterweight compensation module (10) further comprises a fixed frame (1003), the fixed frame (1003) being fixedly connected to the bottom of the robot body (1), three counterweight water tanks (1013) being arranged inside the fixed frame (1003), the outer walls of one side of the three counterweight water tanks (1013) being connected to a same connecting tank (1012) via a pipe, the outer wall of the connecting tank (1012) being fixedly connected to two connecting pipes (1011), one end of the two connecting pipes (1011) being fixedly connected to a delivery pump (1009) and a return pump (1010), respectively, and the delivery pump (1009) and the return pump (1010) being fixedly connected to the bottom of the fixed frame (1003).

2. A battery-balanced wheel-foot robot according to claim 1, characterized in that: A control device (516) is fixedly connected to an outer wall of one side of the mounting bracket (518), a control wiring (515) is fixedly connected to an outer wall of one side of the control device (516), one end of the control wiring (515) is arranged on the drive motor (514), and a connecting bracket (503) is provided on the outer walls of the two calf brackets (7) on opposite sides, a mounting opening is provided on the outer walls of one side of the two connecting brackets (503), the inner walls of the two mounting openings are fixedly connected to a centrifugal bin (504), and the interiors of the two centrifugal bins (504) are fixedly connected to two guide rods (506).

3. The battery-balanced wheel-foot robot according to claim 2, characterized in that: The outer walls of the two guide rods (506) inside the same centrifugal bin (504) are both movably connected to the same eccentric piece (512), the outer walls of the two eccentric pieces (512) are both provided with a contact ring (513), one side inner wall of the two centrifugal bins (504) is fixedly connected to a telescopic spring (511), one end of the two telescopic springs (511) is respectively fixedly connected to the outer wall of one side of the two eccentric pieces (512), and one side outer wall of the two centrifugal bins (504) is provided with a fixing opening, and the outer walls of the two centrifugal bins (504) are both provided with a plurality of mounting holes.

4. The battery-balanced wheel-foot robot according to claim 3, characterized in that: The inner walls of the two fixed openings are fixedly connected to receiving devices (507), the tops of the two receiving devices (507) are fixedly connected to multiple conveying lines (510), one end of the multiple conveying lines (510) is fixedly connected to a trigger device (509), and the multiple trigger devices (509) are respectively fixedly connected to the inner walls of the multiple mounting holes, and one end of the multiple trigger devices (509) is respectively located inside the two centrifugal bins (504).

5. The battery-balanced wheel-foot robot according to claim 4, characterized in that: One side outer wall of each of the two receiving devices (507) is fixedly connected to a connecting line (508), one end of each of the two connecting lines (508) is fixedly connected to the outer walls of both sides of the control device (516), and the bottom of the robot body (1) is fixedly connected to two mounting members (505), each of the two mounting members (505) is provided with a damping spring rod (502), and one end of each of the two damping spring rods (502) is fixedly connected to the outer walls of the two centrifugal bins (504).

6. The battery-weighted wheel-foot robot according to claim 1, characterized in that: The outer walls of both sides of the counterweight battery (4) are fixedly connected to the side frames (1001), the counterweight bin (1002) is fixedly connected to the inner walls of the two side frames (1001) on opposite sides, two telescopic spring rods (1015) are provided inside the counterweight bin (1002), one end of the two telescopic spring rods (1015) is fixedly connected to the same movable plate (1014), the outer wall of the movable plate (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 the delivery pipe (1004) and the compensation pipe (1007), the input end of the reflux pump (1010) is fixedly connected to the return pipe 1 (1005) and the return pipe 2 (1006), and the outer walls of the return pipe 1 (1005), the return pipe 2 (1006), the delivery pipe (1004) and the compensation pipe (1007) are all provided with control valves (1008).

7. The battery-weighted wheel-foot robot according to claim 6, characterized in that: One end of the return pipe 2 (1006) and the compensation pipe (1007) are both connected to the interior of the counterweight bin (1002), and one end of the delivery pipe (1004) and the return pipe 1 (1005) are fixedly connected to the same pipe fitting (1016), and the two ends of the pipe fitting (1016) are respectively connected to the interior of the two telescopic compensation bins (1018), and the outer wall of the working base (11) is fixedly connected to a fixed ring frame (1021), and four circular holes are opened on the top of the fixed ring frame (1021).

8. The battery-weighted wheel-foot robot according to claim 7, characterized in that: The inner walls of the four circular holes are movably connected to fixed rods (1020), the bottom ends of the four fixed rods (1020) are fixedly connected to the same mounting plate (1017), the two telescopic compensation chambers (1018) are fixedly connected to the top of the mounting plate (1017), and the outer walls of the four fixed rods (1020) are provided with return springs (1019), the top ends of the four return springs (1019) are respectively fixedly connected to the outer walls of the four fixed rods (1020), and the bottom ends of the four return springs (1019) are fixedly connected to the top of the fixed ring frame (1021).

Images