Wheel-leg balance robot with adjustable gravity center

Abstract

The invention discloses a wheel-leg balance robot capable of adjusting the gravity center. The wheel-leg balance robot comprises a wheel type moving device, a first multi-degree-of-freedom mechanical leg, a second multi-degree-of-freedom mechanical leg and a control device. The control device is used for controlling the first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg to be matched with each other and used as two legs to drive the wheel type moving device to move; when the wheel type moving device rolls, the control device is further used for adjusting the gravity center, the steering amplitude and the tilting amplitude of the wheel type moving device by changing the postures of the first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg. The wheel-leg balance robot with the adjustable gravity center is matched with the function that three-degree-of-freedom mechanical legs are carried on the left side and the right side, and the overall gravity center adjustment, steering, in-situ turning, standing walking, step crossing and rollover prevention of the robot can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a wheel-leg balance robot with adjustable gravity center. BACKGROUND

[0002] Mars is the most similar planet to Earth in the solar system, and its geological evolution history has many analogies with Earth. With the deepening of human exploration of the surface of Mars, Mars robots have gradually become one of the main machine devices for Mars geological exploration. However, due to the influence of the complex geographical environment on the surface of Mars, the Mars robot may have the following problems: 1. It is difficult to deal with common rock steps on the surface of Mars, and the obstacle crossing ability is weak.

[0003] 2. In the face of the rugged and complex environment on the surface of Mars, it is easy to lose balance and difficult to maintain good balance.

[0004] If the problem of the Mars robot being difficult to deal with the complex geographical environment on the surface of Mars is to be solved, the Mars robot needs to be able to cross the common rock steps on the surface of Mars and improve its obstacle crossing ability, and also needs to have the ability to actively adjust the imbalance of the gravity center to realize the self-adaptive ability of the Mars robot under different working conditions. SUMMARY

[0005] The purpose of the present application is to provide a wheel-leg balance robot with adjustable gravity center, which solves the problem of motion instability caused by the imbalance of the robot gravity center due to the change of the offset angle of the center axis of the vehicle and the center axis of the obstacle, and the structural limitation of the spherical shell chassis, making it difficult to cross relatively steep rock steps.

[0006] To achieve the above purpose, the present application adopts the following technical solutions: A wheel-leg balance robot with adjustable gravity center, comprising a wheeled mobile device, a first multi-degree-of-freedom mechanical leg, a second multi-degree-of-freedom mechanical leg and a control device.

[0007] The first multi-degree-of-freedom mechanical leg is arranged on one side of the wheeled mobile device.

[0008] The second multi-degree-of-freedom mechanical leg is arranged on the other side of the wheeled mobile device.

[0009] The control device is used to control the first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg to cooperate with each other to drive the wheeled mobile device to move as a double-legged robot.

[0010] When the wheeled mobile device rolls, the control device is also used to change the posture of the first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg to adjust the gravity center, steering and inclination amplitude of the wheeled mobile device.

[0011] The wheel-legged balancing robot with adjustable gravity center provided by at least one embodiment of the present disclosure comprises a tire, a planetary gear transmission mechanism and a first driving motor.

[0012] The inner wall of the tire is fixedly provided with a hub.

[0013] The inner ring surface of the hub is provided with a gear body, and the planetary gear transmission mechanism is engaged with the gear body.

[0014] The output shaft of the first driving motor is connected with the planetary gear transmission mechanism, and the first driving motor is used to provide power for the planetary gear transmission mechanism to drive the hub to rotate.

[0015] The wheel-legged balancing robot with adjustable gravity center provided by at least one embodiment of the present disclosure comprises a planetary carrier, a first sun gear, a second sun gear, a plurality of first planetary gears and a plurality of second planetary gears.

[0016] The planetary carrier is rotatably provided with at least one linkage shaft.

[0017] The plurality of second planetary gears are arranged to be symmetrically distributed with the first planetary gears.

[0018] The first sun gear is arranged to be engaged with the plurality of first planetary gears.

[0019] The second sun gear is arranged to be symmetrically distributed with the first sun gear, and the second sun gear is engaged with the plurality of second planetary gears.

[0020] The first driving motor is provided with two, and the two first driving motors are fixedly connected with the planetary carrier.

[0021] The output shaft of one of the first driving motors is connected with one of the plurality of first planetary gears, and the output shaft of the other first driving motor is connected with one of the plurality of second planetary gears.

[0022] The other first planetary gear and the other second planetary gear are respectively fixedly connected with two ends of one of the at least one linkage shaft.

[0023] The tire is provided with two, and the hub in one of the tires is engaged with the plurality of first planetary gears, and the hub in the other tire is engaged with the plurality of second planetary gears.

[0024] The wheel-legged balancing robot with adjustable gravity center provided by at least one embodiment of the present disclosure is provided with at least one first rotary encoder on the planetary carrier, which is used to obtain the angular displacement information of the first planetary gear and / or the second planetary gear.

[0025] In at least one embodiment of the wheel-legged balancing robot with adjustable center of gravity provided in this disclosure, the inner wall surface of the tire is provided with an embedding groove, and the wheel hub is embedded in the embedding groove.

[0026] In at least one embodiment of the wheeled-legged balancing robot with adjustable center of gravity provided in this disclosure, a drive device is provided in the middle of the planetary carrier.

[0027] Both the first sun gear and the second planetary gear have through holes in the middle. The two ends of the drive device pass through the through holes and are respectively connected to the first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg.

[0028] The central axis of the perforation coincides with the central axis of the wheel hub.

[0029] The driving device is used to drive the first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg to swing in the same direction simultaneously.

[0030] In at least one embodiment of the wheeled-legged balancing robot with adjustable center of gravity provided in this disclosure, the drive device is provided with a first connecting seat and a second connecting seat.

[0031] The first sun gear and the second sun gear are rotatably connected to the first connecting seat and the second connecting seat, respectively.

[0032] In at least one embodiment of the wheeled-legged balancing robot with adjustable center of gravity provided in this disclosure, the driving device includes: a support frame, a second drive motor, a third drive motor, a first reduction gearbox, a second reduction gearbox, a first transmission wheel, a second transmission wheel, a first transmission rope, and a second transmission rope.

[0033] The support frame is configured to be fixedly connected to the planetary carrier.

[0034] The second drive motor is fixedly mounted on the support frame.

[0035] The third drive motor is fixedly mounted on the support frame.

[0036] The input end of the first reduction gearbox is configured to be connected to the second drive motor.

[0037] The input end of the second reduction gearbox is configured to be connected to the third drive motor, and the second reduction gearbox is symmetrically distributed with the first reduction gearbox.

[0038] The first transmission wheel is configured to drive the gears of the first reduction gearbox.

[0039] The second transmission wheel is configured to drive the gears of the second reduction gearbox.

[0040] The two ends of the first transmission rope are connected to the first transmission wheel and the second transmission wheel, respectively.

[0041] The two ends of the second transmission rope are connected to the first transmission wheel and the second transmission wheel, respectively.

[0042] The first and second transmission ropes are wound in a figure-eight pattern.

[0043] The output ends of the first reduction gearbox and the second reduction gearbox are respectively connected to the first output disk and the second output disk.

[0044] The first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg are fixedly connected to the first output disk and the second output disk, respectively.

[0045] In the wheeled legged robot with adjustable center of gravity provided in at least one embodiment of this disclosure, a second rotary encoder and a third rotary encoder are provided on the first reduction gearbox and the second reduction gearbox.

[0046] The second rotary encoder is used to acquire the angular displacement information of the first output disk.

[0047] The third rotary encoder is used to obtain the angular displacement information of the second output disk.

[0048] In at least one embodiment of the wheeled-legged balancing robot with an adjustable center of gravity provided in this disclosure, a connecting ring is provided on the outer periphery of the planetary carrier.

[0049] The side of the connecting ring is fixedly connected to the side of the tire, and the outer diameter of the connecting ring is smaller than the outer diameter of the tire.

[0050] The beneficial effects of this invention are as follows: 1. The overall center of gravity of the wheeled mobile device is adjusted by adjusting the posture of the three-degree-of-freedom mechanical legs mounted on the left and right sides, ensuring the robot's normal turning movement and providing good anti-interference ability and strong balance.

[0051] 2. The wheeled mobile device achieves stronger power output and better motion performance by utilizing a planetary gear reduction drive mechanism.

[0052] 3. Utilizing the auxiliary power provided by the mechanical legs, it can turn in place, stand and walk, and cross relatively steep rock steps, and has the function of preventing rollover, ensuring good adaptability to complex terrain.

[0053] 4. The three-degree-of-freedom robotic legs can be freely extended and folded, the robot body is subjected to uniform force and has a low center of gravity, ensuring the stability of the robot's movement. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a perspective view of a wheeled legged balancing robot with an adjustable center of gravity according to the present invention.

[0056] Figure 2 This is a schematic diagram of the wheel-legged balancing robot with an adjustable center of gravity according to the present invention after the tires have been removed.

[0057] Figure 3 This is a 3D diagram of a tire.

[0058] Figure 4 This is a schematic diagram of the structure of a wheeled legged robot with an adjustable center of gravity according to the present invention after disassembling some components.

[0059] Figure 5 This is the front view of the planetary gear transmission mechanism.

[0060] Figure 6 This is a side view of a planetary gear transmission mechanism.

[0061] Figure 7 This diagram illustrates how a wheeled, legged, adjustable-center-of-gravity robot achieves in-situ rotation by adjusting its first and second multi-degree-of-freedom mechanical legs.

[0062] Figure 8 This image illustrates how a wheeled, legged, adjustable-center-of-gravity robot can traverse steps using a first multi-degree-of-freedom mechanical leg and a second multi-degree-of-freedom mechanical leg.

[0063] Figure 9 The diagram illustrates how a wheeled, legged, adjustable-center-of-gravity balancing robot achieves anti-tipping by employing a first multi-degree-of-freedom mechanical leg and a second multi-degree-of-freedom mechanical leg.

[0064] Figure 10 This diagram illustrates how an adjustable-center-of-gravity wheeled balancing robot achieves overall center-of-gravity adjustment by altering the postures of its first and second multi-degree-of-freedom mechanical legs.

[0065] In the picture: 10. Wheeled moving device; 11. Tire; 12. Planetary gear transmission mechanism; 13. First drive motor; 14. Drive device; 15. First connecting seat; 16. Second connecting seat; 17. First output disc; 18. Second rotary encoder; 111. Hub; 121. Planetary carrier; 122. First planetary gear; 123. Second planetary gear; 124. First sun gear; 125. Second sun gear; 126. Linkage shaft; 127. Connecting ring; 128. First rotary encoder; 141. Support frame; 142. Second drive motor; 143. Third drive motor; 144. First reduction gearbox; 145. Second reduction gearbox; 146. First transmission wheel; 147. Second transmission wheel; 148. First transmission rope; 149. Second transmission rope; 20. The first multi-degree-of-freedom mechanical leg; 30. The second multi-degree-of-freedom mechanical leg. Detailed Implementation

[0066] The technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments, not all embodiments.

[0067] Example like Figure 1 As shown, this embodiment provides a wheeled legged balancing robot with an adjustable center of gravity, including a wheeled mobile device 10, a first multi-degree-of-freedom mechanical leg 20, a second multi-degree-of-freedom mechanical leg 30, and a control device (not shown).

[0068] The first multi-degree-of-freedom robotic leg 20 is disposed on one side of the wheeled mobile device 10; the second multi-degree-of-freedom robotic leg 30 is disposed on the other side of the wheeled mobile device 10. The wheeled mobile device 10, the first multi-degree-of-freedom robotic leg 20, and the second multi-degree-of-freedom robotic leg 30 are all electrically connected to the control device.

[0069] The control device is used to control the first multi-degree-of-freedom mechanical leg 20 and the second multi-degree-of-freedom mechanical leg 30 to cooperate with each other, so as to drive the wheeled mobile device 10 to move as two legs; when the wheeled mobile device 10 is rolling, the control device is also used to adjust the center of gravity, direction and tilt amplitude of the wheeled mobile device 10 by changing the posture of the first multi-degree-of-freedom mechanical leg 20 and the second multi-degree-of-freedom mechanical leg 30.

[0070] For example, both the first multi-degree-of-freedom robotic leg 20 and the second multi-degree-of-freedom robotic leg 30 are three-degree-of-freedom robotic legs driven by three geared motors. The two three-degree-of-freedom robotic legs on both sides of the wheeled mobile device 10 are provided with a yaw degree of freedom through one of the geared drive motors, the shaft of which is fixed with a rotary joint; the other geared drive motor is provided with a pitch degree of freedom and is connected to the last geared drive motor through a linkage, providing another pitch degree of freedom for the articulated leg support.

[0071] The wheeled robot uses the posture adjustment of the three-degree-of-freedom mechanical legs mounted on the left and right sides to adjust the overall center of gravity of the robot, ensuring normal turning movement of the robot, and has good anti-interference ability and strong balance.

[0072] Wheeled robots utilize the auxiliary power provided by mechanical legs to achieve turning in place, standing and walking, and crossing relatively steep rock steps. They also have anti-tipping support functions to ensure good adaptability to complex terrain.

[0073] The three-degree-of-freedom mechanical legs of the wheeled robot can be freely extended and folded. The robot body is subjected to uniform force and has a low center of gravity, which ensures the stability of the robot's movement.

[0074] The structure of the wheeled mobile device 10 will be further disclosed below with reference to the accompanying drawings.

[0075] like Figures 2 to 6 As shown, the wheeled mobile device 10 includes: a tire 11, a planetary gear transmission mechanism 12, and a first drive motor 13.

[0076] A hub 111 is provided on the inner wall of the tire 11, and a toothed body is provided on the inner ring surface of the hub 111. The planetary gear transmission mechanism 12 meshes with the toothed body. The output shaft of the first drive motor 13 is connected to the planetary gear transmission mechanism 12. The first drive motor 13 is used to provide power to the planetary gear transmission mechanism 12 so that the planetary gear transmission mechanism 12 drives the hub 111 to rotate.

[0077] Furthermore, the planetary gear transmission mechanism 12 includes: a planet carrier 121, a first planetary gear 122, a second planetary gear 123, a first sun gear 124, and a second sun gear 125.

[0078] The planet carrier 121 is rotatably equipped with a linkage shaft 126; the second planet gear 123 is symmetrically distributed with the first planet gear 122; the first sun gear 124 is configured to mesh with the first planet gear 122; the second sun gear 125 is symmetrically distributed with the first sun gear 124, and the second sun gear 125 meshes with the second planet gear 123.

[0079] Specifically, there are four first planetary gears 122 and four second planetary gears 123; two first drive motors 13; and two linkage shafts 126.

[0080] Both first drive motors 13 are fixedly connected to the planetary carrier 121. The output shaft of one first drive motor 13 is connected to one of the first planetary gears 122, and the output shaft of the other first drive motor 13 is connected to one of the second planetary gears 123.

[0081] In addition, two first planetary gears 122 are fixed to one end of the two linkage shafts 126 respectively; and two second planetary gears 123 are fixed to the other end of the two linkage shafts 126 respectively.

[0082] In addition, two first rotary encoders 128 are provided on the planetary carrier 121, and both first rotary encoders 128 are fixed on the planetary carrier 121; the last first planetary gear 122 is fixedly connected to the input shaft of one of the first rotary encoders; and the last second planetary gear 123 is fixedly connected to the input shaft of the other first rotary encoder.

[0083] Two tires 11 are provided. The hub 111 inside one tire 11 meshes with the first planetary gear 122, and the hub 111 inside the other tire 11 meshes with the second planetary gear 123. The inner wall surface of the tire 11 is provided with an embedding groove, and the hub 111 is embedded in the embedding groove.

[0084] For example, the wheel hub 111 is bonded to the tire 11.

[0085] In addition, a connecting ring 127 is provided on the outer periphery of the planetary carrier 121; the side of the connecting ring 127 is fixedly connected to the side of the tire 11, and the outer diameter of the connecting ring 127 is smaller than the outer diameter of the tire 11.

[0086] Furthermore, a drive device 14 is provided in the middle of the planetary carrier 121, and the drive device 14 is electrically connected to the control device. The drive device 14 is used to realize the simultaneous linkage of the first multi-degree-of-freedom mechanical leg 20 and the second multi-degree-of-freedom mechanical leg 30, such as swinging down and swinging up at the same time, thereby increasing the coordination control accuracy between the first multi-degree-of-freedom mechanical leg 20 and the second multi-degree-of-freedom mechanical leg 30.

[0087] Both the first sun gear 124 and the second planetary gear 123 have perforations in their middle sections. The two ends of the drive unit 14 pass through the perforations and are connected to the first multi-degree-of-freedom mechanical leg 20 and the second multi-degree-of-freedom mechanical leg 30, respectively. The central axis of the perforation coincides with the central axis of the hub 111.

[0088] Specifically, the drive device 14 is provided with a first connecting seat 15 and a second connecting seat 16. The first sun gear 124 and the second sun gear 125 are rotatably connected to the first connecting seat 15 and the second connecting seat 16, respectively.

[0089] Specifically, the drive device 14 includes: a support frame 141, a second drive motor 142, a third drive motor 143, a first reduction gearbox 144, a second reduction gearbox 145, a first transmission wheel 146, a second transmission wheel 147, a first transmission rope 148, and a second transmission rope 149.

[0090] The support frame 141 is configured to be fixedly connected to the planetary carrier 121. The second drive motor 142 is fixedly mounted on the support frame 141. The third drive motor 143 is fixedly mounted on the support frame 141.

[0091] The input terminal of the first reduction gearbox 144 is configured to be connected to the second drive motor 142. The input terminal of the second reduction gearbox 145 is configured to be connected to the third drive motor 143, and the second reduction gearbox 145 is symmetrically distributed with the first reduction gearbox 144.

[0092] The first transmission wheel 146 is configured to drive the gears of the first reduction gearbox 144. The second transmission wheel 147 is configured to drive the gears of the second reduction gearbox 145.

[0093] The two ends of the first transmission rope 148 are connected to the first transmission wheel 146 and the second transmission wheel 147, respectively. The two ends of the second transmission rope 149 are connected to the first transmission wheel 146 and the second transmission wheel 147, respectively. The first transmission rope 148 and the second transmission rope 149 are arranged in a figure-eight pattern.

[0094] The output ends of the first reduction gearbox 144 and the second reduction gearbox 145 are respectively connected to the first output disk 17 and the second output disk (not shown). The first multi-degree-of-freedom mechanical leg 20 and the second multi-degree-of-freedom mechanical leg 30 are fixedly connected to the first output disk 17 and the second output disk, respectively, so that the first multi-degree-of-freedom mechanical leg 20 and the second multi-degree-of-freedom mechanical leg 30 move with the first output disk 17 and the second output disk, respectively.

[0095] A second rotary encoder 18 and a third rotary encoder (not shown) are provided on the first reduction gearbox 144 and the second reduction gearbox 145. The second rotary encoder 18 is used to acquire the angular displacement information of the first output disk 17. The third rotary encoder is used to acquire the angular displacement information of the second output disk.

[0096] Although embodiments of this application have been shown and described above, the scope of protection of this invention is not limited thereto. Any variations or substitutions that can be conceived without inventive effort should be covered within the scope of protection of this invention. Unless expressly stated otherwise, no element, action or instruction used herein should be construed as critical or necessary.

Claims

1. A wheeled-legged balancing robot with an adjustable center of gravity, characterized in that, include: Wheeled mobile devices; The first multi-degree-of-freedom mechanical leg is disposed on one side of the wheeled mobile device; A second multi-degree-of-freedom mechanical leg is configured on the other side of the wheeled mobile device; as well as Control device; The control device is used to control the first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg to cooperate with each other, so as to drive the wheeled mobile device to move as two legs; While the wheeled mobile device is rolling, the control device is also used to adjust the center of gravity, steering and tilting amplitude of the wheeled mobile device by changing the posture of the first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg.

2. The wheeled legged robot with an adjustable center of gravity according to claim 1, characterized in that, The wheeled mobility device includes: The tire has a rim fixedly mounted on its inner wall surface; Planetary gear transmission mechanism; and First drive motor; The inner ring surface of the hub is provided with teeth, and the planetary gear transmission mechanism meshes with the teeth; The output shaft of the first drive motor is connected to the planetary gear transmission mechanism. The first drive motor is used to provide power to the planetary gear transmission mechanism so that the planetary gear transmission mechanism drives the hub to rotate.

3. The wheeled legged robot with an adjustable center of gravity according to claim 2, characterized in that, The planetary gear transmission mechanism includes: The planetary carrier is rotatably configured with at least one linkage shaft; Multiple first planetary gears; Multiple second planetary gears are configured to be symmetrically distributed with respect to the first planetary gears; The first sun gear is configured to mesh with a plurality of the first planet gears; as well as The second sun gear is configured to be symmetrically distributed with the first sun gear, and the second sun gear meshes with a plurality of second planet gears; There are two first drive motors, and both first drive motors are fixedly connected to the planetary carrier; The output shaft of one of the first drive motors is connected to one of the plurality of first planetary gears, and the output shaft of another first drive motor is connected to one of the plurality of second planetary gears; The other first planetary gear and the other second planetary gear are respectively fixedly connected to both ends of one of the at least one linkage shaft; The tire is provided in two parts, one of which has a hub that meshes with a plurality of first planetary gears, and the other has a hub that meshes with a plurality of second planetary gears.

4. The wheeled legged robot with an adjustable center of gravity according to claim 3, characterized in that, The planetary carrier is equipped with at least one first rotary encoder for acquiring angular displacement information of the first planetary gear and / or the second planetary gear.

5. A wheeled legged balancing robot with an adjustable center of gravity according to claim 2, characterized in that, The inner wall of the tire is provided with an embedding groove, and the wheel hub is embedded in the embedding groove.

6. A wheeled legged robot with an adjustable center of gravity according to claim 3, characterized in that, A drive device is provided in the middle of the planetary carrier; Both the first sun gear and the second planetary gear have through holes in the middle. The two ends of the drive device pass through the through holes and are respectively connected to the first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg. The central axis of the perforation coincides with the central axis of the hub; The driving device is electrically connected to the control device, and the driving device is used to drive the first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg to swing in the same direction simultaneously.

7. A wheeled legged robot with an adjustable center of gravity according to claim 6, characterized in that, The drive device is provided with a first connecting seat and a second connecting seat; The first sun gear and the second sun gear are rotatably connected to the first connecting seat and the second connecting seat, respectively.

8. A wheeled legged balancing robot with an adjustable center of gravity according to claim 6, characterized in that, The driving device includes: A support frame is configured to be fixedly connected to the planetary carrier; The second drive motor is fixedly mounted on the support frame; The third drive motor is fixedly mounted on the support frame; The first reduction gearbox has its input end configured to be connected to the second drive motor; The second reduction gearbox has its input end configured to be connected to the third drive motor, and the second reduction gearbox is symmetrically distributed with the first reduction gearbox. The first transmission wheel is configured to drive the gears of the first reduction gearbox; The second transmission wheel is configured to drive the gears of the second reduction gearbox; The first transmission rope has its two ends connected to the first transmission wheel and the second transmission wheel, respectively. as well as The second transmission rope is connected at both ends to the first transmission wheel and the second transmission wheel, respectively. The first and second transmission ropes are wound in a figure-eight pattern. The output ends of the first reduction gearbox and the second reduction gearbox are respectively connected to the first output disk and the second output disk; The first multi-degree-of-freedom mechanical leg and the second multi-degree-of-freedom mechanical leg are fixedly connected to the first output disk and the second output disk, respectively.

9. A wheeled legged balancing robot with an adjustable center of gravity according to claim 8, characterized in that, The first and second reduction gearboxes are equipped with a second rotary encoder and a third rotary encoder. The second rotary encoder is used to acquire the angular displacement information of the first output disk; The third rotary encoder is used to obtain the angular displacement information of the second output disk.

10. A wheeled legged balancing robot with an adjustable center of gravity according to claim 3, characterized in that, A connecting ring is provided on the outer periphery of the planetary carrier; The side of the connecting ring is fixedly connected to the side of the tire, and the outer diameter of the connecting ring is smaller than the outer diameter of the tire.

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