A wheel-foot composite robot leg structure based on planetary gear differential principle and a wheel-foot composite robot

Abstract

This invention discloses a leg structure for a wheel-legged hybrid robot based on the planetary gear differential principle, and the wheel-legged hybrid robot itself. The leg structure includes a power source module, a power switching module, a thigh mechanism, a wheel mechanism, and a lower leg mechanism. The power source module includes a first power source and a second power source, with the second power source driving the lower leg mechanism. The power switching module enables power switching between the thigh and wheel mechanisms: during leg movement, the thigh mechanism receives power from the first power source; during wheel movement, the wheel mechanism receives power from the first power source. Compared to traditional wheel-legged hybrid robots on the market, this invention achieves power output from two power sources to three motion mechanisms. Compared to dual-power-source wheel-legged hybrid robots, the wheel mechanism does not move during leg movement, thus more effectively saving energy and ensuring endurance.

Description

Technical Field

[0001] This invention relates to a leg structure of a wheel-leg composite robot based on the planetary gear differential principle, and to a wheel-leg composite robot, belonging to the field of robotics technology. Background Technology

[0002] In recent years, mobile robots have gradually diversified into wheeled robots, tracked robots, and legged robots. Among the three types of mobile robots currently under mainstream research, wheeled robots have advantages such as high movement speed, high energy efficiency, and long endurance, but their working scenarios are very limited; tracked robots have a large ground contact area and can move and work on soft ground, but due to their own weight, their movement speed is extremely slow and their energy efficiency is low; legged robots have high mobility and, through reasonable gait planning, can adapt to various rugged terrains.

[0003] Current research includes wheeled-legged robots, where the leg structure is crucial. The leg structure involves switching between wheeled and legged locomotion, leading to an excessive number of motors per leg and complex leg structures. Controlling a greater number of movements with fewer motors remains a challenge. Furthermore, while existing technologies involve dual-motor systems, the power to the wheeled mechanism cannot be cut off during legged movement, resulting in wheel spinning and low energy efficiency, leading to significant energy waste. Therefore, it is necessary to research novel wheel-leg switching robots to provide practical guidance and insights. Summary of the Invention

[0004] This invention provides a wheel-leg composite robot leg structure based on the planetary gear differential principle, and a wheel-leg composite robot. Through two power sources, it first realizes the leg movement formed by the cooperation of the thigh mechanism and the lower leg mechanism, and at the same time realizes the switching process from a leg robot to a wheel robot, and finally realizes wheel movement.

[0005] The technical solution of this invention is:

[0006] According to one aspect of the present invention, a leg structure for a wheel-leg composite robot based on the planetary gear differential principle is provided, comprising a power source module 1, a power switching module, a thigh mechanism 2, a wheel mechanism 3, and a lower leg mechanism 4. The power source module 1 includes a first power source 7 and a second power source 9, the second power source 9 being used to drive the lower leg mechanism 4 to move. The power switching module realizes the power switching between the thigh mechanism 2 and the wheel mechanism 3: under leg movement, the thigh mechanism 2 receives power from the first power source 7, and under wheel movement, the wheel mechanism 3 receives power from the first power source 7.

[0007] The power switching module includes a quick-trigger actuator 13 and a planetary gear module 12; wherein, the quick-trigger actuator 13 is installed on the upper part of the thigh mechanism 2 and cooperates with the second power source synchronous shaft 10 of the second power source 9, the planetary gear module 12 is installed in the middle of the thigh mechanism 2 and cooperates with the first power source synchronous shaft 8 of the first power source 7, and the wheel mechanism 3 is installed on the lower part of the thigh mechanism 2.

[0008] The rapid triggering actuator 13 includes a pin 27, a fork 28, a slider 29, a locking rod 30, a first copper sleeve 31, a slider guide rod 32, a fork lever 33, a trigger steel ball 35, a first synchronous pulley 36, a cylindrical cam 37, and a support rod 38. The cylindrical cam 37 and the first synchronous pulley 36 are connected to the second power source synchronous shaft 10, and the power from the second power source synchronous shaft 10 is transmitted to the lower leg mechanism via the first synchronous pulley 36. The trigger steel ball 35 is located in the groove of the cylindrical cam 37 and can slide along the groove, thus actuating the trigger steel ball 35 via the cylindrical cam 37. One end of the fork lever 33 engages with the trigger steel ball 35, and the other end of the fork lever 33... The upper part of the shift fork 28 is connected to the shift fork lever 33, which has a hole in the middle for mounting the support rod 38 connected to the inner thigh plate 15, thus forming the fulcrum of the shift fork lever 33. The upper end of the slider 29 has a slot, which is clearance-fitted with the pin 27 installed in the middle of the shift fork 28. The through hole in the middle of the slider 29 is interference-fitted with the first copper sleeve 31. The first copper sleeve 31 is clearance-fitted with the slider guide rod 32 fixed between the inner thigh plate 15 and the outer thigh plate 11 of the thigh mechanism 2, so that the slider 29 can slide along the slider guide rod 32. The lower end of the slider 29 is fixed to the locking rod 30. The movement of the locking rod 30 driven by the slider 29 realizes the power switching between the thigh mechanism 2 and the wheel mechanism 3.

[0009] The rapid triggering actuator 13 also includes a first spring sheet metal part 16 and a tension spring 26; wherein, the two first spring sheet metal parts 16 located on both sides of the cylindrical cam 37 are connected to the inner thigh plate 15, and the free end of the first spring sheet metal part 16 is connected to one end of the tension spring 26, and the two ends of the lower part of the fork 28 are respectively connected to the other end of a tension spring 26, so that the tension spring 26 is always in a stretched state.

[0010] The planetary gear module 12 includes a sun gear shaft 40, planetary gears 43, an internal gear ring 41, a truss disk 50, an internally threaded cylindrical pin 54, an internal planetary bearing 55, an outer shaft 52, an internal gear connector 42, a power transmission component 44, a third synchronous pulley 45, and a disc frame 67. The sun gear shaft 40 and the outer shaft 52 are connected as a rigid integral shaft. The non-gear end of the sun gear shaft 40 is connected to a coupling 25, through which power from the first power source 7 is obtained. The planetary gears 43 mesh with the internal gear ring 41, and the sun gear shaft 40 and the internal gear ring 41 are coaxial, with the gear portion of the sun gear shaft 40 meshing with the planetary gears 43. The truss disk 50 is coaxial with the internal gear ring 41, and the centers of the planetary gears 43 are respectively interference-fitted with the outer ring of the internal planetary bearing 55. The cylindrical pin 54 is used to connect the internal planetary bearing 55 and the truss disk. 50. The inner thigh plate 15 of the thigh mechanism 2 causes the truss disk 50 to rotate synchronously with the planetary gear 43 as it rotates around the sun gear shaft 40; the inner gear connector 42 is fixedly connected to the other side of the inner gear ring 41, and at the same time, the inner gear connector 42 is tightly connected to the power transmission component 44, so that the rotation of the power transmission component 44 is synchronized with the rotation of the inner gear ring 41; the third synchronous pulley 45 is fixed on the power transmission component 44, so that the power of the inner gear ring 41 can be directly transmitted to the third synchronous pulley 45; the locking rod 30 in the quick trigger actuator 13 clamps the inner gear connector 42 to the disc frame 67, so that the truss disk 50 obtains power and transmits it to the thigh mechanism 2; the locking rod 30 clamps the inner thigh plate 15 to the frame plate 66, so that the inner gear connector 42 obtains power and transmits it to the third synchronous pulley 45, and then transmits it to the wheel mechanism 3 via the third synchronous pulley 45.

[0011] The internal gear connector 42 has multiple locking holes along its outer periphery, and the disc frame 67 has an insertion hole. The locking rod 30 passes through the insertion hole and engages with the locking hole to achieve locking.

[0012] The wheel mechanism 3 includes a knee joint shaft 20, a fourth copper sleeve 56, a first spacer 21, a second spacer 58, a Mecanum wheel 57, a second synchronous pulley 23, and a fourth synchronous pulley 24. The second synchronous pulley 23 and the fourth synchronous pulley 24 are mounted on the knee joint shaft 20, and the Mecanum wheel 57 is mounted at its end. Power from the power transmission component 44 in the planetary gear module 12 of the power switching module is transmitted to the fourth synchronous pulley 24 via the third synchronous pulley 45, and then to the knee joint shaft 20 via the fourth synchronous pulley 24. The knee joint shaft 20 then directly drives the Mecanum wheel 57. Power from the first synchronous pulley 36 in the rapid triggering actuator 13 of the power switching module is transmitted to the fourth synchronous pulley 24.

[0013] The leg structure also includes a suspension mechanism 5 mounted on the frame plate 66.

[0014] The suspension mechanism 5 includes a spring sheet metal connector 65 and a first spring sheet metal part 64; one end of the spring sheet metal connector 65 is fixed to the frame plate 66, and the other end of the spring sheet metal connector 65 is fixed to one end of the second spring sheet metal part 64. The other open end of the second spring sheet metal part 64 is used for pushing in / pulling out the lower leg limiting rod 61.

[0015] According to another aspect of the present invention, a wheel-legged composite robot is also provided, comprising a frame for mounting the leg structure described in any one of the foregoing.

[0016] The beneficial effects of this invention are:

[0017] 1. The wheel-leg hybrid design gives the robot greater flexibility. Firstly, the wheel-leg hybrid design allows the robot to move stably and quickly on flat ground. Secondly, it maintains higher mobility and adaptability even in complex terrain. The wheel-leg hybrid design also gives the robot a higher energy efficiency ratio. This invention achieves power output to the three motion mechanisms—the thigh mechanism, the wheel mechanism, and the lower leg mechanism—through the combined action of two power sources. Compared with wheel-leg hybrid robots on the market, this directly reduces the robot's manufacturing cost and greatly improves its energy utilization rate.

[0018] 2. Compared with the wheel-footed design of previous generations, this invention utilizes the differential transmission principle of planetary gears, which has a simple and reliable structure. At the same time, it solves the problem of the wheel mechanism spinning idly when the legs are moving, thus greatly improving the energy utilization rate of the entire robot.

[0019] 3. Based on the differential transmission principle of planetary gears, this invention achieves a large transmission ratio of planetary gear transmission, enabling the thigh mechanism and wheel mechanism to obtain greater torque and withstand greater loads. This allows the robot to be equipped with more equipment and configurations according to different tasks, giving it greater adaptability and multifunctionality.

[0020] In summary, compared with traditional wheel-legged composite robots on the market, this invention achieves power output from two power sources to three motion mechanisms; compared with dual-power-source wheel-legged composite robots, the wheel mechanism of this invention does not move during leg movement, thus more effectively saving energy and ensuring endurance. Attached Figure Description

[0021] Figure 1 This is an isometric view of the wheeled motion mode of the present invention;

[0022] Figure 2 This is an isometric view of the foot-based movement pattern of the present invention;

[0023] Figure 3 This is a front view of the power source module of the present invention;

[0024] Figure 4 This is an isometric exploded view of the power source module of the present invention;

[0025] Figure 5 This is an isometric view of the thigh mechanism of the present invention;

[0026] Figure 6 This is an isometric exploded view of the thigh mechanism of the present invention;

[0027] Figure 7 This is an isometric view of the rapid-trigger actuator of the present invention;

[0028] Figure 8 This is an exploded view of the rapid-trigger actuator of the present invention;

[0029] Figure 9 This is an isometric view of the planetary gear module of the present invention;

[0030] Figure 10 This is a cross-sectional view of the thigh mechanism of the present invention;

[0031] Figure 11 This is an exploded view of the planetary gear module of the present invention;

[0032] Figure 12 This is a front view of the wheel mechanism of the present invention;

[0033] Figure 13 This is an exploded view of the wheel mechanism of the present invention;

[0034] Figure 14 This is an isometric view of the lower leg mechanism of the present invention;

[0035] Figure 15 This is an exploded view of the lower leg mechanism of the present invention;

[0036] Figure 16 This is an isometric view of the suspension mechanism of the present invention;

[0037] Figure 17 This is an isometric view of the frame portion of the present invention;

[0038] Figure 18 This is a cross-sectional view of the rapid triggering actuator during foot movement of the present invention (locking rod locking internal gear connector and disc frame);

[0039] Figure 19 This is a cross-sectional view of the rapidly triggered actuator during wheel-type movement of the present invention (locking rod locking the inner thigh plate and frame plate);

[0040] Figure 20 This is an exploded view of the shift fork lever portion of the present invention;

[0041] Figure 21This is an isometric view of the core principle mechanism of the planetary gear of the present invention;

[0042] Figure 22 Isometric view of the disc frame of the present invention;

[0043] Figure 23 This is an isometric view of the cylindrical cam of the present invention;

[0044] Figure 24 This is an isometric view of the internal gear connector of the present invention;

[0045] Figure 25 This is an isometric view of the power transmission component of the present invention;

[0046] Figure 26 This is an isometric view of the truss disk of the present invention;

[0047] Figure 27 This is an isometric view of the slider of the present invention;

[0048] Figure 28 This is an isometric view of the timing belt pulley connector of the present invention;

[0049] Figure 29 This is an isometric view of the second spring sheet metal part of the present invention;

[0050] Figure 30 This is an isometric view of the locking rod of the present invention;

[0051] Figure 31 This is a simplified layout diagram of the present invention;

[0052] The labels in the diagram are as follows: 1-Power source module, 2-Thigh mechanism, 3-Wheel mechanism, 4-Lower leg mechanism, 5-Suspension mechanism, 6-Frame, 7-First power source, 8-First power source synchronous shaft, 9-Second power source, 10-Second power source synchronous shaft, 11-Outer thigh plate, 12-Planetary gear module, 13-Quick trigger actuator, 14-Thigh strength rod, 15-Inner thigh plate, 16-First spring plate Components: 17-Hinge plate, 18-Tensioner adjusting rod, 19-Tensioner bearing, 20-Knee joint shaft, 21-First spacer, 22-Knee joint shaft bearing, 23-Second synchronous belt pulley, 24-Fourth synchronous belt pulley, 25-Coupling, 26-Tension spring, 27-Pin, 28-Shift fork, 29-Slider, 30-Locking rod, 31-First copper sleeve, 32-Slider guide rod, 33-Shift fork lever, 34-Limit sleeve, 35-Trigger. 36-Steel ball, 37-First synchronous belt pulley, 38-Cylindrical cam, 39-Support rod, 40-First power source synchronous shaft bearing, 41-Sun gear shaft, 42-Internal gear ring, 43-Planetary gear, 44-Power transmission component, 45-Third synchronous belt pulley, 46-Power transmission component bearing, 47-Frame plate bearing, 48-Second copper sleeve, 49-Third spacer, 50-Truss plate, 51-Screw, 52- -Outer shaft, 53-Third copper sleeve, 54-Internal threaded cylindrical pin, 55-Planetary gear inner bearing, 56-Fourth copper sleeve, 57-Mecanum wheel, 58-Second spacer, 59-Lower leg outer plate, 60-Lower leg body, 61-Lower leg limiting rod, 62-Lower leg inner plate, 63-Synchronous belt pulley fastener, 64-Second spring sheet metal part, 65-Spring sheet metal connector, 66-Frame plate, 67-Disc frame, 68-Base frame. Detailed Implementation

[0053] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0054] Example 1: As Figure 1-31 As shown in one aspect of the present invention, a leg structure for a wheel-leg composite robot based on the planetary gear differential principle is provided, including a power source module 1, a power switching module, a thigh mechanism 2, a wheel mechanism 3, and a lower leg mechanism 4. The power source module 1 includes a first power source 7 and a second power source 9, the second power source 9 being used to drive the lower leg mechanism 4 to move. The power switching module realizes the power switching between the thigh mechanism 2 and the wheel mechanism 3: under leg movement, the thigh mechanism 2 receives power from the first power source 7, and under wheel movement, the wheel mechanism 3 receives power from the first power source 7.

[0055] Furthermore, the power switching module includes a quick-trigger actuator 13 and a planetary gear module 12; wherein, the quick-trigger actuator 13 is installed on the upper part of the thigh mechanism 2 and cooperates with the second power source synchronous shaft 10 of the second power source 9, the planetary gear module 12 is installed in the middle of the thigh mechanism 2 and cooperates with the first power source synchronous shaft 8 of the first power source 7, and the wheel mechanism 3 is installed on the lower part of the thigh mechanism 2.

[0056] Further, the rapid triggering actuator 13 includes a pin 27, a fork 28, a slider 29, a locking rod 30, a first copper sleeve 31, a slider guide rod 32, a fork lever 33, a trigger steel ball 35, a first synchronous pulley 36, a cylindrical cam 37, and a support rod 38; wherein, the cylindrical cam 37 and the first synchronous pulley 36 are connected to the second power source synchronous shaft 10, and the power of the second power source synchronous shaft 10 is transmitted to the lower leg mechanism via the first synchronous pulley 36; the trigger steel ball 35 is in the groove of the cylindrical cam 37 and can slide along the groove of the cylindrical cam 37, and the cylindrical cam 37 actuates the trigger steel ball 35; one end of the fork lever 33 cooperates with the trigger steel ball 35, and the fork lever 33... The other end is connected to the upper part of the shift fork 28. The shift fork lever 33 has a hole in the middle for mounting the support rod 38 connected to the inner thigh plate 15, thus forming the fulcrum of the shift fork lever 33. The upper end of the slider 29 has a slot, which is clearance-fitted with the pin 27 installed in the middle of the shift fork 28. The through hole in the middle of the slider 29 is interference-fitted with the first copper sleeve 31. The first copper sleeve 31 is clearance-fitted with the slider guide rod 32 fixed between the inner thigh plate 15 and the outer thigh plate 11 of the thigh mechanism 2, so that the slider 29 can slide along the slider guide rod 32. The lower end of the slider 29 is fixed to the locking rod 30. The slider 29 drives the locking rod 30 to move, realizing the power switching between the thigh mechanism 2 and the wheel mechanism 3.

[0057] Furthermore, the rapid triggering actuator 13 also includes a first spring sheet metal part 16 and a tension spring 26; wherein, the two first spring sheet metal parts 16 located on both sides of the cylindrical cam 37 are connected to the inner thigh plate 15, and the free end of the first spring sheet metal part 16 is connected to one end of the tension spring 26, and the two ends of the lower part of the fork 28 are respectively connected to the other end of a tension spring 26, so that the tension spring 26 is always in a stretched state.

[0058] Further, the planetary gear module 12 includes a sun gear shaft 40, planetary gears 43, an internal gear ring 41, a truss disk 50, an internally threaded cylindrical pin 54, a planetary gear inner bearing 55, an outer shaft 52, an internal gear connector 42, a power transmission component 44, a third synchronous pulley 45, and a disc frame 67; wherein, the sun gear shaft 40 and the outer shaft 52 are connected to form a rigid integral shaft; the non-gear end of the sun gear shaft 40 of the rigid integral shaft is connected to a coupling 25, and the power of the first power source 7 is obtained through the coupling 25; the planetary gears 43 mesh with the internal gear ring 41, the sun gear shaft 40 and the internal gear ring 41 are coaxial, and the gear portion of the sun gear shaft 40 meshes with the planetary gears 43; the truss disk 50 is coaxial with the internal gear ring 41, the center of the planetary gears 43 is respectively interference-fitted with the outer ring of the planetary gear inner bearing 55, and the cylindrical pin 54 is used to connect the planetary gear inner bearing 55 and the truss disk 52. The inner thigh plate 15 of the frame 50 and the thigh mechanism 2 ensure that the truss disk 50 rotates synchronously with the planetary gear 43 as it rotates around the sun gear shaft 40. The inner gear connector 42 is fixedly connected to the other side of the inner gear ring 41, and at the same time, the inner gear connector 42 is tightly connected to the power transmission component 44, so that the rotation of the power transmission component 44 is synchronized with the rotation of the inner gear ring 41. The third synchronous pulley 45 is fixed on the power transmission component 44, so that the power of the inner gear ring 41 can be directly transmitted to the third synchronous pulley 45. The locking rod 30 in the quick-trigger actuator 13 clamps the inner gear connector 42 to the disc frame 67, so that the truss disk 50 obtains power and transmits it to the thigh mechanism 2. The locking rod 30 clamps the inner thigh plate 15 to the frame plate 66, so that the inner gear connector 42 obtains power and transmits it to the third synchronous pulley 45, and then transmits it to the wheel mechanism 3 via the third synchronous pulley 45.

[0059] Furthermore, the internal gear connector 42 has multiple locking holes along its outer periphery, and the disc frame 67 has insertion holes. The locking rod 30 passes through the insertion holes and engages with the locking holes to achieve locking.

[0060] Further, the wheel mechanism 3 includes a knee joint shaft 20, a fourth copper sleeve 56, a first spacer 21, a second spacer 58, a Mecanum wheel 57, a second synchronous pulley 23, and a fourth synchronous pulley 24; wherein, the second synchronous pulley 23 and the fourth synchronous pulley 24 are installed on the knee joint shaft 20, and the Mecanum wheel 57 is installed at the end; the power on the power transmission component 44 in the planetary gear module 12 of the power switching module is transmitted to the fourth synchronous pulley 24 through the third synchronous pulley 45, and then transmitted to the knee joint shaft 20 through the fourth synchronous pulley 24, and then the knee joint shaft 20 directly drives the Mecanum wheel 57; the power of the first synchronous pulley 36 in the quick triggering actuator 13 of the power switching module is transmitted to the fourth synchronous pulley 24.

[0061] Furthermore, the leg structure also includes a suspension mechanism 5 mounted on the frame plate 66.

[0062] Furthermore, the suspension mechanism 5 includes a spring sheet metal connector 65 and a first spring sheet metal part 64; one end of the spring sheet metal connector 65 is fixed to the frame plate 66, and the other end of the spring sheet metal connector 65 is fixed to one end of the second spring sheet metal part 64, and the other open end of the second spring sheet metal part 64 is used for pushing in / pulling out the lower leg limiting rod 61.

[0063] According to another aspect of the present invention, a wheel-legged composite robot is provided, including a frame for mounting the leg structure described in any of the above, such as a wheel-legged composite robot consisting of four leg structures.

[0064] The following detailed description, with reference to the accompanying drawings, describes optional specific embodiments of the present invention:

[0065] A wheel-leg hybrid robot leg structure based on the planetary gear differential principle, capable of both legged and wheeled working modes, such as... Figure 1 The image shown is of a wheel type. Figure 2 The image shows a foot pose. (Example) Figure 1 , 2 As shown in Figure 17, during specific installation, the frame plate 66 is fixed to the base frame 68 by threaded fasteners; the first power source 7 is also fixed to the base frame 68 by threaded fasteners.

[0066] like Figure 3 , 4 As shown, the power source module 1 includes a first power source 7 and a second power source 9. The output end of the first power source 7, which is mounted on the frame, is connected to the first power source synchronous shaft 8 by bolts. The output end of the second power source 9, which is mounted on the outer thigh plate 11 of the thigh mechanism 2, is connected to the second power source synchronous shaft 10 by bolts.

[0067] like Figure 5-6As shown, the thigh mechanism 2, inner thigh plate 15, outer thigh plate 11, thigh strength rod 14, tension wheel adjusting rod 18, first power source synchronous shaft bearing 39, power transmission component bearing 46, knee joint shaft bearing 22, and tension bearing 19 are described. The outer ring of the first power source synchronous shaft bearing 39 is connected to the upper end of the inner thigh plate 15 via an interference fit, and retaining springs on both axial sides prevent axial movement. The outer ring of the power transmission component bearing 46 is connected to the pre-drilled hole in the middle of the outer thigh plate 11 via an interference fit, fixed on one axial side by a retaining spring, and axially positioned by abutting against the third synchronous pulley 45 on the other side. The outer ring of the knee joint shaft bearing 22 is connected to the inner thigh plate 15 via an interference fit. The lower end pre-drilled hole is connected by an interference fit. In the axial direction, a retaining spring is used on one side and a first spacer 21 is used on the other side to achieve axial positioning. The four thigh strength rods 14 are respectively connected to the inner thigh plate 15 and the outer thigh plate 11 and are connected by threaded fasteners. The two ends of the tension wheel adjusting rod 18 are clearance-fitted with the thigh plates on both sides and can slide in the sliding grooves reserved in the inner thigh plate 15 and the outer thigh plate 11. At the same time, there are lock nuts to lock it. The tension bearing 19 cooperates with the tension wheel adjusting rod 18 and uses a retaining spring to achieve its axial positioning. The quick trigger actuator 13 is located above the hip joint of the thigh mechanism 2. The planetary gear module 12 is located at the hip joint of the thigh mechanism 2.

[0068] like Figure 7 , 8As shown in Figures 20, 23, 27, and 30, the rapid triggering actuator 13 includes a cylindrical cam 37, a triggering steel ball 35, a shift fork lever 33, a shift fork 28, a hinge plate 17, a first spring sheet metal part 16, a tension spring 26, an M3X22 threaded pin 27, an M3X30 double-ended screw support rod 38, a slider 29, a slider guide rod 32, a first copper sleeve 31, a locking rod 30, and a first synchronous pulley 36. The second power source synchronous shaft 10 passes sequentially through the outer thigh plate 11, the first synchronous pulley 36, the cylindrical cam 37, and the first power source synchronous shaft bearing 39. The cylindrical cam 37 is keyed to the second power source synchronous shaft 10, and the first synchronous pulley 36 is connected to the second power source synchronous shaft 10 via a set screw. The cylindrical cam 37 is mounted axially upward on the source synchronous shaft 10. The two ends of the first synchronous pulley 36 are positioned by snap rings. The trigger ball 35 is located in the groove of the cylindrical cam 37 and can slide along the groove, and is actuated by the cylindrical cam 37 when needed. One end of the shift fork lever 33 engages with the trigger ball 35, and the other end is threadedly fastened to the upper part of the shift fork 28. The shift fork lever 33 has a hole in the middle, which is clearance-fitted with the optical axis of the M3X30 double-ended screw rod 38, thus forming the fulcrum of the shift fork lever 33. The hinge plate 17 is connected to the inner thigh plate 15 by threaded fasteners, simultaneously restricting both ends of the M3X30 double-ended screw rod 38. Both ends of the M3X30 double-ended screw rod 38 are connected to the hinge plate 17. Locking is achieved by tightening the lock nut, ultimately making the M3X30 double-ended screw 38, hinge plate 17, and inner thigh plate 15 a rigid whole, providing a fulcrum for the shift fork lever 33. Simultaneously, limiting sleeves 34 are added to both sides of the shift fork lever 33 for positioning, preventing the shift fork lever 33 from sliding on the M3X30 double-ended screw. A through hole is opened on one side of the middle of the shift fork 28, and a threaded hole is opened on the other side, through which an M3X22 threaded pin 27 passes, and is threaded at the end with the threaded hole. A slot is cut at the upper end of the slider 29, which is clearance-fitted with the M3X22 threaded pin 27 on the shift fork 28. The through hole in the middle of the slider 29 is interference-fitted with the first copper sleeve 31, and the first copper sleeve 31 is then used to connect with the slider fixed between the inner thigh plate 15 and the outer thigh plate 11. The guide rod 32 is clearance-fitted for the slider 29 to slide left and right along the slider guide rod 32. The threaded hole at the lower end of the slider 29 is fastened to the locking rod 30 by threads. Two first spring sheet metal parts 16 are connected to the inner thigh plate 15 by threaded fasteners and are located on both sides of the cylindrical cam 37. The free end of the first spring sheet metal part 16 is connected to one end of the tension spring 26. The two ends of the lower part of the shift fork 28 are respectively connected to the other end of the tension spring 26, so that the tension spring 26 is always in a state of tension and elasticity. When the slider 29 is in the middle of the stroke, the tension of the tension spring 26 reaches the maximum and the elasticity reaches the maximum. When the slider 29 is at the end of the stroke, the tension of the tension spring 26 is the minimum and the elasticity is the minimum. This helps to realize the rapid left and right displacement of the slider 29 and the locking rod 30.

[0069] like Figures 9-11 、 Figure 21 、 Figure 22 、 Figures 24-26As shown, the planetary gear module 12 includes a sun gear shaft 40, three planetary gears 43, an internal gear ring 41, a truss disk 50, an internally threaded cylindrical pin 54, a second copper sleeve 48, a third spacer 49, a third copper sleeve 53, a frame plate bearing 47, planetary gear inner bearings 55, a screw 51, an outer shaft 52, an internal gear connector 42, a power transmission component 44, a third synchronous pulley 45, and a disc frame 67. The sun gear shaft 40 has threaded holes at the gear end, and the outer shaft 52 also has threaded holes at one end. The sun gear shaft 40 and the outer shaft 52 are then connected by a screw 51 to form a rigid integral shaft. The non-gear end of the rigid integral shaft's sun gear shaft 40 is connected to a coupling 25, and the shaft passes sequentially from one end of the sun gear shaft 40 to the other end through the machine... The structure includes a frame bearing 47, a second copper sleeve 48, a truss disk 50, three planetary gears 43, and a third copper sleeve 53. The three planetary gears 43 mesh with the inner gear ring 41 at 120° intervals. The sun gear shaft 40 is coaxial with the inner gear ring 41, and the gear portion of the sun gear shaft 40 meshes with the three planetary gears 43. The truss disk 50 is coaxial with the inner gear ring 41. The centers of the three planetary gears 43 are respectively interference-fitted with the outer rings of the three planetary gear inner bearings 55. Three cylindrical pins 54, from one end to the other, sequentially make clearance fits with the inner rings of the planetary gear inner bearings 55, clearance fits with pre-drilled holes on the truss disk 50 located on one side of the inner gear ring 41, pass through the inner thigh plate 15, and are secured with nuts, causing the three planetary gears 43 to rotate around the sun gear. When shaft 40 rotates, truss disk 50 rotates synchronously with it; the internal gear connector 42 is connected to the other side of internal gear ring 41 by threaded fasteners, and the center hole of internal gear connector 42 is a threaded hole, which is fastened to the threaded part at one end of power transmission component 44, so that the rotation of power transmission component 44 is synchronized with the rotation of internal gear ring 41; the inner ring of the third copper sleeve 53 is clearance-fitted with the outer circumference of the outer shaft 52, and the outer ring of the third copper sleeve 53 is clearance-fitted with the inner ring of power transmission component 44, thus acting as a bearing; the third synchronous pulley 45 is coaxial with power transmission component 44, and is fixed to power transmission component 44 with set screws, and is positioned axially by the shoulder on power transmission component 44 and the bearing 46 of power transmission component, so that internal gear ring 41 is... The power can be directly transmitted to the third synchronous pulley 45; the inner ring of the second copper sleeve 48 is clearance-fitted with the outer circumference of the sun gear shaft 40, and one end of the outer ring of the second copper sleeve 48 is clearance-fitted with the inner thigh plate 15, which acts as a bearing for the inner thigh plate 15; the other end of the outer ring of the second copper sleeve 48 is clearance-fitted with the inner ring of the third spacer 49, and one end of the third spacer 49 contacts the inner thigh plate 15, and the other end contacts the truss plate 50, which plays an axial positioning role; the inner ring of the frame plate bearing 47 is interference-fitted with the outer circumference of the sun gear shaft 40, and the outer ring of the frame plate bearing 47 is interference-fitted with the frame plate 66; the locking rod 30 in the quick-trigger actuator 13 clamps the internal gear connector 42 with the disc frame 67, so that the truss plate 50 obtains power and transmits it to the thigh mechanism 2;The locking rod 30 clamps the inner thigh plate 15 to the frame plate 66, so that the internal gear connector 42 obtains power and transmits it to the third synchronous pulley 45, and then transmits it to the wheel mechanism 3 via the third synchronous pulley 45.

[0070] like Figure 12 , 13 As shown, the wheel mechanism 3 includes a knee joint shaft 20, a fourth copper sleeve 56, a first spacer 21, a second spacer 58, a 100mm Mecanum pulley 57, a second synchronous pulley 23, and a fourth synchronous pulley 24. The knee joint shaft 20 passes sequentially from one end to the other through a first knee joint shaft bearing 22, a first spacer 21, a second knee joint shaft bearing 22, a second synchronous pulley 23, a fourth synchronous pulley 24, and a fourth copper sleeve 56 before connecting to the 100mm Mecanum pulley 57. The fourth synchronous pulley 24 is fixed to the knee joint shaft 20 by a set screw, and is axially positioned by the shoulder of the knee joint shaft 20 and the fourth copper sleeve 56. The 100mm Mecanum pulley 57 is fixed to the knee joint shaft 20 by a set screw. The power on the power transmission component 44 is transmitted through a third synchronous pulley. 45 is transmitted via a synchronous belt to the fourth synchronous belt pulley 24, and then via the fourth synchronous belt pulley 24 to the knee joint shaft 20, which in turn directly drives the 100mm Mecanum wheel 57 to work; the fourth copper sleeve 56 is arranged in a stepped manner and is coaxial with the knee joint shaft 20. The inner ring of the fourth copper sleeve 56 is clearance-fitted with the knee joint shaft 20, and the outer ring of the fourth copper sleeve 56 is clearance-fitted with the outer thigh plate 11 and the outer calf plate 59. The stepped arrangement of the fourth copper sleeve 56 serves as both a bearing and an axial positioning function; the first spacer 21, installed between the inner thigh plate 15 and the inner calf plate 62, is coaxial with the knee joint shaft 20 and is clearance-fitted, serving an axial positioning function; the inner ring of the second spacer 58 is clearance-fitted with the 100mm Mecanum wheel 57, also serving an axial positioning function.

[0071] like Figure 14 , 15 As shown in Figure 28, the lower leg mechanism 4 includes an inner lower leg plate 62, an outer lower leg plate 59, a knee joint bearing 22, a lower leg body 60, and a lower leg limiting rod 61. One end of the inner lower leg plate 62 has a pre-drilled hole that is interference-fitted with the outer ring of the knee joint bearing 22; one end of the outer lower leg plate 59 has a pre-drilled hole that is clearance-fitted with the fourth copper sleeve 56; the top of the lower leg limiting rod 61 is threaded and connected to the threaded hole at the foot end of the lower leg body 60 for threaded fastening; the two sides of the upper end of the lower leg body 60 are respectively connected to the outer lower leg plate 59 and the other end of the outer lower leg plate 60 and fastened with threaded fasteners. The synchronous pulley fixing member 63 is arranged in a stepped configuration. One end of the synchronous pulley fixing member 63 is fastened to the second synchronous pulley 23 with screws, and the other end of the synchronous pulley fixing member 63 is fastened to the inner lower leg plate 62 with screws, achieving power transmission while simultaneously enabling axial positioning of the second synchronous pulley 23.

[0072] like Figure 16 , 29 As shown, the suspension mechanism 5 includes a spring sheet metal connector 65 and a second spring sheet metal part 64; one end of the spring sheet metal connector 65 is connected to the frame plate 66 by a threaded fastener, and the other end of the spring sheet metal connector 65 is connected to the second spring sheet metal part 64 by a threaded fastener. The second spring sheet metal part 64 is used for pushing in / pulling out the lower leg limiting rod 61. The spring sheet metal part can be a 65 manganese spring sheet metal part.

[0073] Furthermore, the distance between the inner thigh plate 15 of the thigh mechanism 2 and the frame plate 66 can be set to be greater than or equal to 9mm; the distance between the inner thigh plate 62 of the lower leg mechanism 4 near the frame plate 66 and the outer thigh plate 11 away from the frame plate 66 can be 1mm-3.1mm.

[0074] The power transmission process of this invention is as follows:

[0075] The power transmission process of the second power source 9 is as follows: The power of the second power source 9 is first transmitted to the second power source synchronous shaft 10, and then transmitted to the knee joint (i.e., the connection between the lower leg and the calf) by a pair of synchronous pulleys (first synchronous pulley 36 and second synchronous pulley 23) connected by a synchronous belt. The second synchronous pulley 23 of the calf mechanism has a built-in bearing, so the power is only transmitted to the second synchronous pulley 23 at the knee joint. The inner side plate 62 of the calf is connected to the second synchronous pulley 23 through the synchronous pulley fastener 63 and fixed by threaded fasteners. Thus, the power of the second synchronous pulley 23 can be directly transmitted to the calf mechanism 4, thereby realizing the direct control of the calf mechanism 4 by the second power source 9.

[0076] The power transmission process of the first power source 7: The thigh mechanism 2 and the wheel mechanism 3 share the first power source 7. The two ends of the coupling 25 are connected to the synchronous rotating shaft 8 of the first power source and the sun gear shaft 40, respectively. First, the first power source 7 transmits power to the sun gear shaft 40 through the synchronous rotating shaft 8 and the coupling 25. Then, the power begins to split here: During foot movement, the locking rod 30 locks the internal gear connector 42 to the disc frame 67, so that the power of the first power source 7 is only transmitted to the truss disk 50 of the planetary gear module 12. The truss disk 50 is connected to the inner thigh plate 15 by threaded fasteners. Therefore, during foot movement, the first power source 7 The movement of the thigh mechanism 2 is directly controlled. During wheel-like movement, the locking rod 30 locks the inner thigh plate 15 to the frame plate 66, ensuring that the power from the first power source 7 is transmitted only to the internal gear connector 42 of the planetary gear module 12. Since the power transmission component 44 is threadedly connected to the internal gear connector 42, and is also fixedly connected to the third synchronous pulley 45, and the fourth synchronous pulley 24, connected to the third synchronous pulley 45 via a synchronous belt, is fixedly connected to the knee joint shaft 20, and the knee joint shaft 20 is connected to the 100mm Mecanum wheel 57 via threaded fasteners, the first power source 7 can directly control the movement of the wheel mechanism 3 at this time. (See also...) Figure 18 , 19 .

[0077] As can be seen from the above technical solution, the robot leg structure provided by this invention combines the advantages of wheeled and legged robots, and can adjust its movement mode according to the terrain, thereby achieving high-efficiency energy utilization. First, compared with the wheel-legged hybrid robots on the market, this invention realizes the power output of three motion mechanisms from two power sources, directly reducing the robot manufacturing cost and improving resource utilization. Second, compared with the dual-motor type wheel-legged hybrid robot leg structure, the underlying mechanism logic of this invention is clear, the wheel-leg switching process is simple, and the switching speed of key parts during wheel-leg switching is fast. In particular, this invention can avoid the situation of wheel mechanism idling during legged movement, and the energy utilization rate is greatly improved.

[0078] The optional workflow of the present invention is given below with reference to Table 1:

[0079] During footwork: such as Figure 31The second power source 9 directly controls the lower leg mechanism 4 to swing within a certain range (according to the CPG motion control principle, the angle (β) between the lower leg mechanism 4 and the thigh mechanism 2 is 90°, and the lower leg mechanism 4 can swing up and down 7.5° around the knee joint axis (point B), that is, the lower leg mechanism 4 has a swing range of 15° relative to the knee joint (point B)). Within this range, the trigger steel ball 35 always slides in the parallel groove of the cylindrical cam 37, that is, the shift fork lever 33 does not rotate, and the slider 29 and the locking rod 30 do not move. The locking rod 30 always locks the internal gear connector 42 and the disc frame 67, and transmits power to the thigh mechanism 2 (see the above for details of the power transmission process). The angle (α) between the thigh mechanism 2 and the frame plate 66 swings within the range of 30-60°, thereby realizing that the first power source 7 and the second power source 9 control the thigh mechanism 2 and the lower leg mechanism 4 respectively, thus realizing the robot's leg movement.

[0080] When switching from foot-based to wheel-based motion: First, the first power source 7 directly controls the thigh mechanism 2. When the thigh mechanism 2 moves to an angle (α) with the frame plate 66 that is about to reach 60°, the second power source 9 quickly controls the lower leg mechanism 4 to exceed the 15° foot-based motion range. When the lower leg mechanism 4 exceeds the 15° foot-based motion range (i.e., the angle (β) between the lower leg mechanism 4 and the thigh mechanism 2 is between 60° and 82.5°), the trigger steel ball 35 quickly enters the inclined groove of the cylindrical cam 37, that is, the shift fork lever 33 quickly rotates, and the slider 29 and the locking rod 30 quickly move (starting to loosen the internal gear connecting piece 42). Due to the auxiliary switching of the tension spring 26, the displacement speed of the locking rod 30 is very fast, which can quickly lock the thigh mechanism 2. The first power source 7 stops working, and the second power source continues to work to keep the lower leg mechanism 4 raised. When the angle (β) between the lower leg mechanism 4 and the thigh mechanism 2 turns to 60°, the lower leg limit rod 61 enters the suspension mechanism 5, the second power source 9 stops working, and the switching is completed.

[0081] During wheel-like motion: the second power source 9 is not working, the lower leg mechanism 4 does not move, the angle (β) between the lower leg mechanism 4 and the thigh mechanism 2 is 60°, the trigger steel ball 35 is in the parallel groove of the cam 37, that is, the shift fork lever 33 does not rotate, and the slider 29 and the locking rod 30 do not move. The locking rod 30 always locks the inner thigh plate 15 and the frame plate 66 tightly, and the power is transmitted to the wheel mechanism 3 (see above for detailed power transmission process). The first power source 7 starts working and directly controls the wheel mechanism 3 to move, realizing wheel-like motion.

[0082] When switching from wheeled to footed motion: First, the first power source 7 stops. The second power source 9 controls the lower leg mechanism 4 to disengage from the suspension mechanism 5 (i.e., the angle (β) between the lower leg mechanism 4 and the thigh mechanism 2 is between 60° and 82.5°). This triggers the steel ball 35 to quickly enter the inclined groove of the cylindrical cam 37 from the opposite direction, causing the shift fork lever 33 to rotate rapidly. The slider 29 and the locking rod 30 quickly move (starting to relax the inner thigh plate 15). Due to the auxiliary switching of the tension spring 26, the displacement speed of the locking rod 30 is very fast, and the locking rod 30 quickly locks and jams the internal gear connector 42. At this time, the first power source 7 can control the thigh mechanism 2. The first power source 7 starts, and the second power source 9 continues to control the lower leg mechanism 4 to lower. When the angle (α) between the thigh mechanism 2 and the frame plate 66 is 45° and the angle (β) between the lower leg mechanism 4 and the thigh mechanism 2 turns to 90°, the switching is completed.

[0083] Table 1 below shows the specific analysis process of switching from foot motion to wheel motion. Since the switch from wheel motion to foot motion is a reverse process, it has been omitted in the table.

[0084] Table 1

[0085]

[0086] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A wheel-leg composite robot leg structure based on the planetary gear differential principle, characterized in that, It includes a power source module (1), a power switching module, a thigh mechanism (2), a wheel mechanism (3), and a lower leg mechanism (4). The power source module (1) includes a first power source (7) and a second power source (9). The second power source (9) is used to drive the lower leg mechanism (4) to move. The power switching module realizes the power switching between the thigh mechanism (2) and the wheel mechanism (3): under foot movement, the thigh mechanism (2) obtains the power provided by the first power source (7), and under wheel movement, the wheel mechanism (3) obtains the power provided by the first power source (7). The power switching module includes a fast trigger actuator (13) and a planetary gear module (12); wherein, the fast trigger actuator (13) is installed on the upper part of the thigh mechanism (2) and cooperates with the second power source synchronous shaft (10) of the second power source (9), the planetary gear module (12) is installed in the middle of the thigh mechanism (2) and cooperates with the first power source synchronous shaft (8) of the first power source (7), and the wheel mechanism (3) is installed on the lower part of the thigh mechanism (2).

2. The wheel-leg composite robot leg structure based on the planetary gear differential principle according to claim 1, characterized in that, The rapid triggering actuator (13) includes a pin (27), a fork (28), a slider (29), a locking rod (30), a first copper sleeve (31), a slider guide rod (32), a fork lever (33), a trigger steel ball (35), a first synchronous pulley (36), a cylindrical cam (37), and a support rod (38). The cylindrical cam (37) and the first synchronous pulley (36) are connected to the second power source synchronous shaft (10), and the power from the second power source synchronous shaft (10) is transmitted to the lower leg mechanism via the first synchronous pulley (36). The trigger steel ball (35) is located in the groove of the cylindrical cam (37) and can slide along the groove, thus actuating the trigger steel ball (35) through the cylindrical cam (37). One end of the fork lever (33) engages with the trigger steel ball (35), and the other end of the fork lever (33) engages with the trigger steel ball (35). One end is connected to the upper part of the shift fork (28), and the middle part of the shift fork lever (33) is opened for installing the support rod (38) connected to the inner thigh plate (15), thus forming the fulcrum of the shift fork lever (33); the upper end of the slider (29) is slotted and is clearance-fitted with the pin (27) installed in the middle of the shift fork (28), the through hole in the middle of the slider (29) is interference-fitted with the first copper sleeve (31), and the first copper sleeve (31) is clearance-fitted with the slider guide rod (32) fixed between the inner thigh plate (15) and the outer thigh plate (11) of the thigh mechanism (2), so that the slider (29) can slide along the slider guide rod (32), the lower end of the slider (29) is fixedly connected to the locking rod (30), and the locking rod (30) is driven by the slider (29) to move, thereby realizing the power switching between the thigh mechanism (2) and the wheel mechanism (3).

3. The wheel-foot composite robot leg structure based on the planetary gear differential principle according to claim 2, characterized in that, The rapid triggering actuator (13) also includes a first spring sheet metal part (16) and a tension spring (26); wherein, the two first spring sheet metal parts (16) located on both sides of the cylindrical cam (37) are connected to the inner thigh plate (15), and the free end of the first spring sheet metal part (16) is connected to one end of the tension spring (26), and the two ends of the lower part of the fork (28) are respectively connected to the other end of a tension spring (26), so that the tension spring (26) is always in a stretched state.

4. The wheel-leg composite robot leg structure based on the planetary gear differential principle according to claim 1, characterized in that, The planetary gear module (12) includes a sun gear shaft (40), planetary gears (43), an internal gear ring (41), a truss disk (50), an internally threaded cylindrical pin (54), an internal bearing for the planetary gears (55), an outer shaft (52), an internal gear connector (42), a power transmission component (44), a third synchronous pulley (45), and a disc frame (67); wherein, the sun gear shaft (40) and the outer shaft (52) are connected as a rigid integral shaft; the non-gear end of the sun gear shaft (40) of the rigid integral shaft is connected to a coupling. (25) Connected, the power of the first power source (7) is obtained through the coupling (25); the planetary gear (43) meshes with the internal gear ring (41), the sun gear shaft (40) is coaxial with the internal gear ring (41) and the gear part of the sun gear shaft (40) meshes with the planetary gear (43); the truss disk (50) is coaxial with the internal gear ring (41), the center of the planetary gear (43) is respectively interference-fitted with the outer ring of the planetary gear inner bearing (55), and the cylindrical pin (54) is used to connect the planetary gear inner bearing (55) and the truss. The inner thigh plate (15) of the disc (50) and the thigh mechanism (2) causes the truss disc (50) to rotate synchronously with the planetary gear (43) as it rotates around the sun gear shaft (40); the inner gear connector (42) is fixedly connected to the other side of the inner gear ring (41), and at the same time, the inner gear connector (42) is tightly connected to the power transmission component (44), so that the rotation of the power transmission component (44) is synchronized with the rotation of the inner gear ring (41); the third synchronous pulley (45) is fixed on the power transmission component (44), so that the rotation of the inner gear ring (41) is synchronized with the rotation of the inner gear ring (41); the inner gear ring (41) is fixed to the power transmission component (44), so that the rotation of the inner gear ring (41) is synchronized with the rotation of the sun gear shaft (41). 1) The power can be directly transmitted to the third synchronous pulley (45); the locking rod (30) in the quick-trigger actuator (13) clamps the internal gear connector (42) to the disc frame (67), so that the truss disc (50) obtains power and transmits it to the thigh mechanism (2); the locking rod (30) clamps the inner thigh plate (15) to the frame plate (66), so that the internal gear connector (42) obtains power and transmits it to the third synchronous pulley (45), and then transmits it to the wheel mechanism (3) via the third synchronous pulley (45).

5. The wheel-leg composite robot leg structure based on the planetary gear differential principle according to claim 4, characterized in that, The internal gear connector (42) has multiple locking holes along its outer periphery, and the disc frame (67) has an insertion hole. The locking rod (30) passes through the insertion hole and engages with the locking hole to achieve locking.

6. The wheel-leg composite robot leg structure based on the planetary gear differential principle according to claim 1, characterized in that, The wheel mechanism (3) includes a knee joint shaft (20), a fourth copper sleeve (56), a first spacer (21), a second spacer (58), a Mecanum wheel (57), a second synchronous pulley (23), and a fourth synchronous pulley (24); wherein, the second synchronous pulley (23) and the fourth synchronous pulley (24) are installed on the knee joint shaft (20), and the Mecanum wheel (57) is installed at the end; the power on the power transmission component (44) in the planetary gear module (12) of the power switching module is transmitted to the fourth synchronous pulley (24) through the third synchronous pulley (45), and then transmitted to the knee joint shaft (20) through the fourth synchronous pulley (24), and then the knee joint shaft (20) directly drives the Mecanum wheel (57); the power of the first synchronous pulley (36) in the quick triggering actuator (13) of the power switching module is transmitted to the fourth synchronous pulley (24).

7. The wheel-leg composite robot leg structure based on the planetary gear differential principle according to claim 1, characterized in that, The leg structure also includes a suspension mechanism (5) mounted on the frame plate (66).

8. The wheel-leg composite robot leg structure based on the planetary gear differential principle according to claim 7, characterized in that, The suspension mechanism (5) includes a spring sheet metal connector (65) and a second spring sheet metal part (64); one end of the spring sheet metal connector (65) is fixed to the frame plate (66), and the other end of the spring sheet metal connector (65) is fixed to one end of the second spring sheet metal part (64). The other open end of the second spring sheet metal part (64) is used for the lower leg limiting rod (61) to be pushed in / pulled out.

9. A wheel-legged composite robot, comprising a frame, characterized in that: The frame is used to mount the leg structure as described in any one of claims 1-8.

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