Wheel foot leg with double buffer structures and wheel foot robot

Abstract

The invention discloses a wheel foot leg with a double-buffering structure and a wheel foot robot, and relates to the technical field of robots. The invention aims to solve the problem of insufficient buffering performance caused by small size of an elastic element and limited buffering stroke of the existing wheel-foot type robot. The buffering type wheel foot leg comprises a knee joint motor, a knee joint crank, a knee joint connecting rod, a thigh, a shank, a hub motor, a knee joint buffering mechanism and a leg buffering mechanism, a knee joint motor output shaft of the knee joint motor is fixedly connected with one end of the knee joint crank, and the other end of the knee joint crank is rotationally connected with the upper end of the shank through the knee joint connecting rod; the upper end of the thigh is fixedly connected with the knee joint motor through the thigh flange, the lower end of the thigh is rotationally connected with the upper side of the shank, the lower end of the shank is connected with the hub motor, the knee joint buffering mechanism is arranged between the thigh and the knee joint crank to achieve buffering of the knee joint, and the leg buffering mechanism is arranged between the thigh and the shank to achieve buffering of the leg. The invention is used for the foot-type robot.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a wheel-foot leg and a wheel-foot robot with a double buffer structure. Background Art

[0002] Quadruped robots are more free in choosing their own footholds and can cross obstacles that are similar in length to their legs. Therefore, quadruped robots have better performance in overcoming obstacles. Legged robots have strong adaptability to rugged terrain. Through design, the legged structure can achieve actions such as jumping, crossing obstacles, climbing, and moving on complex terrain. However, legged robots have low energy efficiency, a relatively complex overall structure, slow movement speed on flat terrain, and limited application range. On flat terrain, wheeled robots move fast, have low energy consumption, and high energy efficiency. However, for natural environments, wheeled robots have poor adaptability and high requirements for road surface flatness. In terrestrial environments, such as forests, mountains, and other environments without flat terrain, due to the limited wheel radius and suspension travel, the traffic capacity of wheeled robots is usually not as effective as other structures, and it is difficult to pass through soft terrain, gullies or obstacles. The wheeled-legged robot combines the advantages of the foot structure and the wheel structure, which can not only ensure the high-speed and efficient movement of the robot on flat terrain, but also improve the robot's adaptability to various rugged terrains and complete various complex tasks. When a wheeled robot moves on its wheels, it will be impacted by the ground, so a corresponding buffering mechanism is needed to reduce the impact force on the robot structure; when a wheeled robot moves on its feet, when moving, jumping or falling from a height, the buffering of the structure can be coordinated with the buffering control strategy to further reduce the impact force on the structure.

[0003] Due to different application scenarios and structural designs, some existing wheeled-legged robots do not have buffer mechanisms, some achieve shock absorption by installing torsion springs at the joints, and some achieve buffering by connecting tension springs with connecting rods at the joints. Adding a buffer mechanism at the joint, its buffering stroke mainly depends on the joint rotation angle. Due to the limited space at the joint, the size of the buffer mechanism is limited, the size of the elastic element is small, the buffering performance is insufficient, and the overall size of the joint is increased, affecting the overall compactness of the robot. Summary of the invention

[0004] In order to solve the problem of insufficient buffering performance caused by the small size of elastic elements and limited buffering stroke of existing wheel-footed robots, the present invention further proposes a wheel-foot leg and a wheel-footed robot with a double buffering structure.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] A wheel-foot leg with a double buffer structure includes a knee joint motor, a knee joint crank, a knee joint connecting rod, a thigh, a calf, a wheel hub motor, a knee joint buffer mechanism and a leg buffer mechanism. The knee joint motor is fixed to the knee joint motor base, the knee joint motor output shaft of the knee joint motor is fixed to one end of the knee joint crank, the other end of the knee joint crank is rotatably connected to the upper end of the calf through the knee joint connecting rod, the upper end of the thigh is fixed to the knee joint motor through the thigh flange, the lower end of the thigh is rotatably connected to the upper side of the calf, the lower end of the calf is connected to the wheel hub motor, the knee joint buffer mechanism is arranged between the thigh and the knee joint crank to achieve buffering of the knee joint, and the leg buffer mechanism is arranged between the thigh and the calf to achieve buffering of the leg.

[0007] Furthermore, the knee joint crank is arranged on one side of the output shaft of the knee joint motor and along the radial direction of the output shaft of the knee joint motor.

[0008] Furthermore, the knee joint connecting rods are arranged in parallel on the outside of the thigh, one end of the knee joint connecting rod is hinged to the other end of the knee joint crank, and the other end of the knee joint connecting rod is hinged to the upper end of the calf.

[0009] Furthermore, the thigh flange is fixedly connected to the knee joint motor, and the upper end of the thigh is fixedly connected to the thigh flange.

[0010] Furthermore, the knee joint buffer mechanism includes a joint compression spring seat and a joint compression spring. The joint compression spring seat is fixedly connected to one side of one end of the knee joint crank, and a stopper is fixedly connected to the inner side of the upper end of the thigh. The joint compression spring is circumferentially arranged between the joint compression spring seat and the stopper along the outer wall of the knee joint motor output shaft.

[0011] Furthermore, the leg buffer mechanism includes a thigh sliding assembly, a slider connecting rod and a calf sliding assembly, the slider connecting rod is arranged on the inner side of the knee joint, one end of the slider connecting rod is slidably and rotatably connected to the thigh through the thigh sliding assembly, and the other end of the slider connecting rod is slidably and rotatably connected to the calf through the calf sliding assembly.

[0012] Furthermore, the thigh sliding assembly includes an upper fixed block on the thigh optical axis, a thigh compression spring, a thigh optical axis, a thigh slider and a lower fixed block on the thigh optical axis. The upper fixed block on the thigh optical axis is fixedly connected to the inside of the upper side of the thigh, the lower fixed block on the thigh optical axis is fixedly connected to the inside of the lower side of the thigh, the thigh optical axis is fixed between the upper fixed block on the thigh optical axis and the lower fixed block on the thigh optical axis, the thigh slider is mounted on the thigh optical axis and is slidably connected to the thigh optical axis, the thigh compression spring is arranged between the upper fixed block on the thigh optical axis and the thigh slider and is mounted on the thigh optical axis, and one end of the slider connecting rod is hinged to the thigh slider.

[0013] Furthermore, the calf sliding assembly includes a calf optical axis upper fixing block, a calf slider, a calf compression spring, the calf optical axis and a calf optical axis lower fixing block, the calf optical axis upper fixing block is fixedly connected to the inner part of the upper side of the calf, the calf optical axis is fixedly connected between the calf optical axis upper fixing block and the calf optical axis lower fixing block, the calf slider is sleeved on the calf optical axis and slidably connected with the calf optical axis, the calf compression spring is arranged between the calf slider and the calf optical axis lower fixing block and sleeved on the calf optical axis, and the other end of the slider connecting rod is hinged to the calf slider.

[0014] A wheel-foot robot with a double-buffer structure includes four wheel-foot legs with a double-buffer structure, and also includes a trunk mechanism, the trunk mechanism includes a trunk frame and four side-swing hip joints, and a side-swing hip joint is respectively provided at the front and rear ends of both sides of the trunk frame, each side-swing hip joint is respectively connected to the knee joint motor base of a wheel-foot leg, and the side-swing hip joint drives the wheel-foot leg to swing sideways and forward and backward.

[0015] Furthermore, the side-swing hip joint includes a side-swing joint motor, a side-swing joint motor mounting plate, a hip joint motor base and a hip joint motor. The side-swing joint motor mounting plate is fixedly connected to the trunk frame, the side-swing joint motor is fixedly connected to the side-swing joint motor mounting plate, the output shaft of the side-swing joint motor is fixedly connected to the hip joint motor base, the hip joint motor is fixedly connected to the hip joint motor base, and the output shaft of the hip joint motor is fixedly connected to the knee joint motor base.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The purpose of the present invention is to provide a wheel-foot leg and a wheel-foot robot with a double buffer structure to solve the problems existing in the above-mentioned prior art. On the basis of the compression spring in the joint, by respectively setting the compression spring in the thigh and calf of the wheel-foot robot, the slider moves on the optical axis to compress the compression spring, and the slider connection between the thigh and calf is realized by the slider connecting rod, and the compression spring set in the leg is used to achieve a larger buffer stroke, so that the movement is smoother, and energy is stored for jumping, and the impact when falling from a height is absorbed, so as to achieve better buffering. The buffer structure is set in the robot rod, and the built-in setting does not destroy the structure, is hidden, does not limit the movement of the joint, has a large stroke, reduces the size and occupied space of the wheel-foot robot buffer structure, and ensures the compactness of the overall structure.

[0018] The present invention arranges compression springs in the thigh and calf of the wheel-legged robot, and realizes a slider connection between the thigh and the calf through a slider connecting rod. The slider moves on the optical axis to compress the compression spring. The compression spring arranged in the leg is used to achieve a larger buffering stroke, so that the movement is smoother, and energy is stored for jumping, and the impact when falling from a height is absorbed, thereby achieving better buffering and protecting the structure of the wheel-legged robot.

[0019] The present invention utilizes the movement of a slider on an optical axis to achieve compression of a compression spring, and converts the change in height between the joint motor and the hub motor of the wheel-foot robot during the buffering process into a moving distance of a slider installed inside the upper and lower legs. The change in the flexion and extension height of the wheel-foot leg during buffering is amplified, the buffering stroke is increased, and a better buffering and shock-absorbing effect is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of a wheel-foot robot with a double buffer structure in the present invention;

[0021] Figure 2 It is a schematic diagram of the overall structure of a wheel-foot leg with a double buffer structure in the present invention;

[0022] Figure 3 It is a cross-sectional schematic diagram of an overall structure of a wheel-foot leg with a double buffer structure in the present invention;

[0023] Figure 4 It is a schematic diagram of the structure of a wheel-foot leg with a double buffer structure in the present invention when it is in a landing buffer state, wherein 13-1 is a state after the joint compression spring is compressed;

[0024] Figure 5 It is a schematic cross-sectional view of the structure of a wheel-foot leg with a double buffer structure in the present invention when in a landing buffer state, wherein 20-1 is a state after the thigh compression spring is compressed, and 27-1 is a state after the calf compression spring is compressed. DETAILED DESCRIPTION

[0025] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] Specific implementation method 1: Combination Figures 1 to 5The present embodiment is described. The wheel-foot leg with a double buffer structure described in the present embodiment includes a knee joint motor 10, a knee joint crank 16, a knee joint connecting rod 18, a thigh 30, a calf 14, a hub motor 15, a knee joint buffer mechanism and a leg buffer mechanism. The knee joint motor 10 is fixedly connected to the knee joint motor base 9, the knee joint motor output shaft 12 of the knee joint motor 10 is fixedly connected to one end of the knee joint crank 16, the other end of the knee joint crank 16 is rotatably connected to the upper end of the calf 14 through the knee joint connecting rod 18, the upper end of the thigh 30 is fixedly connected to the knee joint motor 10 through the thigh flange 11, the lower end of the thigh 30 is rotatably connected to the upper side of the calf 14, the lower end of the calf 14 is connected to the hub motor 15, the knee joint buffer mechanism is arranged between the thigh 30 and the knee joint crank 16 to achieve buffering of the knee joint, and the leg buffer mechanism is arranged between the thigh 30 and the calf 14 to achieve buffering of the leg.

[0027] In this embodiment, the knee joint motor 10 is installed on the knee joint motor base 9, and the knee joint motor output shaft 12 of the knee joint motor 10 drives the knee joint crank 16 to rotate, and the knee joint crank 16 drives the calf 14 of the wheel foot leg to swing through the knee joint connecting rod 18.

[0028] Specific implementation method 2: Combination Figures 1 to 5 To describe this embodiment, the knee joint crank 16 described in this embodiment is arranged on one side of the knee joint motor output shaft 12 and is arranged along the radial direction of the knee joint motor output shaft 12 .

[0029] The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0030] This design facilitates power transmission of the knee joint motor output shaft 12.

[0031] Specific implementation method three: Combination Figures 1 to 5 To illustrate this embodiment, the knee joint connecting rod 18 described in this embodiment is arranged in parallel on the outer side of the thigh 30, one end of the knee joint connecting rod 18 is hinged to the other end of the knee joint crank 16, and the other end of the knee joint connecting rod 18 is hinged to the upper end of the calf 14.

[0032] The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0033] The knee joint connecting rod 18, thigh 30, knee joint crank 16 and calf 14 are designed in this way to form a parallelogram connecting rod mechanism in the enclosed area, so as to convert the rotation of the knee joint motor output shaft 12 into the swing of the calf 14, thereby realizing power transmission.

[0034] Specific implementation method four: Combination Figures 1 to 5To explain this embodiment, the thigh flange 11 in this embodiment is fixedly connected to the knee joint motor 10 , and the upper end of the thigh 30 is fixedly connected to the thigh flange 11 .

[0035] The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0036] Such design enables the upper end of the thigh 30 to be fixedly connected to the knee joint motor 10 .

[0037] Specific implementation method five: Combination Figures 1 to 5 To illustrate this embodiment, the knee joint buffer mechanism described in this embodiment includes a joint compression spring seat 17 and a joint compression spring 13. The joint compression spring seat 17 is fixedly connected to one side of one end of the knee joint crank 16. A stopper 31 is fixedly connected to the inner side of the upper end of the thigh 30. The joint compression spring 13 is circumferentially arranged between the joint compression spring seat 17 and the stopper 31 along the outer wall of the knee joint motor output shaft 12.

[0038] The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0039] The knee joint buffer mechanism is located at the thigh hip joint as the first buffer mechanism. The joint compression spring seat 17 is connected to the knee joint crank 16. The joint compression spring 13 is installed between the joint compression spring seat 17 and the stopper 31, which converts the torsional movement of the knee joint into compression of the compression spring, thereby achieving buffering.

[0040] In order to facilitate the effective positioning of the joint compression spring 13, an annular guide groove can be provided on the inner side of the upper end of the thigh 30, and the joint compression spring 13 is arranged in the guide groove to guide the joint compression spring 13. Figure 2 A guide rod may also be provided between the joint compression spring seat 17 and the stopper 31, the guide rod being circumferentially provided along the outer wall of the knee joint motor output shaft 12, the joint compression spring 13 being sleeved on the guide rod, the guide rod being a telescopic structure or a structure disconnected in the middle, the joint compression spring 13 being compressed toward the joint compression spring seat 17 along the direction of the guide rod, thereby guiding the joint compression spring 13.

[0041] Specific implementation method six: Combination Figures 1 to 5 To illustrate this embodiment, the leg buffer mechanism described in this embodiment includes a thigh sliding assembly, a slider connecting rod 24 and a calf sliding assembly. The slider connecting rod 24 is arranged on the inner side of the knee joint. One end of the slider connecting rod 24 is slidably and rotatably connected to the thigh 30 through the thigh sliding assembly, and the other end of the slider connecting rod 24 is slidably and rotatably connected to the calf 14 through the calf sliding assembly.

[0042] The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0043] The leg buffer mechanism is located inside the thigh 30 and the calf 14 as the second buffer mechanism. The slider connecting rod 24 slides and rotates between the thigh 30 and the calf 14 respectively, and the leg buffering is achieved through the shock-absorbing effect of the thigh sliding component and the calf sliding component.

[0044] Specific implementation method seven: Combination Figures 1 to 5 To illustrate this embodiment, the thigh sliding assembly described in this embodiment includes a thigh optical axis upper fixed block 19, a thigh compression spring 20, a thigh optical axis 21, a thigh slider 22 and a thigh optical axis lower fixed block 23. The thigh optical axis upper fixed block 19 is fixedly connected to the inner part of the upper side of the thigh 30, the thigh optical axis lower fixed block 23 is fixedly connected to the inner part of the lower side of the thigh 30, the thigh optical axis 21 is fixedly connected between the thigh optical axis upper fixed block 19 and the thigh optical axis lower fixed block 23, the thigh slider 22 is mounted on the thigh optical axis 21 and is slidably connected to the thigh optical axis 21, the thigh compression spring 20 is arranged between the thigh optical axis upper fixed block 19 and the thigh slider 22 and is mounted on the thigh optical axis 21, and one end of the slider connecting rod 24 is hinged to the thigh slider 22.

[0045] The undisclosed technical features in this embodiment are the same as those in the sixth embodiment.

[0046] Specific implementation method eight: Combination Figures 1 to 5 To illustrate this embodiment, the calf sliding assembly described in this embodiment includes a calf optical axis upper fixing block 25, a calf slider 26, a calf compression spring 27, a calf optical axis 28 and a calf optical axis lower fixing block 29. The calf optical axis upper fixing block 25 is fixedly connected to the interior of the upper side of the calf 14, the calf optical axis lower fixing block 29 is fixedly connected to the interior of the lower side of the calf 14, the calf optical axis 28 is fixedly connected between the calf optical axis upper fixing block 25 and the calf optical axis lower fixing block 29, the calf slider 26 is sleeved on the calf optical axis 28 and is slidably connected to the calf optical axis 28, the calf compression spring 27 is arranged between the calf slider 26 and the calf optical axis lower fixing block 29 and is sleeved on the calf optical axis 28, and the other end of the slider connecting rod 24 is hinged to the calf slider 26.

[0047] The undisclosed technical features in this embodiment are the same as those in the sixth embodiment.

[0048] The thigh optical axis 21 is connected to the thigh 30 through the upper and lower fixing blocks of the thigh optical axis, and the calf optical axis 28 is connected to the calf 14 through the upper and lower fixing blocks of the calf optical axis. The slider is installed on the optical axis and moves along the optical axis. The thigh slider 22 and the calf slider 26 are connected through the slider connecting rod 24. A thigh compression spring 20 is installed between the thigh slider 22 and the upper fixing block 19 of the thigh optical axis, and a calf compression spring 27 is installed between the calf slider 26 and the lower fixing block 29 of the calf optical axis. When the wheel foot leg is fully extended, the thigh slider 22 contacts the lower fixing block 23 of the thigh optical axis, and the calf slider 26 contacts the upper fixing block 25 of the calf optical axis. Since the length of the slider connecting rod 24 is fixed, when the wheel foot leg is flexed, the thigh slider 22 moves along the optical axis to the upper fixing block 19 of the thigh optical axis, and the calf slider 26 moves along the optical axis to the lower fixing block 29 of the calf optical axis, so that the thigh compression spring 20 and the calf compression spring 27 are compressed and deformed, thereby achieving buffering.

[0049] Specific implementation method nine: Combination Figures 1 to 5 To illustrate this embodiment, a wheeled-leg robot with a double-buffer structure described in this embodiment includes four wheeled-leg legs with a double-buffer structure, and also includes a trunk mechanism, the trunk mechanism includes a trunk frame and four side-swing hip joints, and a side-swing hip joint is respectively provided at the front and rear ends of both sides of the trunk frame, each side-swing hip joint is respectively connected to a knee joint motor base 9 of a wheeled-leg, and the side-swing hip joint drives the wheeled-leg to swing sideways and forward and backward.

[0050] The wheeled-leg robot consists of a trunk mechanism and four wheeled-leg legs. The trunk mechanism includes a trunk frame and four side-swing hip joints. The trunk frame is composed of two vertically opposite trunk side panels 1, two parallel horizontally arranged trunk top panels 2 and two parallel horizontally arranged trunk bottom panels 3. Two trunk partition panels 4 are arranged in parallel in the middle to enhance the stability of the overall trunk frame. The panels are connected by bolts.

[0051] Specific implementation method ten: Combination Figures 1 to 5 To illustrate this embodiment, the side swing hip joint described in this embodiment includes a side swing joint motor 5, a side swing joint motor mounting plate 6, a hip joint motor base 7 and a hip joint motor 8. The side swing joint motor mounting plate 6 is fixedly connected to the trunk frame, the side swing joint motor 5 is fixedly connected to the side swing joint motor mounting plate 6, the output shaft of the side swing joint motor 5 is fixedly connected to the hip joint motor base 7, the hip joint motor 8 is fixedly connected to the hip joint motor base 7, and the output shaft of the hip joint motor 8 is fixedly connected to the knee joint motor base 9.

[0052] The undisclosed technical features in this embodiment are the same as those in the ninth embodiment.

[0053] The side swing joint motor mounting plate 6 is fixedly connected to the front and rear ends of the trunk frame; the side swing joint motor 5 is mounted on the side swing joint motor mounting plate 6 and connected to the hip joint motor base 7 to drive the wheel foot leg to swing sideways; the hip joint motor 8 is mounted on the hip joint motor base 7 and connected to the knee joint base 9 to drive the thigh 30 of the wheel foot leg connected to the knee joint motor 10 to swing; the knee joint motor 10 is mounted on the knee joint base 9 and the knee joint motor 10 is connected to the knee joint motor shaft 12, and the knee joint motor shaft 12 drives the knee joint crank 16 and the knee joint connecting rod 18, thereby driving the calf 14 of the wheel foot leg to swing.

[0054] How it works

[0055] When the wheeled-leg robot moves and the ground impacts the wheel hub motor, the calf rotates around the knee joint and the wheeled-leg flexes, driving the knee joint connecting rod and the knee joint crank to compress the joint compression spring to achieve buffering. At the same time, when the calf moves, the slider connecting rod between the thigh and calf drives the thigh slider and the calf slider to move along the optical axis, compressing the thigh compression spring and the calf compression spring to absorb the energy generated by the impact force and achieve buffering.

[0056] When the robot is ready to jump, the wheel legs contract first. At this time, the joint compression springs, thigh compression springs and calf compression springs are compressed to store energy. When the wheel-legged robot jumps, the compression springs stretch to release additional compression energy, and cooperate with the motor drive to improve the jumping ability of the wheel-legged robot.

[0057] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A wheel-foot leg with a double buffer structure, characterized in that: The invention comprises a knee joint motor (10), a knee joint crank (16), a knee joint connecting rod (18), a thigh (30), a calf (14), a wheel hub motor (15), a knee joint buffer mechanism and a leg buffer mechanism, wherein the knee joint motor (10) is fixedly connected to a knee joint motor base (9), a knee joint motor output shaft (12) of the knee joint motor (10) is fixedly connected to one end of the knee joint crank (16), and the other end of the knee joint crank (16) is fixedly connected to the calf through the knee joint connecting rod (18). The upper end of the thigh (30) is rotatably connected to the knee joint motor (10) through the thigh flange (11), the lower end of the thigh (30) is rotatably connected to the upper side of the calf (14), the lower end of the calf (14) is connected to the wheel hub motor (15), the knee joint buffer mechanism is arranged between the thigh (30) and the knee joint crank (16) to achieve knee joint buffering, and the leg buffer mechanism is arranged between the thigh (30) and the calf (14) to achieve leg buffering.

2. The wheel-foot leg with a double buffer structure according to claim 1, characterized in that: The knee joint crank (16) is arranged on one side of the knee joint motor output shaft (12) and is arranged along the radial direction of the knee joint motor output shaft (12).

3. The wheel-foot leg with a double buffer structure according to claim 1, characterized in that: The knee joint connecting rod (18) is arranged in parallel on the outside of the thigh (30), one end of the knee joint connecting rod (18) is hinged to the other end of the knee joint crank (16), and the other end of the knee joint connecting rod (18) is hinged to the upper end of the calf (14).

4. The wheel-foot leg with a double buffer structure according to claim 1, characterized in that: The thigh flange (11) is fixedly connected to the knee joint motor (10), and the upper end of the thigh (30) is fixedly connected to the thigh flange (11).

5. The wheel-foot leg with a double buffer structure according to claim 1, characterized in that: The knee joint buffer mechanism comprises a joint compression spring seat (17) and a joint compression spring (13); the joint compression spring seat (17) is fixedly connected to one side of one end of a knee joint crank (16); a stopper (31) is fixedly connected to the inner side of the upper end of a thigh (30); and the joint compression spring (13) is circumferentially arranged between the joint compression spring seat (17) and the stopper (31) along the outer side wall of the knee joint motor output shaft (12).

6. The wheel-foot leg with a double buffer structure according to claim 1, characterized in that: The leg buffer mechanism comprises a thigh sliding assembly, a slider connecting rod (24) and a calf sliding assembly. The slider connecting rod (24) is arranged on the inner side of the knee joint. One end of the slider connecting rod (24) is connected to the thigh (30) in a sliding and rotatable manner through the thigh sliding assembly, and the other end of the slider connecting rod (24) is connected to the calf (14) in a sliding and rotatable manner through the calf sliding assembly.

7. The wheel-foot leg with a double buffer structure according to claim 6, characterized in that: The thigh sliding assembly comprises a thigh optical axis upper fixing block (19), a thigh compression spring (20), a thigh optical axis (21), a thigh slider (22) and a thigh optical axis lower fixing block (23). The thigh optical axis upper fixing block (19) is fixedly connected to the inner part of the upper side of the thigh (30), the thigh optical axis lower fixing block (23) is fixedly connected to the inner part of the lower side of the thigh (30), the thigh optical axis (21) is fixedly connected between the thigh optical axis upper fixing block (19) and the thigh optical axis lower fixing block (23), the thigh slider (22) is sleeved on the thigh optical axis (21) and is slidably connected to the thigh optical axis (21), the thigh compression spring (20) is arranged between the thigh optical axis upper fixing block (19) and the thigh slider (22) and is sleeved on the thigh optical axis (21), and one end of the slider connecting rod (24) is hinged to the thigh slider (22).

8. The wheel-foot leg with a double buffer structure according to claim 6, characterized in that: The calf sliding assembly comprises a calf optical axis upper fixing block (25), a calf slider (26), a calf compression spring (27), a calf optical axis (28) and a calf optical axis lower fixing block (29), wherein the calf optical axis upper fixing block (25) is fixedly connected to the interior of the upper side of the calf (14), the calf optical axis lower fixing block (29) is fixedly connected to the interior of the lower side of the calf (14), the calf optical axis (28) is fixedly connected between the calf optical axis upper fixing block (25) and the calf optical axis lower fixing block (29), the calf slider (26) is sleeved on the calf optical axis (28) and is slidably connected to the calf optical axis (28), the calf compression spring (27) is arranged between the calf slider (26) and the calf optical axis lower fixing block (29) and is sleeved on the calf optical axis (28), and the other end of the slider connecting rod (24) is hinged to the calf slider (26).

9. A wheel-foot robot with a double buffer structure, characterized in that: The invention comprises a wheel-foot leg with a double-buffer structure as described in any one of claims 1 to 8, and also comprises a trunk mechanism, the trunk mechanism comprises a trunk frame and four side-swing hip joints, a side-swing hip joint is respectively provided at the front and rear ends of both sides of the trunk frame, each side-swing hip joint is respectively connected to a knee joint motor base (9) of a wheel-foot leg, and the side-swing hip joint drives the wheel-foot leg to swing sideways and forward and backward.

10. A wheeled robot with a double buffer structure according to claim 9, characterized in that: The side-swing hip joint comprises a side-swing joint motor (5), a side-swing joint motor mounting plate (6), a hip joint motor base (7) and a hip joint motor (8); the side-swing joint motor mounting plate (6) is fixedly connected to the trunk frame; the side-swing joint motor (5) is fixedly connected to the side-swing joint motor mounting plate (6); the output shaft of the side-swing joint motor (5) is fixedly connected to the hip joint motor base (7); the hip joint motor (8) is fixedly connected to the hip joint motor base (7); and the output shaft of the hip joint motor (8) is fixedly connected to the knee joint motor base (9).

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