Leg structure of wheel-foot composite robot and wheel-foot robot

Abstract

The invention provides a leg structure of a wheel-foot composite robot and the wheel-foot robot, and relates to the technical field of robots, and the leg structure comprises a transmission assembly, a supporting assembly, a wheel-foot assembly and a power assembly; the transmission assembly comprises a bilateral crank assembly and a transmission connecting rod; the supporting assembly comprises a first supporting rod, an end cover and a second supporting rod. The wheel foot assembly comprises a hub motor, a hub motor connecting piece and a tire assembly. An output shaft of the power assembly is connected with the double-side crank assembly, the double-side crank assembly is connected with the transmission connecting rod, the transmission connecting rod is connected with the second supporting rod, and the second supporting rod is connected with the hub motor connecting piece. The power assembly is connected with the first supporting rod, and the first supporting rod is rotationally connected with the second supporting rod. The double-side crank assembly, the transmission connecting rod, the second supporting rod and the first supporting rod form a parallelogram transmission mechanism, and the power assembly drives the leg structure to do spatial motion through the parallelogram transmission mechanism.

Description

Technical Field

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

[0002] At present, legged robots have poor endurance and wheeled robots have poor obstacle crossing performance. Wheeled-legged robots can be divided into uncoupled and coupled types in terms of their structure. Uncoupled wheeled-legged robots use wheel structures and foot structures designed independently on the robot, while coupled wheeled-legged robots integrate wheel structures into the leg structures of the robot. Wheeled-legged robots replace the foot ends of the legged robots with wheels, so that the robots can move by rolling the wheels on the ground. The robot also retains the moving parts of the mechanical legs. This structure not only draws on the advantages of the discrete footholds of the legged robots to adapt to complex and rugged terrain, but also has the advantages of the fast moving speed and high movement efficiency of the wheeled robots to achieve rapid movement on flat roads. It broadens the application scenarios and operating scope of robots and has become a research hotspot for robotics scholars at home and abroad in recent years.

[0003] Patent CN110667724A discloses an all-terrain mobile robot, including a robot frame, and one or more mechanical leg assemblies arranged on the robot frame; the mechanical leg assembly includes a hip joint assembly, a thigh assembly, a calf assembly and a moving assembly; the thigh assembly is connected to the robot frame through a hip joint assembly; one end of the calf assembly is connected to the thigh assembly, and the other end of the calf assembly is connected to the moving assembly. The all-terrain mobile robot can keep the body balanced while moving quickly, has good flexibility and a wide range of uses.

[0004] Patent CN220302625U discloses a hydraulic leg based on a variable flow channel magnetorheological damper, which mainly includes thigh and calf hydraulic damping actuators, thigh guards, and calf; the thigh and calf hydraulic damping actuators are respectively composed of a hydraulic actuator and a magnetorheological damper connected in series through a common end cover and a piston rod, the hydraulic actuator drives the movement of the hydraulic leg, and the magnetorheological damper reduces the displacement error caused by vibration and impact during the movement; the magnetorheological damper includes a variable damping piston, a piston rod, and a damping sleeve, and the variable damping piston is composed of a multi-stage flow channel damping ring and a variable damping structure. The adjustable damping function after current is turned on or off is achieved by changing the gap between the inner wall of the damping sleeve and the damping piston; the variable damping structure includes a reset spring and an extrudable rubber ring; the utility model controls the vibration and impact problems of the hydraulic leg during the movement by controlling the size of the damping force, reduces the displacement error of the fuselage, and effectively improves the under-damping characteristics of the valve-controlled cylinder system.

[0005] The transmission method in the existing single-leg structure of wheeled robots mostly adopts parallelogram transmission. In the existing parallelogram transmission, the crank mostly adopts a single-support cantilever beam structure. Due to its structural characteristics, this method will cause an overturning moment at the support point, and the joint motor output shaft is mostly directly connected to the leg transmission structure. When the motor output torque drives the transmission structure, the structure is unevenly stressed and has to bear the force load of the leg structure at the same time, reducing the reliability of the structure. Summary of the invention

[0006] In order to solve the technical problem that in traditional robot parallelogram transmission, the crank mostly adopts a single-pivot cantilever beam structure, which will cause an overturning moment at the fulcrum due to its structural characteristics, and the joint motor output shaft is often directly connected to the leg transmission structure, so that when the motor output torque drives the transmission structure, the structure is unevenly stressed and has to bear the force load of the leg structure at the same time, thereby reducing the reliability of the structure, the present invention provides a wheel-foot composite robot leg structure and a wheel-foot robot.

[0007] The technical solution provided by the embodiment of the present invention is as follows:

[0008] A wheel-foot composite robot leg structure provided by an embodiment of the present invention comprises: a transmission assembly, a support assembly, a wheel-foot assembly and a power assembly;

[0009] The transmission assembly includes a double-sided crank assembly and a transmission connecting rod;

[0010] The support assembly comprises a first support rod, an end cap and a second support rod, wherein the end cap is arranged on the first support rod;

[0011] The wheel-foot assembly includes a hub motor, a hub motor connector, and a tire assembly;

[0012] The output shaft of the power assembly is connected to the double-sided crank assembly, the double-sided crank assembly is connected to the transmission connecting rod, the transmission connecting rod is connected to the second support rod, and the second support rod is connected to the hub motor connecting piece;

[0013] The power assembly is connected to the first support rod, and the first support rod is rotatably connected to the second support rod;

[0014] The wheel hub motor is connected to the tire assembly, and the wheel hub motor drives the tire assembly to rotate;

[0015] The double-sided crank assembly, the transmission connecting rod, the second support rod and the first support rod constitute a parallelogram transmission mechanism, and the power assembly drives the leg structure to move in space through the parallelogram transmission mechanism.

[0016] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0017] In an embodiment of the present invention, a more stable parallelogram transmission mechanism is constructed by introducing a double-sided crank assembly and a transmission connecting rod, thereby optimizing the force distribution and avoiding the imbalance problem caused by a single-point cantilever beam structure. The use of the double-sided crank assembly enables the transmission system to distribute and transmit power more stably, reduces the overturning moment, and improves the uniformity of structural force. At the same time, the first support rod and the second support rod are used to bear the force load of the leg structure, thereby improving the reliability of the parallelogram transmission mechanism and improving the stability and motion accuracy of the robot's legs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic structural diagram of a wheel-foot assembly provided in an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of the structure of a wheel-leg composite robot leg structure provided by an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the structure of a transmission assembly provided by an embodiment of the present invention;

[0022] Figure 4 An exploded perspective view of a transmission assembly provided by an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of a support assembly structure provided by an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of a wheel-foot composite robot provided in an embodiment of the present invention.

[0025] Reference numerals:

[0026] 1. Transmission assembly; 11. Double-sided crank assembly; 12. Transmission connecting rod; 111. Second support rod output flange; 112. Support shaft; 113. Connecting shaft; 114. Rotating shaft; 115. Crank outer plate; 2. Support assembly; 21. First support rod; 22. End cover; 23. Second support rod; 3. Wheel foot assembly; 31. Hub motor; 32. Hub motor connector; 33. Tire assembly; 331. Hub; 332. Tire; 4. Power assembly. DETAILED DESCRIPTION

[0027] The technical solution of the present invention is described below in conjunction with the accompanying drawings. It is also noted that, in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0028] It should be noted that the references to "one embodiment", "embodiment", "exemplary embodiments", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0029] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0030] It will be understood that the meanings of “on,” “over,” and “above” in the present invention should be interpreted in the broadest manner, so that “on” not only means “directly on” something, but also includes the meaning of being “on” something with intervening features or layers therebetween, and “on” or “over” not only means “on” or “above” something, but also includes the meaning of being “on” or “above” something with no intervening features or layers therebetween.

[0031] Additionally, spatially relative terms such as "under," "beneath," "lower," "above," "upper," and the like may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as shown in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein may be similarly interpreted accordingly.

[0032] like Figures 1 to 6 As shown, an embodiment of the present invention provides a wheel-foot composite robot leg structure, comprising: a transmission assembly 1, a support assembly 2, a wheel-foot assembly 3 and a power assembly 4;

[0033] The power assembly 4 provides driving force for the spatial movement of the leg structure of the wheel-leg compound robot. The support assembly 2 provides support for the main body of the leg structure of the wheel-leg compound robot.

[0034] The transmission assembly 1 includes a double-sided crank assembly 11 and a transmission connecting rod 12;

[0035] The support assembly 2 includes a first support rod 21, an end cover 22 and a second support rod 23, wherein the end cover 22 is disposed on the first support rod 21;

[0036] The wheel-foot assembly 3 includes a hub motor 31, a hub motor connector 32, and a tire assembly 33;

[0037] The output shaft of the power assembly 4 is connected to the double-sided crank assembly 11, the double-sided crank assembly 11 is connected to the transmission connecting rod 12, the transmission connecting rod 12 is connected to the second support rod 23, and the second support rod 23 is connected to the hub motor connector 32;

[0038] The power assembly 4 is connected to the first support rod 21, and the first support rod 21 is rotatably connected to the second support rod 23;

[0039] The wheel hub motor 31 is connected to the tire assembly 33, and the wheel hub motor 31 drives the tire assembly 33 to rotate;

[0040] The double-sided crank assembly 11, the transmission connecting rod 12, the second support rod 23 and the first support rod 21 constitute a parallelogram transmission mechanism, and the power assembly 4 drives the leg structure to move in space through the parallelogram transmission mechanism.

[0041] Specifically, the output shaft of the power component 4 is connected to the double-sided crank assembly 11. The power component 4 provides power to drive the double-sided crank assembly 11 to rotate around the output shaft, and the transmission connecting rod 12 is driven to rotate through the double-sided crank assembly 11. Under the constraint of the rotating pair formed by the transmission connecting rod 12 and the second support rod 23, the leg structure is driven to move in space.

[0042] It should be noted that the parallelogram transmission mechanism divides the bilateral crank assembly 11 into inner and outer sides, and the two parts clamp the transmission shaft in the middle, and the transmission shaft connects the crank. By replacing the inner and outer cranks, the cross-sectional dimensions can be adjusted to adapt to the circumferential dimensions of different first support rods 21, or by replacing the transmission shaft to adapt to the changes in the cross-sectional dimensions of the transmission connecting rod under different load-bearing capacities and joint motor torques, a forward modular design of some components of the transmission assembly can be achieved. This design enables the robot to be adjusted or upgraded according to different usage requirements and adapt to different application scenarios.

[0043] Furthermore, the present invention applies a wheeled structure to a legged robot to form a wheel-legged composite robot. While ensuring that the legged robot has the advantages of high power-to-weight ratio and strong adaptability to complex terrain, it also absorbs the faster moving speed and operating stability unique to the wheeled structure on flat roads. This combination improves the robot's moving speed in various terrains and broadens the robot's application scenarios and operating range.

[0044] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0045] In an embodiment of the present invention, a more stable parallelogram transmission mechanism is constructed by introducing a double-sided crank assembly and a transmission connecting rod, thereby optimizing the force distribution and avoiding the imbalance problem caused by a single-point cantilever beam structure. The use of the double-sided crank assembly enables the transmission system to distribute and transmit power more stably, reduces the overturning moment, and improves the uniformity of structural force. At the same time, the first support rod and the second support rod are used to bear the force load of the leg structure, thereby improving the reliability of the parallelogram transmission mechanism and improving the stability and motion accuracy of the robot's legs.

[0046] Optionally, the power assembly 4 can be integrated at the hip position of the robot to reduce the transmission inertia generated when the leg assembly moves and improve the performance of the robot.

[0047] In a possible implementation, the double-sided crank assembly 11 includes a second support rod output flange 111, a support shaft 112, a connecting shaft 113, a rotating shaft 114 and a crank outer plate 115; the second support rod output flange 111 and the crank outer plate 115 are fixedly connected via the support shaft 112, the connecting shaft 113 and the rotating shaft 114;

[0048] In the present invention, by introducing multiple connecting components such as the support shaft 112, the connecting shaft 113, the rotating shaft 114, etc., the second support rod output flange 111 and the crank outer plate 115 are firmly connected, ensuring the stability and accuracy of the double-sided crank assembly 11.

[0049] In a possible implementation manner, two ends of the transmission connecting rod 12 are respectively interference fit with the rotating shaft 114 and the second support rod 23 .

[0050] In the present invention, the interference fit between the transmission connecting rod 12 and the rotating shaft 114 and the second support rod 23 further enhances the firmness of the connection, avoids possible loosening or deviation during movement, and thus improves the reliability and durability of the transmission system. This structural design optimizes the mechanical properties, ensures the smooth transmission of power, and improves the movement accuracy and overall stability of the robot.

[0051] In a possible implementation manner, the support shaft 112 , the connecting shaft 113 , and the rotating shaft 114 are all fixedly connected to the side surface of the second support rod output flange 111 by means of threads.

[0052] In the present invention, the support shaft 112, the connection shaft 113 and the rotation shaft 114 are connected by threaded fixing, thereby ensuring a firm connection and precise docking between the various components, and avoiding looseness or deviation during movement.

[0053] In a possible implementation, the second support rod output flange 111 is connected to the output shaft of the power assembly 4 via screws, and the crank outer plate 115 is cooperatively connected to the end cover 22 via the connecting shaft 113 .

[0054] In the present invention, the screw connection between the second support rod output flange 111 and the output shaft of the power assembly 4 helps to ensure the stable transmission of power and enhance the reliability of the system. The matching connection between the connecting shaft 114 and the end cover 22 further improves the transmission accuracy and stability between the components. In general, this fastening design improves the structural stability of the entire transmission system, ensuring higher motion accuracy and longer service life.

[0055] In a possible embodiment, thrust bearings are provided on both sides of the near crank end of the transmission connecting rod 12, and the thrust bearings form a revolving pair with the second support rod output flange 111 and the crank outer disk 115 respectively. Two deep groove ball bearings are provided in the axial hole of the near crank end of the transmission connecting rod 12, and a revolving pair is formed between the deep groove ball bearings and the rotating shaft 114; the connecting shaft 113 is fixedly connected to the second support rod output flange 111 by a thread, and passes through the crank outer disk 115 and the end cover 22 in turn, and the connecting shaft 113 and the end cover 22 are fixed by a retaining ring to form a revolving pair; the support shaft 112 is fixedly connected to the second support rod output flange 111, and passes through the crank outer disk 115, and the crank outer disk 115 is fixed by a retaining ring; the second support rod output flange 111 and the crank outer disk 115 are fixedly connected.

[0056] In the present invention, by arranging a thrust bearing and a deep groove ball bearing at the near crank end of the transmission connecting rod 12, the friction and wear between each rotating pair are effectively reduced, ensuring a smoother rotational motion and high-precision force transmission. The cooperation between the thrust bearing and the second support rod output flange 111 and the crank outer disk 115 provides stable rotation support and reduces vibration and displacement errors. At the same time, the connecting shaft 113 is fixedly connected to the second support rod output flange 111 through a thread and fixed with a retaining ring, which enhances the firmness of the connection and prevents loosening or deviation during movement. Through these precise bearing and connection designs, the efficient and stable operation of the transmission system is ensured, and the reliability and durability of the entire structure are improved.

[0057] In a possible embodiment, the double-sided crank assembly 11 adopts a single integral component crank design or a split crank design.

[0058] In the present invention, a single integral crank design or a split crank design is adopted, which can flexibly adjust the complexity of the design and the manufacturing cost according to actual needs. The single integral crank design improves the overall rigidity of the structure, reduces the connecting parts, and reduces the possible failure points, thereby enhancing the stability and durability of the system. The split crank design provides higher flexibility and maintainability, making it easier to replace and adjust parts under different load conditions to adapt to different working environments and needs. This design choice improves the adaptability of the structure, while reducing manufacturing and maintenance costs, and improving the reliability and long-term performance of the robot.

[0059] In a possible embodiment, the first support rod 21 is connected to the power component 4 by screws; the first support rod 21 is fixedly connected to the end cover 22 by screws; deep groove ball bearings are installed on both sides of the first support rod 21, and the first support rod 21 cooperates with the pin holes set on the second support rod 23, and a copper sleeve is embedded in the pin holes set on the second support rod 23; under the drive of the transmission assembly, the first support rod 21 and the second support rod 23 form a rotating pair; the second support rod 23 is connected to the pin holes set on the transmission connecting rod 12 through a hinge pin.

[0060] In the present invention, the first support rod 21 is connected to the power assembly 4 and the end cover 22 by screws, ensuring the stability and reliability of the structure. The installation of deep groove ball bearings reduces friction and ensures the smooth rotation of the first support rod 21 during movement. The first support rod 21 is matched with the pin hole of the second support rod 23 and embedded through a copper sleeve, which enhances the wear resistance of the structure and the stability of the connection, while forming a rotating pair to allow smooth rotation between the two support rods. In addition, the hinge pin connects the second support rod 23 and the transmission connecting rod 12 to ensure efficient and accurate transmission movement. This series of designs improves the motion accuracy, stability and durability of the entire structure, helps to extend the service life of the robot and improve its overall performance.

[0061] In a possible implementation manner, through holes are formed inside the first support rod 21 and the second support rod 23 , and the through holes are used for electrical control wiring of the wheel-foot assembly 3 .

[0062] In the present invention, the design of providing through holes in the first support rod 21 and the second support rod 23 for electric control wiring can effectively hide and protect the electric control circuit, avoiding damage and interference that may be caused by exposed cables. This wiring method not only makes the structure of the robot more neat and beautiful, but also reduces the potential safety hazards caused by exposed wires. In addition, the through-hole design improves the anti-interference ability of the electric control system, ensures the stable transmission of the electric control signal, and provides convenience for the maintenance and replacement of the system, thereby enhancing the overall reliability and service life of the robot.

[0063] In a possible embodiment, the tire assembly 33 includes a wheel hub 331 and a tire 332; the upper side of the hub motor connector 32 is connected to the second support rod 23 by screws; the output shaft of the hub motor 31 is fixedly connected to the wheel hub 331; and a roller bearing is arranged between the hub motor connector 32 and the wheel hub 331.

[0064] It should be noted that the end face of the roller bearing provides axial constraint and transmits the supporting force applied by the ground to the overall structure of the robot, thereby preventing the supporting force from being directly transmitted to the hub motor 31 and protecting the motor.

[0065] In the present invention, the hub motor connector is fixed to the second support rod by screw connection, which ensures the stable installation of the hub motor and reduces possible vibration and displacement during movement. The fixed connection between the output shaft of the hub motor and the hub ensures the efficient transmission of power and improves the transmission efficiency of the power system. In addition, the setting of the roller bearing makes the connection between the hub and the hub motor smoother, reduces friction and wear, and improves the operating stability and durability of the system. Overall, this structural design improves the robot's motion performance and reliability, and reduces maintenance requirements.

[0066] In a possible implementation, the tire 332 is a pneumatic tire; a trapezoidal slot is provided on the wheel hub 331 , and two sides of the tire 332 are clamped in the trapezoidal slot; the air valve opening provided on the wheel hub 331 is clamped correspondingly with the independent air valve on the tire 332 .

[0067] It should be noted that, in the present invention, pneumatic tires are used in the robot wheel-leg structure to replace solid tires whose transmission tire skin is in direct contact with the wheel hub. The pneumatic tires have a good supporting effect on the weight of the entire robot.

[0068] In the present invention, by adopting a pneumatic tire and setting a trapezoidal slot on the wheel hub, the tire can be firmly fixed on the wheel hub, thereby enhancing the connection stability between the tire and the wheel hub. The trapezoidal slot design ensures that both sides of the tire are firmly inserted, avoiding the problem of the tire loosening or falling off during use. At the same time, the design of the air nozzle opening and the independent air nozzle clip simplifies the inflation operation, ensures that the inflation process is more convenient and quick, and improves the convenience and reliability of the system. This design not only improves the stability and durability of the tire, but also enhances the adaptability of the robot on different terrains.

[0069] An embodiment of the present invention provides a wheel-leg composite robot leg structure, including the wheel-leg composite robot leg structure described above.

[0070] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0071] In an embodiment of the present invention, a more stable parallelogram transmission mechanism is constructed by introducing a double-sided crank assembly and a transmission connecting rod, thereby optimizing the force distribution and avoiding the imbalance problem caused by a single-point cantilever beam structure. The use of the double-sided crank assembly enables the transmission system to distribute and transmit power more stably, reduces the overturning moment, and improves the uniformity of structural force. At the same time, the first support rod and the second support rod are used to bear the force load of the leg structure, thereby improving the reliability of the parallelogram transmission mechanism and improving the stability and motion accuracy of the robot's legs.

[0072] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0073] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A wheel-foot composite robot leg structure, characterized in that: include: Transmission assembly, support assembly, wheel foot assembly and power assembly; The transmission assembly includes a double-sided crank assembly and a transmission connecting rod; The support assembly comprises a first support rod, an end cap and a second support rod, wherein the end cap is arranged on the first support rod; The wheel-foot assembly includes a hub motor, a hub motor connector, and a tire assembly; The output shaft of the power assembly is connected to the double-sided crank assembly, the double-sided crank assembly is connected to the transmission connecting rod, the transmission connecting rod is connected to the second support rod, and the second support rod is connected to the hub motor connecting piece; The power assembly is connected to the first support rod, and the first support rod is rotatably connected to the second support rod; The wheel hub motor is connected to the tire assembly, and the tire assembly is driven to rotate by the wheel hub motor; The double-sided crank assembly, the transmission connecting rod, the second support rod and the first support rod constitute a parallelogram transmission mechanism, and the power assembly drives the leg structure to perform spatial movement through the parallelogram transmission mechanism.

2. The wheel-foot composite robot leg structure according to claim 1, characterized in that: The double-sided crank assembly comprises a second support rod output flange, a support shaft, a connecting shaft, a rotating shaft and a crank outer plate; The second support rod output flange is fixedly connected to the crank outer plate via the support shaft, the connecting shaft and the rotating shaft; The two ends of the transmission connecting rod are respectively interference fit with the rotating shaft and the second supporting rod.

3. The wheel-foot composite robot leg structure according to claim 1, characterized in that: The supporting shaft, the connecting shaft and the rotating shaft are all fixedly connected to the side of the second supporting rod output flange by threads; the second supporting rod output flange and the output shaft of the power assembly are connected by screws, and the outer crank disk is connected to the end cover by the connecting shaft.

4. The wheel-foot composite robot leg structure according to claim 3, characterized in that: Thrust bearings are arranged on both sides of the near crank end of the transmission connecting rod, and the thrust bearings respectively form a rotating pair with the second support rod output flange and the crank outer disk; two deep groove ball bearings are arranged in the axial hole of the near crank end of the transmission connecting rod, and a rotating pair is formed between the deep groove ball bearings and the rotating shaft; the connecting shaft is fixedly connected to the second support rod output flange by a thread, and passes through the crank outer disk and the end cover in turn, and the connecting shaft and the end cover are fixed by a retaining ring to form a rotating pair; the support shaft is fixedly connected to the second support rod output flange, passes through the crank outer disk, and fixes the crank outer disk by a retaining ring; the second support rod output flange is fixedly connected to the crank outer disk.

5. The wheel-foot composite robot leg structure according to claim 1, characterized in that: The double-sided crank assembly adopts a single integral component crank design or a split crank design.

6. The wheel-foot composite robot leg structure according to claim 1, characterized in that: The first support rod is connected to the power component by screws; the first support rod is fixedly connected to the end cover by screws; deep groove ball bearings are installed on both sides of the first support rod, the first support rod cooperates with the pin holes set on the second support rod, and a copper sleeve is embedded in the pin holes set on the second support rod; under the drive of the transmission component, the first support rod and the second support rod form a rotating pair; the second support rod is connected to the pin holes set on the transmission connecting rod by a hinge pin.

7. The wheel-foot composite robot leg structure according to claim 1, characterized in that: There are through holes inside the first support rod and the second support rod, and the through holes are used for electrical control wiring of the wheel-foot assembly.

8. The wheel-foot composite robot leg structure according to claim 1, characterized in that: The tire assembly includes a wheel hub and a tire; the upper side of the wheel hub motor connector is connected to the second support rod by screws; the output shaft of the wheel hub motor is fixedly connected to the wheel hub; and a roller bearing is arranged between the wheel hub motor connector and the wheel hub.

9. The wheel-foot composite robot leg structure according to claim 8, characterized in that: The tire is a pneumatic tire; a trapezoidal slot is provided on the wheel hub, and two sides of the tire are clamped in the trapezoidal slot; the air nozzle opening provided on the wheel hub is clamped and corresponds to the independent air nozzle on the tire.

10. A wheeled robot, characterized in that: It comprises the wheel-leg composite robot leg structure as described in any one of claims 1 to 9.

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