Wheel foot leg with planetary ladder stand structure and wheel foot leg robot

Abstract

The invention provides the wheel foot leg with the planetary ladder stand structure and the wheel foot leg robot. The wheel foot leg robot can be adaptive to uneven terrains and has the overall height adjusting capacity, a smooth and stable ladder stand can be achieved, higher stability and movement efficiency are achieved, and the requirement for a joint motor is lower. The wheel foot leg comprises a trunk mechanism, a leg type mechanism and a planet overturning wheel type mechanism. The trunk mechanism is movably connected with the leg type mechanism; the leg type mechanism is movably connected with the planetary turnover wheel type mechanism; an energy system and a control system are arranged in the trunk mechanism, in the ladder climbing process, by turning over a triangular planet wheel structure, one planet secondary wheel serves as a supporting point to make contact with a ladder, so that auxiliary supporting is provided, the stability and smoothness of the ladder climbing process are remarkably improved, and meanwhile through the flexible layout of synchronous belt transmission, the stability and smoothness of the ladder climbing process are improved. The overturning joint motor can be away from the tail end of the leg, the overall movement performance of the system is optimized, and the compactness and reliability of the mechanical structure are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a wheeled-foot leg with a planetary ladder-climbing structure and a wheeled-foot leg robot. Background Art

[0002] Wheeled robots reduce motion shock through rolling contact and have advantages such as high efficiency, stability, and flexibility, and are widely used in fields such as cargo transportation, environmental exploration, and disaster relief. However, their motion mode is single, and their obstacle-crossing ability is limited, making it difficult to adapt to complex terrains. On the contrary, although legged robots have strong terrain adaptability, they have inherent defects such as low moving efficiency and high energy consumption. Therefore, wheeled-foot hybrid mobile robots have become a research hotspot, aiming to combine the high efficiency of wheeled robots and the obstacle-crossing ability of legged robots.

[0003] In complex environments, stairs are one of the most common terrain obstacles. Existing wheeled-foot robots mostly follow the motion mode of legged robots when climbing stairs, such as jumping or climbing stairs imitating human legs. Such methods have significant defects: they require higher control complexity, precise gait planning and balance, and strict requirements for sensors and algorithms; the motion efficiency is low, the actions are slow and the energy consumption is large, making it difficult to meet the requirements of rapid response; the environmental adaptability is insufficient, the robustness to changes in stair dimensions is poor, and it is easy to become unstable due to differences in step heights. In addition, some wheeled-foot robots adopt a wheel group structure, which improves flexibility, but has a large center-of-gravity fluctuation, poor stability, and a large volume when climbing stairs, making it difficult to adapt to narrow spaces such as residential stairs.

[0004] In summary, existing wheeled-foot robots still face technical bottlenecks such as complex control, low efficiency, and insufficient stability in the stair-climbing function. Therefore, developing a wheeled-foot stair-climbing robot with both motion flexibility, high efficiency, and stability is a key technical problem that urgently needs to be broken through in this field. Summary of the Invention

[0005] In order to solve at least one aspect of the technical problems in the background art, the present invention provides a wheeled-foot leg with a planetary ladder-climbing structure. This wheeled-foot leg robot can adapt to uneven terrains and adjust its overall height. This wheeled-foot leg robot can achieve smooth and stable stair climbing, has higher stability and motion efficiency, and has lower requirements for joint motors.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows: A wheeled-foot leg with a planetary ladder-climbing structure includes a torso mechanism, a leg mechanism, and a planetary flipping wheel mechanism; The torso mechanism is movably connected to the leg mechanism; The leg mechanism is movably connected to the planetary flipping wheel mechanism; An energy system and a control system are provided inside the torso mechanism.

[0007] Furthermore, the leg mechanism includes hip motors disposed on both sides of the torso mechanism; A thigh frame is provided on the output shaft of the hip motor; A knee motor is provided at the lower end of the thigh frame; A calf frame is provided on the output shaft of the knee motor.

[0008] Furthermore, the calf frame is disposed inside the thigh frame.

[0009] Furthermore, the planetary flipping mechanism includes a planetary flipping motor which is disposed in the upper middle part of the calf frame; The output shaft of the planetary flipping motor penetrates through the side wall of the calf frame and extends to the inside. A flipping driving synchronous pulley is provided on the output shaft of the planetary flipping motor; A flipping driven synchronous pulley is provided at the lower end inside the calf frame through a bearing and is in transmission connection with the flipping driving synchronous pulley through a planetary flipping synchronous belt; One end of the flipping driven synchronous pulley located outside the calf frame is provided with a triangular planetary transmission frame; Star sub-wheel driven synchronous pulleys are hinged at the triangular ends inside the triangular planetary transmission frame; A triangular planetary frame is provided outside the triangular planetary transmission frame. Planetary sub-wheels are provided at the triangular ends of the triangular planetary frame through planetary wheel shafts and are located inside the triangular planetary frame; The three planetary sub-wheels are respectively in transmission connection with the three star sub-wheel driven synchronous pulleys; A planetary sub-wheel motor is provided at the lower end outside the calf frame. The output shaft of the planetary sub-wheel motor passes through the hollow hole inside the flipping driven synchronous pulley and extends to the inside of the triangular planetary transmission frame; A planetary sub-wheel driving synchronous pulley is provided on the output shaft of the planetary sub-wheel motor and is located at the central position inside the triangular planetary transmission frame; A star sub-wheel synchronous belt is provided between the planetary sub-wheel driving synchronous pulley and the three star sub-wheel driven synchronous pulleys; The star sub-wheel synchronous belt is in meshing transmission connection with the planetary sub-wheel driving synchronous pulley and the three star sub-wheel driven synchronous pulleys respectively through a plurality of synchronous belt tensioning wheels.

[0010] Furthermore, the number of the plurality of synchronous belt tensioning wheels is six; They are evenly arranged in pairs on the outside of the planetary sub-wheel driving synchronous pulley; One synchronous belt tensioning pulley in each group is arranged on the side wall of the triangular planetary transmission frame through a fixed shaft, and the other synchronous belt tensioning pulley in each group is arranged on the side wall of the triangular planetary transmission frame through an adjusting bolt structure.

[0011] Furthermore, the planetary secondary wheel driving synchronous belt pulley and the flipping driven synchronous belt pulley adopt a concentric shaft design. The hollow shaft of the planetary secondary wheel driving synchronous belt pulley is sleeved inside the hollow shaft of the flipping driven synchronous belt pulley, and the two are connected through bearings.

[0012] Furthermore, the number of teeth of the flipping driving synchronous belt pulley and the flipping driven synchronous belt pulley is 44 each, and the transmission ratio is 1:1. The belt type of the planetary flipping synchronous belt is selected as 8M, the belt width is 30 mm, the transmission spacing is 240 mm, and the belt length used is 840 mm.

[0013] Furthermore, the diameter of the planetary secondary wheel is 230 mm and the width is 40 mm.

[0014] Furthermore, the number of teeth of the planetary secondary wheel driving synchronous belt pulley and the planetary secondary wheel driven synchronous belt pulley is 32 each, and the transmission ratio is 1:1. The belt type of the planetary secondary wheel synchronous belt is selected as 14M, the belt width is 30 mm, and the belt length used is 1988 mm.

[0015] The present invention also provides a wheel-legged robot, including the wheel-legged structure described in any one of the above.

[0016] The beneficial effects of the present invention are as follows: 1. Based on the existing two-wheel-legged robot, the present invention replaces the hub motor at the end of the leg with a triangular planetary gear structure. During the ladder climbing process, by flipping the triangular planetary gear structure, one of the planetary secondary wheels is used as a support point to contact the ladder, thereby providing auxiliary support, significantly improving the smoothness and fluency of the ladder climbing process, while reducing the control complexity and improving the movement efficiency.

[0017] 2. The present invention uses synchronous belt drive to replace the traditional gear group drive, realizing the long-distance simultaneous drive of 3 planetary secondary wheels. While ensuring an accurate transmission ratio, it significantly reduces the system weight, effectively reduces the inertia at the end of the leg, and improves the dynamic response ability of the robot.

[0018] 3. The synchronous belt drive of the planetary secondary wheel used in the present invention adopts an outer tensioning method, which increases the wrap angle of the synchronous belt, effectively prevents slipping or tooth skipping phenomena, and ensures the transmission stability. In addition, both ends of the tensioning pulley are fixed on the sliding grooves of the triangular transmission frame, with the function of adjustable tension, further optimizing the compactness and adaptability of the transmission system.

[0019] 4. Through the collaborative optimization of the hollow shaft design and synchronous belt drive, the present invention integrates two motors on the same frame, achieving dual-degree-of-freedom drive on a single shaft and effectively avoiding the problem of wire entanglement caused by the traditional series connection of two motors. At the same time, thanks to the flexible layout of the synchronous belt drive, the flipping joint motor can be far away from the leg end, optimizing the overall motion performance of the system and improving the compactness and reliability of the mechanical structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of a wheeled-leg with a planetary ladder structure according to the present invention; Figure 2 is a schematic structural diagram of the internal structure of the calf bracket and the planetary flipping wheel mechanism according to the present invention; Figure 3 is a sectional schematic diagram of the planetary flipping wheel mechanism according to the present invention; Figure 4 is a schematic structural diagram of the planetary secondary wheel drive system inside the triangular planetary drive frame according to the present invention; Figure 5 is a schematic diagram of the adjusting bolt structure, synchronous belt tensioning pulley, and planetary secondary wheel synchronous belt combination structure according to the present invention; Reference numeral description in the figure: torso structure 1, leg mechanism 2, planetary flipping wheel mechanism 3, hip joint motor 4, energy system 5, control system 6, thigh frame 7, knee joint motor 8, calf frame 9, planetary flipping motor 10, flipping driving synchronous belt pulley 11, planetary flipping synchronous belt 12, flipping driven synchronous belt pulley 13, triangular planetary drive frame 14, planetary secondary wheel 15, triangular planetary frame 16, planetary secondary wheel motor 17, planetary secondary wheel driving synchronous belt pulley 18, planetary secondary wheel synchronous belt 19, synchronous belt tensioning pulley 20, planetary secondary wheel driven synchronous belt pulley 21, adjusting bolt structure 22, nut seat 2201, adjusting bolt 2202, tensioning pulley frame 2203. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The following further describes the specific embodiments of the present invention in conjunction with the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0022] It should be noted that for all directional indication terms such as "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. in the embodiments of the present application, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. It is only used to explain the relative positional relationship and movement conditions between components in a specific posture. If this specific posture changes, the directional indication will also change accordingly.

[0023] In the present application, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0024] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0025] As Figures 1-4 shown, the wheeled-leg with a planetary ladder structure includes a torso mechanism 1, a leg mechanism 2, and a planetary flip-wheel mechanism 3; The torso mechanism 1 is movably connected to the leg mechanism 2; The leg mechanism 2 is movably connected to the planetary flip-wheel mechanism 3; An energy system 5 and a control system 6 are arranged inside the torso mechanism 1. The energy system 5 is generally a rechargeable battery with a voltage specification of 48V DC. The control system 6 generally uses a single-chip microcomputer and control devices. The control system 6 is a prior art and will not be described in detail here.

[0026] like Figure 1 As shown, in this embodiment, as a preference, the leg-type mechanism 2 includes hip joint motors 4 arranged on both sides of the trunk mechanism 1, and the hip joint motors 4 use direct drive motors with a rated load of 40 N·m and a peak load of 120 N·m; The output shaft of the hip joint motor 4 is provided with a thigh frame 7, which serves as a single-degree-of-freedom hip joint of the leg mechanism 2. The rotation speed of the single-degree-of-freedom joint of the hip joint does not exceed 50 rpm. It should be noted that the number of the hip joint motors 4 is two, one on the left and one on the right, and the number of the thigh frames 7 is also two, which are symmetrically arranged on the left and right. A knee joint motor 8 is provided at the lower end of the thigh frame 7, and the knee joint motor 8 adopts a direct drive motor with a rated load of 40 N·m and a peak load of 120 N·m; A calf frame 9 is provided on the output shaft of the knee joint motor 8, which serves as a single-degree-of-freedom knee joint of the leg mechanism 2, and the rotation speed of the single-degree-of-freedom knee joint does not exceed 50 rpm.

[0027] like Figure 1 As shown, in this embodiment, in order to better arrange the leg mechanism 2 and the planetary turning wheel mechanism 3 , the calf frame 9 is arranged on the inner side of the thigh frame 7 .

[0028] like Figures 1-4 As shown, in this embodiment, as a preference, the planetary flip mechanism includes a planetary flip motor 10, the planetary flip motor 10 is arranged in the middle and upper part of the calf frame 9, and the planetary flip motor 10 adopts a direct drive motor with a rated load of 40N·m and a peak load of 120N·m; The output shaft of the planetary flip motor 10 passes through the side wall of the calf frame 9 and extends to the inside. The output shaft of the planetary flip motor 10 is provided with a flip driving synchronous pulley 11; The lower end of the calf frame 9 is provided with a flip driven synchronous belt pulley 13 through a bearing and is connected to the flip driving synchronous belt pulley 11 through a planetary flip synchronous belt 12; The flip driven synchronous belt pulley 13 is provided with a triangular planetary transmission frame 14 at one end outside the calf frame 9. The contour shape of the triangular transmission frame 14 is an arc rather than a straight line segment. The planetary flip motor 10 drives the flip active synchronous belt pulley 11 to rotate. The flip active synchronous belt pulley 11 then drives the flip driven synchronous belt pulley 13 to rotate through the planetary flip synchronous belt 12. The power is transmitted to the flip driven synchronous belt pulley 13 over a long distance through the planetary flip synchronous belt 12. The flip driven synchronous belt pulley 13 drives the triangular planetary transmission frame 14 to rotate. The triangular ends of the triangular planetary transmission frame 14 are hinged with planetary secondary driven synchronous pulleys 21; A triangular planetary frame 16 is provided outside the triangular planetary transmission frame 14. Planetary secondary wheels 15 are respectively arranged at the triangular ends of the triangular planetary frame 16 through planetary wheel shafts and are located inside the triangular planetary frame 16. The three planetary secondary wheels 15 are respectively in transmission connection with three planetary secondary wheel driven synchronous belt wheels 21. A planetary secondary wheel motor 17 is provided at the lower end outside the calf frame 9. The output shaft of the planetary secondary wheel motor 17 passes through the hollow hole inside the flipping driven synchronous belt wheel 13 and extends into the triangular planetary transmission frame 14. A planetary secondary wheel driving synchronous belt wheel 18 is arranged on the output shaft of the planetary secondary wheel motor 17 and is located at the central position inside the triangular planetary transmission frame 14. A planetary secondary wheel synchronous belt 19 is provided between the planetary secondary wheel driving synchronous belt wheel 18 and the three planetary secondary wheel driven synchronous belt wheels 21. The planetary secondary wheel synchronous belt 19 is respectively in meshing transmission connection with the planetary secondary wheel driving synchronous belt wheel 18 and the three planetary secondary wheel driven synchronous belt wheels 21 through a plurality of synchronous belt tensioning wheels 20. The number of the plurality of synchronous belt tensioning wheels 20 is six. The six synchronous belt tensioning wheels 20 are used in pairs. The planetary secondary wheel driving synchronous belt wheel 18 is driven to rotate by the planetary secondary wheel motor 17. The three planetary secondary wheel driven synchronous belt wheels 21 are simultaneously driven to rotate by the planetary secondary wheel synchronous belt 19, and then the three planetary secondary wheels 15 are driven to rotate, so as to realize moving and climbing stairs. In addition, since the planetary secondary wheel synchronous belt 19 adopts an outer tensioning method by a plurality of synchronous belt tensioning wheels 20, that is, the plurality of synchronous belt tensioning wheels 20 are all located outside the synchronous belt, the wrap angle of the planetary secondary wheel synchronous belt 19 is increased, effectively preventing slipping or tooth skipping phenomena and ensuring transmission stability.

[0029] As Figure 4 、 Figure 5 shown, in this embodiment, preferably, the number of the plurality of synchronous belt tensioning wheels 20 is six. They are arranged in pairs and evenly distributed outside the planetary secondary wheel driving synchronous belt wheel 18, that is, they are evenly distributed along the circumferential direction of the planetary secondary wheel driving synchronous belt wheel 18 in pairs and are all located outside the planetary secondary wheel synchronous belt 19. One synchronous belt tensioning pulley 20 in each group is arranged on the side wall of the triangular planetary transmission frame 14 through a fixed shaft, that is, the synchronous belt tensioning pulley 20 through the fixed shaft will not move, and the synchronous belt tensioning pulley 20 can only rotate freely around the fixed shaft. The other synchronous belt tensioning pulley 20 in each group is arranged on the side wall of the triangular planetary transmission frame 14 through an adjusting bolt structure 22, that is, a nut seat 2201 is arranged on the side wall of the triangular planetary transmission frame 14 and corresponds to the synchronous belt tensioning pulley 20. An adjusting bolt 2202 adapted thereto is arranged in the nut seat 2201. The end of the adjusting bolt 2202 is provided with a tensioning pulley frame 2203 through a bearing. The synchronous belt tensioning pulley 20 is arranged in the tensioning pulley frame 2203 through a rotating shaft and contacts the outer side of the planetary secondary wheel synchronous belt 19. By screwing the adjusting bolt 2202, the adjusting bolt 2202 is moved along the nut seat 2201, so that the tensioning pulley frame 2203 moves away from or close to the planetary secondary wheel synchronous belt 19, and further the synchronous belt tensioning pulley 20 moves away from or close to the planetary secondary wheel synchronous belt 19 to realize tension adjustment; in addition, since the end of the adjusting bolt 2202 is connected to the tensioning pulley frame 2203 through a bearing, the tensioning pulley frame 2203 can be kept from rotating when the adjusting bolt 2202 is rotated.

[0030] As Figure 2 , Figure 3 shown, in this embodiment, the planetary secondary wheel driving synchronous belt pulley 18 and the flipping driven synchronous belt pulley 13 adopt a concentric shaft design. The hollow shaft of the planetary secondary wheel driving synchronous belt pulley 18 is sleeved inside the hollow shaft of the flipping driven synchronous belt pulley 13 and the two are connected through a bearing. A part of the hollow shaft of the flipping driven synchronous belt pulley 13 extends into the calf frame 9 and is fixedly arranged on the calf frame 9 through a bearing. One end of the hollow shaft of the flipping driven synchronous belt pulley 13 is fixed on the inner side wall of the triangular planetary transmission frame 14 through a bolt. Through the collaborative optimization of the hollow shaft design and the synchronous belt drive, the two motors are integrated on the same frame to realize the two-degree-of-freedom drive on a single shaft, effectively avoiding the problem of wire entanglement caused by the traditional series connection of two motors; at the same time, due to the flexible layout of the synchronous belt drive, the flipping joint motor can be far away from the leg end, optimizing the overall motion performance of the system and improving the compactness and reliability of the mechanical structure.

[0031] In this embodiment, preferably, the number of teeth of the flipping driving synchronous belt 11 and the flipping driven synchronous belt pulley 13 is 44 each, and the transmission ratio is 1:1; The belt type of the planetary flipping synchronous belt 12 is selected as 8M, the bandwidth is 30 mm, the transmission pitch is 240 mm, and the belt length used is 840 mm.

[0032] In this embodiment, preferably, the diameter of the planetary secondary wheel 15 is 230 mm and the width is 40 mm.

[0033] In this embodiment, preferably, the number of teeth of the planetary secondary wheel driving synchronous pulley 18 and the planetary secondary wheel driven synchronous pulley 21 is 32 each, and the transmission ratio is 1:1; the belt type of the planetary secondary wheel synchronous belt 19 is selected as 14M, the belt width is 30 mm, and the belt length used is 1988 mm.

[0034] In this embodiment, a wheel-legged robot is further provided, including the wheel-legged structure described in any one of the above. This wheel-legged robot has the adaptability to uneven terrain and the ability to adjust the overall height. This wheel-legged robot can achieve smooth and stable ladder climbing, has higher stability and motion efficiency, and has lower requirements for joint motors.

[0035] The present invention provides a motion mode of a wheel-legged robot as follows: I. Under the motion condition on flat ground: Due to the existence of the planetary secondary wheel synchronous belt 19 transmission system, all the wheels in contact with the flat ground act as driving wheels. Therefore, the motion mode of this system can refer to that of a four-wheel drive vehicle; since there is only 1 degree of freedom in the hip joint of the wheel-legged structure of this system, the differential speed of the planetary secondary wheels 15 of the two legs is used in this system; compared with the flat-ground motion mode of traditional wheel-legged robots, the present invention not only has the adaptability to uneven terrain and the ability to adjust the overall height, but also has stronger power, motion stability and motion efficiency.

[0036] II. Under the motion condition of ladder climbing: Through the coupled motion of the leg mechanism 2 and the planetary flipping wheel mechanism 3, the present system realizes the smooth progress of the forward tilt of the system center of gravity and the flipping of the planetary flipping wheel mechanism 3 at the same time, and timely contacts the planetary secondary wheel 15 with the steps; repeating the above motion can achieve smooth and stable ladder climbing. Compared with the jumping ladder climbing method of traditional wheel-legged robots, it has higher stability and motion efficiency, and has lower requirements for joint motors.

[0037] The above are only the preferred embodiments of this application, and do not limit the patent scope of this application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied to other related technical fields, shall be included in the patent protection scope of this application by the same token.

Claims

1. A wheel-legged leg with a planetary ladder structure, characterized in that: It includes a torso mechanism (1), a leg mechanism (2) and a planetary flipping wheel mechanism (3); The torso mechanism (1) is movably connected to the leg mechanism (2); The leg mechanism (2) is movably connected to the planetary flipping wheel mechanism (3); An energy system (5) and a control system (6) are arranged inside the torso mechanism (1).

2. The wheel-foot leg with a planetary ladder structure according to claim 1, characterized in that: The leg mechanism (2) includes hip joint motors (4) arranged on both sides of the torso mechanism (1); A thigh frame (7) is arranged on the output shaft of the hip joint motor (4); A knee joint motor (8) is arranged at the lower end of the thigh frame (7); A calf frame (9) is arranged on the output shaft of the knee joint motor (8).

3. The wheel-foot leg with a planetary ladder structure according to claim 2, characterized in that: The calf frame (9) is arranged inside the thigh frame (7).

4. A wheel-foot leg with a planetary ladder structure according to claim 2, characterized in that: The planetary flipping mechanism includes a planetary flipping motor (10), and the planetary flipping motor (10) is arranged in the upper middle part of the calf frame (9); The output shaft of the planetary flipping motor (10) penetrates through the side wall of the calf frame (9) and extends to the inside, and a flipping driving synchronous pulley (11) is arranged on the output shaft of the planetary flipping motor (10); A flipping driven synchronous pulley (13) is arranged at the lower end inside the calf frame (9) through a bearing and is in transmission connection with the flipping driving synchronous pulley (11) through a planetary flipping synchronous belt (12); One end of the flipping driven synchronous pulley (13) located outside the calf frame (9) is provided with a triangular planetary transmission frame (14); Planetary secondary wheel driven synchronous pulleys (21) are hinged at the triangular ends inside the triangular planetary transmission frame (14); A triangular planetary frame (16) is arranged outside the triangular planetary transmission frame (14), and planetary secondary wheels (15) are arranged at the triangular ends of the triangular planetary frame (16) through planetary wheel shafts and are located inside the triangular planetary frame (16); The three planetary secondary wheels (15) are respectively in transmission connection with the three planetary secondary wheel driven synchronous pulleys (21); A planetary secondary wheel motor (17) is arranged at the lower end outside the calf frame (9), and the output shaft of the planetary secondary wheel motor (17) passes through the hollow hole inside the flipping driven synchronous pulley (13) and extends to the inside of the triangular planetary transmission frame (14); A planetary secondary wheel driving synchronous pulley (18) is arranged on the output shaft of the star secondary wheel motor (17) and is located at the central position inside the triangular planetary transmission frame (14); A planetary secondary wheel synchronous belt (19) is arranged between the planetary secondary wheel driving synchronous pulley (18) and the three planetary secondary wheel driven synchronous pulleys (21); The planetary secondary wheel synchronous belt (19) is meshed and in transmission connection with the planetary secondary wheel driving synchronous pulley (18) and the three star secondary wheel driven synchronous pulleys (21) respectively through a plurality of synchronous belt tensioning wheels (20).

5. The wheeled foot leg with a planetary ladder structure according to claim 4, characterized in that: The number of the plurality of synchronous belt tensioning wheels (20) is six; They are evenly arranged in groups of two on the outside of the planetary secondary wheel driving synchronous pulley (18); One synchronous belt tensioning pulley (20) in each group is arranged on the side wall of the triangular planetary transmission frame (14) through a fixed shaft, and the other synchronous belt tensioning pulley (20) in each group is arranged on the side wall of the triangular planetary transmission frame (14) through an adjusting bolt structure (22).

6. The wheel-foot leg with a planetary ladder structure according to claim 4, wherein; The planetary secondary wheel driving synchronous belt pulley (18) and the flipping driven synchronous belt pulley (13) adopt a concentric shaft design. The hollow shaft of the planetary secondary wheel driving synchronous belt pulley (18) is sleeved inside the hollow shaft of the flipping driven synchronous belt pulley (13) and the two are connected through bearings.

7. A wheeled leg with a planetary ladder structure according to claim 4, characterized in that: The number of teeth of the flipping driving synchronous belt pulley (11) and the flipping driven synchronous belt pulley (13) is 44 each, and the transmission ratio is 1:1; The belt type of the planetary flipping synchronous belt (12) is 8M, the belt width is 30 mm, the transmission pitch is 240 mm, and the belt length used is 840 mm.

8. A wheel-legged robot with a planetary ladder structure according to claim 4, characterized in that: The diameter of the planetary secondary wheel (15) is 230 mm and the width is 40 mm.

9. A wheeled foot leg with a planetary ladder structure according to claim 4, characterized in that: The number of teeth of the planetary secondary wheel driving synchronous belt pulley (18) and the planetary secondary wheel driven synchronous belt pulley (21) is 32 each, and the transmission ratio is 1:1; The belt type of the planetary secondary wheel synchronous belt (19) is 14M, the belt width is 30 mm, and the belt length used is 1988 mm.

10. A wheel-legged robot, characterized in that: It includes the wheel-foot leg structure according to any one of claims 1-9.

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