A micro-sized wheel-legged robot based on a wheel hub motor

Abstract

This invention discloses a miniature wheeled-legged robot based on a hub motor, relating to the field of robotics. The robot includes a spinal structure and leg structures. The spinal structure comprises a front body assembly and a rear body assembly. The leg structure comprises two front leg assemblies and two rear leg assemblies. The front body assembly and the rear body assembly are rotatable relative to each other. The two front leg assemblies are positioned on either side of the front body assembly, and the two rear leg assemblies are positioned on either side of the rear body assembly. Each front leg assembly and each rear leg assembly has a wheel-foot structure at its end. The wheel-foot structure contains a wheel-foot drive structure for driving the rotation of the wheel-foot structure. This invention improves space utilization, achieves efficient torque transmission, and enhances movement flexibility.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a miniature wheeled robot based on a hub motor. Background Technology

[0002] In recent years, with the rapid development of mobile robot technology, wheeled-legged structure design has become a key research direction in the field of robotics. However, most existing wheeled-legged robots are designed for outdoor scenarios and heavy-load tasks, and their feet often use complex transmission mechanisms, resulting in a large overall size. This makes them unable to meet the requirements for miniaturization and high mobility in narrow and confined scenarios such as pipeline inspection and gap search and rescue.

[0003] Meanwhile, in response to the need for wheel-leg coordinated movement, the complex drive mechanism at the end of the existing robot foot cannot achieve efficient torque transmission. This not only further encroaches on the robot's extremely limited internal space, but also severely restricts the robot's movement flexibility in complex scenarios. Summary of the Invention

[0004] The purpose of this invention is to provide a miniature wheeled robot based on a hub motor to solve the problems existing in the prior art, improve space utilization, achieve efficient torque transmission, and enhance movement flexibility.

[0005] To achieve the above objectives, the present invention provides the following solution: This invention provides a miniature wheeled-legged robot based on a hub motor, comprising: a spinal structure and a leg structure. The spinal structure includes a front body assembly and a rear body assembly. The leg structure includes two front leg assemblies and two rear leg assemblies. The front body assembly and the rear body assembly are rotatable relative to each other. The two front leg assemblies are disposed on both sides of the front body assembly, and the two rear leg assemblies are disposed on both sides of the rear body assembly. The front body assembly and the rear body assembly are rotatable relative to each other. Each front leg assembly and each rear leg assembly has a wheel foot structure at its end. The wheel foot structure has a wheel foot drive structure inside for driving the wheel foot structure to rotate.

[0006] In some specific embodiments, the wheel leg structure includes a mounting frame, a tire, and a bearing. The stator structure of the wheel leg drive structure is disposed on the front leg assembly or the rear leg assembly. The rotor structure of the wheel leg drive structure is disposed on the mounting frame. The rotor structure is located outside the stator structure. The mounting frame is rotatably connected to the front leg assembly or the rear leg assembly. The tire is fitted onto the mounting frame.

[0007] In some specific designs, both the front leg assembly and the rear leg assembly are equipped with magnetic encoders, which are used to monitor the rotational speed of the wheel drive structure.

[0008] In some specific designs, the wheel drive structure is a frameless torque motor.

[0009] In some specific embodiments, the spinal structure further includes a front-body drive structure and a rear-body drive structure. The front-body drive structure is used to drive the front-body component and the front leg component to rotate relative to each other, and the rear-body drive structure is used to drive the rear-body component and the rear leg component to rotate relative to each other.

[0010] In some specific embodiments, the rotation axes of the front body assembly and the rear body assembly are perpendicular to the rotation axes of the power output end of the front body drive structure and the power output end of the rear body drive structure, respectively.

[0011] In some specific embodiments, the leg structure further includes two front leg drive structures and two rear leg drive structures, wherein the front leg drive structures are used to drive the movement of the front leg assembly, and the rear leg drive structures are used to drive the movement of the rear leg assembly.

[0012] In some specific designs, both the front leg assembly and the rear leg assembly employ a linkage structure.

[0013] In some specific embodiments, the front leg assembly and the rear leg assembly have the same structure. Both the front leg assembly and the rear leg assembly include a first link, a second link, a third link, a fourth link, a fifth link, and a sixth link. The first link and the sixth link are both connected to the front leg drive structure or the rear leg drive structure. One end of the second link is hinged to one end of the first link, one end of the third link is hinged to the other end of the first link, the other end of the third link is hinged to one end of the fourth link, the other end of the second link is hinged to the middle of the fourth link, the wheel foot structure is disposed at the other end of the fourth link, one end of the fifth link is hinged to the middle of the third link, and the other end of the fifth link is hinged to one end of the sixth link.

[0014] In some specific designs, the first link, the second link, the third link, and the fourth link form a parallelogram mechanism; The third link, the fifth link, the sixth link, and the front leg drive structure form a parallelogram mechanism, or the third link, the fifth link, the sixth link, and the rear leg drive structure form a parallelogram mechanism.

[0015] The present invention achieves the following technical effects compared to the prior art: This invention integrates the wheel-foot drive structure into the wheel-foot structure, eliminating the need for complex external transmission mechanisms and achieving extremely high space utilization and structural compactness. Simultaneously, it effectively reduces the load on the leg ends, significantly improving the robot's maneuverability and obstacle-crossing ability in confined spaces. This invention uses a wheel-foot drive structure to directly drive the wheel-foot structure, achieving efficient torque transmission. Furthermore, the front and rear body components, the front and front leg components, and the rear body and rear leg components can rotate relative to each other, greatly enhancing the robot's multi-directional mobility and posture adjustment capabilities, effectively improving the robot's adaptability to complex terrain and overall motion performance. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a miniature wheeled robot based on a hub motor in some embodiments of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of a miniature wheeled robot based on a hub motor in some embodiments of the present invention. Figure 2 ; Figure 3 This is a side view of a miniature wheeled robot based on a hub motor according to some embodiments of the present invention; Figure 4 This is an exploded view of the wheel foot structure in some embodiments of the present invention; Figure 5 This is a schematic diagram illustrating the relative rotation of the front and rear components in some embodiments of the present invention. Figure 1 ; Figure 6 This is a schematic diagram illustrating the relative rotation of the front and rear components in some embodiments of the present invention. Figure 2 ; Figure 7 This is a schematic diagram illustrating the turning of a miniature wheeled robot based on a hub motor in some embodiments of the present invention; Figure 8 This is a schematic diagram illustrating obstacle crossing of a miniature wheeled robot based on a hub motor in some embodiments of the present invention; In the diagram: 100 - Miniature wheeled robot based on hub motor; 1 - Front body assembly; 2 - Rear body assembly; 3 - Front leg assembly; 4 - Rear leg assembly; 5 - Wheel and foot structure; 6 - Wheel and foot drive structure; 7 - Mounting frame; 8 - Tire; 9 - Bearing; 10 - Magnetic encoder; 11 - Radial magnetic ring; 12 - Front body drive structure; 13 - Rear body drive structure; 14 - Front leg drive structure; 15 - Rear leg drive structure; 16 - Front body support; 17 - Rear body support; 18 - Battery compartment; 19 - First link; 20 - Second link; 21 - Third link; 22 - Fourth link; 23 - Fifth link; 24 - Sixth link. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The purpose of this invention is to provide a miniature wheeled robot based on a hub motor to solve the problems existing in the prior art, improve space utilization, achieve efficient torque transmission, and enhance movement flexibility.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1 to 6As shown, this embodiment provides a miniature wheeled-legged robot 100 based on a hub motor, including a spine structure and leg structures. The spine structure includes a front body component 1 and a rear body component 2. The leg structures include two front leg components 3 and two rear leg components 4. The front body component 1 and the rear body component 2 are rotatable relative to each other. The two front leg components 3 are symmetrically arranged on both sides of the front body component 1, and the two rear leg components 4 are symmetrically arranged on both sides of the rear body component 2. The front body component 1 and the front leg components 3 are rotatable relative to each other, and the rear body component 2 and the rear leg components 4 are rotatable relative to each other. A foot structure 5 is provided at the end of each front leg component 3 and the end of each rear leg component 4. A foot drive structure 6 for driving the rotation of the foot structure 5 is provided inside the foot structure 5. In this embodiment, the foot drive structure 6 for driving the rotation of the foot structure 5 is built into the foot structure 5, eliminating the need for a complex external transmission mechanism and achieving extremely high space utilization and structural compactness. At the same time, it can also effectively reduce the load on the end of the legs and greatly improve the robot's mobility and obstacle-crossing ability in confined spaces. This embodiment employs a wheel-foot drive structure of 6 pairs of wheel-foot structures 5 for direct drive, achieving efficient torque transmission. Furthermore, in this embodiment, the front body assembly 1 and the rear body assembly 2 can rotate relative to each other, the front body assembly 1 and the front leg assembly 3 can rotate relative to each other, and the rear body assembly 2 and the rear leg assembly 4 can rotate relative to each other. This significantly improves the multi-directional mobility and attitude adjustment capabilities of the aircraft, effectively enhancing its adaptability to complex terrain and overall motion performance.

[0022] In some specific embodiments, the wheel foot structure 5 includes a mounting frame 7, a tire 8, and a bearing 9. The wheel foot drive structure 6 is a hub motor, preferably a frameless torque motor. The stator structure of the wheel foot drive structure 6 is mounted on the front leg assembly 3 or the rear leg assembly 4, and the rotor structure of the wheel foot drive structure 6 is mounted on the mounting frame 7, located outside the stator structure. The mounting frame 7 is rotatably connected to the front leg assembly 3 or the rear leg assembly 4, and the tire 8 is fitted onto the mounting frame 7. Both the front leg assembly 3 and the rear leg assembly 4 are equipped with magnetic encoders 10, which are used to monitor the rotational speed of the wheel foot drive structure 6.

[0023] Specifically, in this embodiment, the front leg assembly 3 and the rear leg assembly 4 serve as both the robot's legs and the frame of the wheel-foot drive structure 6. The stator coil portion of the wheel-foot drive structure 6 is interference-fitted onto the other end of the fourth link 22 of the front leg assembly 3 and the rear leg assembly 4. The rotor portion of the wheel-foot drive structure 6 is fixedly connected to the mounting frame 7 via adhesive. The tire 8 is fitted into the outer groove of the mounting frame 7, which also serves as an axial limiting structure for the tire 8. Each side of the front leg assembly 3 or the rear leg assembly 4 has a bearing 9, which is interference-fitted into the through hole in the middle of the other end of the fourth link 22. The output shaft of the mounting frame 7 passes through the bearing 9 of the front leg assembly 3 or the rear leg assembly 4 with an transition fit, so that the rotor of the wheel-foot drive structure 6 is positioned just outside the stator of the wheel-foot drive structure 6, and can drive the mounting frame 7 and the outer tire 8 to rotate through the rotor of the wheel-foot drive structure 6 when energized. The output shaft end of the mounting bracket 7 has a retaining ring groove, which can be fixed to the other end of the fourth link 22 of the front leg assembly 3 or the rear leg assembly 4 by retaining the retaining ring. The radial magnetic ring 11 is fixed to the end of the output shaft of the mounting bracket 7, so that it can rotate with the rotor of the wheel drive structure 6. The magnetic encoder 10 is fixedly connected to the other end of the fourth link 22 of the front leg assembly 3 or the rear leg assembly 4 by screws. The magnetic encoder 10 can sense the position and speed of the wheel drive structure 6 by detecting changes in the magnetic field.

[0024] In some specific embodiments, the front component 1 and the rear component 2 are rotatably connected by a pin. A torsion spring is provided at the pin, and the pin passes through the center of the torsion spring. One end of the torsion spring abuts against the mounting hole of the front component 1, and the other end of the torsion spring abuts against the mounting hole of the rear component 2.

[0025] In some specific embodiments, the spinal structure further includes a front drive structure 12 and a rear drive structure 13. The front drive structure 12 is used to drive the front body assembly 1 and the front leg assembly 3 to rotate relative to each other, and the rear drive structure 13 is used to drive the rear body assembly 2 and the rear leg assembly 4 to rotate relative to each other. Specifically, the power output end of the front drive structure 12 is connected to one end of the front body assembly 1, the other end of the front body assembly 1 is hinged to one end of the rear body assembly 2, and the power output end of the rear drive structure 13 is connected to the other end of the rear body assembly 2.

[0026] In some specific embodiments, the rotation axes of the front body assembly 1 and the rear body assembly 2 are perpendicular to the rotation axes of the power output ends of the front body drive structure 12 and the rear body drive structure 13, respectively. When the front body assembly 1 and the rear body assembly 2 are parallel, the rotation axes of the power output ends of the front body drive structure 12 and the rear body drive structure 13 are parallel. The front body drive structure 12 is used to control the relative swinging of the front body assembly 1 and the front leg assembly 3, and the rear body drive structure 13 is used to control the relative swinging of the rear body assembly 2 and the rear leg assembly 4. The front body assembly 1 and the rear body assembly 2 can rotate relative to each other, realizing the robot's flexible steering and posture adjustment.

[0027] In this embodiment, the existing robot's head joint is removed, the front body component 1 and the rear body component 2 rotate relative to each other, and the spinal structure is set as a biomimetic passive lumbar spine, so that the spinal structure has pitch freedom, and the robot has more biomimetic movement capabilities during movement.

[0028] In some specific embodiments, the leg structure further includes two front leg drive structures 14 and two rear leg drive structures 15, the front leg drive structures 14 being used to drive the front leg assembly 3 to move, and the rear leg drive structures 15 being used to drive the rear leg assembly 4 to move.

[0029] In some specific embodiments, the system further includes a front support 16 and a rear support 17. A front drive structure 12 and a front leg drive structure 14 are mounted on the front support 16, while a rear drive structure 13 and a rear leg drive structure 15 are mounted on the rear support 17. An NPU (Neural Processing Unit) module is also fixed to the front support 16 by screws. The NPU module is integrated into the RK3588 development board and is used for edge deployment of reinforcement learning training strategies. A battery compartment 18 is mounted on the rear support 17. A magnetic head at the end of the battery compartment 18 attracts a connecting structure on the rear support 17 (the connecting structure connects to each servo motor), enabling power connection. A battery is housed inside the battery compartment 18 and is slidably connected to it. The front drive structure 12, the front leg drive structure 14, the rear drive structure 13, and the rear leg drive structure 15 are all servos.

[0030] In some specific embodiments, both the front leg assembly 3 and the rear leg assembly 4 employ a linkage structure. The front leg assembly 3 and the rear leg assembly 4 have identical structures, each including a first link 19, a second link 20, a third link 21, a fourth link 22, a fifth link 23, and a sixth link 24. The first link 19 and the sixth link 24 are both connected to the front leg drive structure 14 or the rear leg drive structure 15. One end of the second link 20 is hinged to one end of the first link 19, one end of the third link 21 is hinged to the other end of the first link 19, and the other end of the third link 21 is hinged to the middle of the fourth link 22. The other end of the second link 20 is hinged to one end of the fourth link 22. The wheel foot structure 5 is located at the other end of the fourth link 22. One end of the fifth link 23 is hinged to the middle of the third link 21, and the other end of the fifth link 23 is hinged to one end of the sixth link 24.

[0031] In some specific embodiments, the first link 19, the second link 20, the third link 21, and the fourth link 22 form a parallelogram mechanism; the third link 21, the fifth link 23, the sixth link 24, and the front leg drive structure 14 form a parallelogram mechanism; or, the third link 21, the fifth link 23, the sixth link 24, and the rear leg drive structure 15 (or the front leg drive structure 14) form a parallelogram mechanism. Each front leg assembly 3 is provided with two front leg drive structures 14. The power output end of one front leg drive structure 14 is connected to one end of the third link 21 of the front leg assembly 3, and the power output end of the other front leg drive structure 14 is connected to the other end of the sixth link 24 of the front leg assembly 3. One front leg drive structure 14 drives the third link 21 to move, and the other front leg drive structure 14 drives the sixth link 24 to move, thereby realizing the swinging of the front leg assembly 3. Each rear leg assembly 4 is provided with two rear leg drive structures 15. The power output end of one rear leg drive structure 15 is connected to one end of the third link 21 of the rear leg assembly 4, and the power output end of the other rear leg drive structure 15 is connected to the other end of the sixth link 24 of the rear leg assembly 4. One rear leg drive structure 15 drives the third link 21 to move, and the other rear leg drive structure 15 drives the sixth link 24 to move, thereby realizing the swinging of the rear leg assembly 4.

[0032] Figure 7This demonstrates that by introducing the front drive structure 12 and the rear drive structure 13, the robot's front and rear bodies (front support 16 and rear support 17) can form a certain angle, causing a change in the overall movement direction and the wheel contact direction, thus generating an effective turning tendency. When the waist offset angle (the angle between the front support 16 and the rear support 17) further increases, the robot's turning radius significantly decreases, with the minimum turning radius approaching one body length. Simultaneously, spinal yaw (i.e., the change in the angle between the front support 16 and the rear support 17) can also coordinate with leg support posture adjustment to optimize the robot's center of gravity distribution during turning, reducing the tendency to tip over laterally. Therefore, in fully collaborative mode, the robot can not only achieve a turning radius less than one body length, but also achieve a smoother turning process.

[0033] Figure 8 This indicates that, relying solely on the pure rolling motion mode of the wheel-leg drive structure, the robot already possesses basic obstacle-crossing capabilities, and its long-distance movement efficiency on flat surfaces is far superior to that of a purely legged quadruped robot of the same size. Through the coordinated operation of multiple components in the spinal and leg structures, the robot's climbing and obstacle-crossing abilities can be significantly improved.

[0034] To address the issues of limited motion modes and low mobility in micro-miniature bionic robots, this embodiment designs a micro-miniature wheel-leg hybrid robot with a spinal structure. The robot is only 12cm long, and the rotor outer diameter of the wheel drive structure is only 22mm. Within a centimeter-scale, it integrates a three-degree-of-freedom spine, a dual parallel four-bar linkage leg structure, and a foot-end direct-drive wheel-leg drive structure 6. This enables the robot to combine the efficiency of wheeled movement with the obstacle-crossing ability of legged movement, providing a new structural solution for achieving wheeled, legged, and wheel-leg coordinated motion in micro-miniature robots. This embodiment integrates the small-sized leg structure with the foot-end drive structure 6, along with a spine structure containing two active degrees of freedom and one passive degree of freedom. This achieves overall miniaturization while fully ensuring the robot's motion performance, giving it a small turning radius and significantly improving its flexibility and adaptive posture adjustment capabilities. Through the integrated design of the wheel-leg drive structure 6 and the robot's leg structure, a hub motor direct-drive method is adopted to achieve efficient direct power transmission, effectively reducing the load on the leg ends and improving the robot's dynamic response and motion control accuracy. The spinal and leg structures in this embodiment enable independent and flexible adjustment and control of the multi-dimensional posture of the fuselage, adapting to the movement needs of different terrain scenarios.

[0035] In this embodiment, the two active degrees of freedom of the spinal structure and the eight active degrees of freedom of the leg structure are controlled by the PWM wave emitted by the main controller. Within a certain range, the positions of the front body drive structure 12, the front leg drive structure 14, the rear body drive structure 13 and the rear leg drive structure 15 are linearly related to the duty cycle of the PWM wave. The four active degrees of freedom of the wheel and foot structure 5 are controlled by the field-oriented control (FOC) method, combined with the three-phase inverter circuit to realize the speed-current dual closed-loop control of the wheel and foot drive structure 6.

[0036] This embodiment integrates servo position control, wheel-foot drive structure speed control, and multi-level power management into a micro-platform, achieving stable drive and coordinated control of the entire machine's 14 active degrees of freedom, and improving the integration and operational reliability of the drive and control system.

[0037] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0038] In the description of this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] If this invention discloses or relates to components or structural parts that are fixedly connected to each other, then, unless otherwise stated, a fixed connection can be understood as: a detachable fixed connection (e.g., using bolts or screws) or a non-detachable fixed connection (e.g., riveting, welding). Of course, a fixed connection can also be replaced by an integral structure (e.g., manufactured in one piece using a casting process) (except where it is obviously impossible to use an integral molding process).

[0040] In addition, unless otherwise stated, the terms used in any of the technical solutions disclosed in this invention to indicate positional relationships or shapes include states or shapes that are similar to, close to, or approximate with those states or shapes.

[0041] Any component provided by this invention can be assembled from multiple individual components or can be a single component manufactured by a one-piece molding process.

[0042] It should be noted that the structures, proportions, sizes, etc., depicted in the accompanying drawings of this specification are only used to complement the content disclosed in the specification, so as to enable those skilled in the art to understand and read them, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0043] It should also be noted that in the embodiments of this application, the same reference numerals are used to denote the same component or the same part.

[0044] Any adaptive changes made according to actual needs are within the scope of protection of this invention.

[0045] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A micro wheel-legged robot based on a wheel hub motor, characterized in that: include: The system includes a spinal structure and a leg structure. The spinal structure comprises a front body assembly and a rear body assembly. The leg structure comprises two front leg assemblies and two rear leg assemblies. The front body assembly and the rear body assembly are rotatable relative to each other. The two front leg assemblies are located on both sides of the front body assembly, and the two rear leg assemblies are located on both sides of the rear body assembly. The front body assembly and the rear body assembly are rotatable relative to each other. Each front leg assembly and each rear leg assembly has a wheel foot structure at its end. The wheel foot structure has a wheel foot drive structure inside it for driving the wheel foot structure to rotate. 2.The hub-motor-based micro mini-leg robot according to claim 1, wherein: The wheel leg structure includes a mounting frame, a tire, and a bearing. The stator structure of the wheel leg drive structure is disposed on the front leg assembly or the rear leg assembly. The rotor structure of the wheel leg drive structure is disposed on the mounting frame and is located outside the stator structure. The mounting frame is rotatably connected to the front leg assembly or the rear leg assembly. The tire is fitted on the mounting frame.

3. The miniature wheeled robot based on a hub motor according to claim 1, characterized in that: Both the front leg assembly and the rear leg assembly are equipped with magnetic encoders, which are used to monitor the rotational speed of the wheel drive structure.

4. The miniature wheeled robot based on a hub motor according to claim 1, characterized in that: The wheel drive structure is a frameless torque motor.

5. The miniature wheeled robot based on a hub motor according to claim 1, characterized in that: The spinal structure also includes a front drive structure and a rear drive structure. The front drive structure is used to drive the front body component and the front leg component to rotate relative to each other, and the rear drive structure is used to drive the rear body component and the rear leg component to rotate relative to each other.

6. The miniature wheeled robot based on a hub motor according to claim 5, characterized in that: The rotation axes of the front and rear components are perpendicular to the rotation axes of the power output ends of the front drive structure and the rear drive structure, respectively.

7. The miniature wheeled robot based on a hub motor according to claim 1, characterized in that: The leg structure also includes two front leg drive structures and two rear leg drive structures. The front leg drive structures are used to drive the movement of the front leg assembly, and the rear leg drive structures are used to drive the movement of the rear leg assembly.

8. The miniature wheeled robot based on a hub motor according to claim 7, characterized in that: Both the front leg assembly and the rear leg assembly adopt a linkage structure.

9. The miniature wheeled robot based on a hub motor according to claim 8, characterized in that: The front leg assembly and the rear leg assembly have the same structure. Both the front leg assembly and the rear leg assembly include a first link, a second link, a third link, a fourth link, a fifth link, and a sixth link. The first link and the sixth link are connected to the front leg drive structure or the rear leg drive structure. One end of the second link is hinged to one end of the first link, one end of the third link is hinged to the other end of the first link, the other end of the third link is hinged to one end of the fourth link, and the other end of the second link is hinged to the middle of the fourth link. The wheel foot structure is located at the other end of the fourth link. One end of the fifth link is hinged to the middle of the third link, and the other end of the fifth link is hinged to one end of the sixth link.

10. The miniature wheeled robot based on a hub motor according to claim 9, characterized in that: The first link, the second link, the third link, and the fourth link constitute a parallelogram mechanism; The third link, the fifth link, the sixth link, and the front leg drive structure form a parallelogram mechanism, or the third link, the fifth link, the sixth link, and the rear leg drive structure form a parallelogram mechanism.

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