A leg and chassis structure and system for an intelligent mobile composite robot

Abstract

This utility model provides a leg and chassis structure and system for an intelligent mobile composite robot, relating to the field of intelligent device technology. The intelligent mobile composite robot leg includes: a mobile component, a first rotating part, a second rotating part, a third rotating part, and multiple rotating structures. A connecting part is provided at the top center of the mobile component. The connecting part, the first rotating part, the second rotating part, and the third rotating part are sequentially rotatably connected through the rotating structures to form a folding leg. The end of the third rotating part away from the second rotating part is used to connect to the robot's body structure. The rotation axes of the multiple rotating structures all extend horizontally. Through the multi-joint folding leg structure set on the top of the mobile component, the robot can adapt to tasks at different heights by extending and retracting the folding leg.

Description

Technical Field

[0001] This utility model relates to the field of intelligent equipment technology, and more specifically, to a leg and chassis structure and system for an intelligent mobile composite robot. Background Technology

[0002] Compared to humanoid robots with bipedal structures that mimic human legs and upright walking behavior, wheeled mobile robots have been more widely used in actual factory environments due to their higher mobility, easier control algorithm implementation, and lower structural maintenance difficulty.

[0003] While typical humanoid robots with wheeled chassis offer higher mobility, their operational height is limited due to the lack of degrees of freedom similar to human legs. This fixed height restricts the vertical working range of the robotic arm's end effector, making it difficult for the robot to adapt to tasks requiring operation at varying heights. Utility Model Content

[0004] The purpose of this invention is to provide a leg for an intelligent mobile composite robot, so as to alleviate the technical problem that robots in the prior art lack a degree of freedom distribution similar to human legs, which limits the height of their working range and makes it difficult to adapt to tasks that require working at different heights.

[0005] This utility model provides a leg for an intelligent mobile composite robot, comprising: a mobile component, a first rotating part, a second rotating part, a third rotating part, and multiple rotating structures.

[0006] A connecting part is provided at the top center of the moving component.

[0007] The connecting part, the first rotating part, the second rotating part and the third rotating part are sequentially rotatably connected by the rotating structure to form a folding leg.

[0008] The end of the third rotating part that is furthest from the second rotating part is used to connect to the robot's body structure.

[0009] In this configuration, the rotating shafts of multiple rotating structures all extend in the horizontal direction.

[0010] Furthermore, a first pivot is provided at the top of the connecting part.

[0011] The first rotating part includes two rotating arms, which are arranged opposite to each other and are rotatably connected to the first rotating shaft.

[0012] The second rotating part is disposed between the two rotating arms, and the second rotating part is connected to the end of the two rotating arms away from the connecting part through a second rotating shaft.

[0013] The third rotating part and the end of the second rotating part away from the first rotating part are rotatably connected by a third rotating shaft.

[0014] Furthermore, the rotating arm, the second rotating part, and the third rotating part are all hollow structures.

[0015] The rotating arm, the second rotating part, and the third rotating part are connected and form a wiring cavity extending vertically on one side of the folding leg.

[0016] Furthermore, the plurality of the rotating structures are respectively disposed between the two rotating arms, inside the second rotating part, and inside the third rotating part.

[0017] The plurality of rotating structures are respectively connected to the first rotating shaft, the second rotating shaft, and the third rotating shaft, and the driving ends of the plurality of rotating structures are all located on the side of the folding leg away from the wiring cavity.

[0018] Furthermore, the rotating structure includes: a servo motor and a harmonic reducer.

[0019] The servo motor and the harmonic reducer are connected to drive the connecting part to rotate relative to the first rotating part, the first rotating part and the second rotating part, and the second rotating part and the third rotating part.

[0020] Furthermore, the servo motor has a brake function.

[0021] The reduction ratio of the harmonic reducer is 160:1.

[0022] Furthermore, the moving component includes a base plate, a top plate, a support member, and multiple drive wheels.

[0023] The base plate and the top plate are spaced apart, and there are multiple support members located between the base plate and the top plate. The base plate, the top plate, and the multiple support members form a frame structure, and the frame structure has installation space for setting electrical components and wires.

[0024] The drive wheels are spaced apart circumferentially along the base plate.

[0025] Furthermore, the movable component also includes a flexible edge sensor.

[0026] Multiple flexible contact sensors are arranged at circumferential intervals on the side of the frame structure.

[0027] The purpose of this utility model is also to provide a chassis structure for an intelligent mobile composite robot, including the provided legs of the intelligent mobile composite robot.

[0028] The purpose of this utility model is also to provide a leg system for an intelligent mobile composite robot, including the provided intelligent mobile composite robot chassis structure.

[0029] Beneficial effects: In this invention, the multi-jointed folding leg structure located on top of the mobile component effectively expands the vertical working range of the wheeled robot, enabling the robot to adapt to tasks at different heights through the extension and retraction of the folding legs. When folded, it maintains the original low center of gravity and efficient mobility of the wheeled chassis; when unfolded, the folding legs, formed by the series connection of the first, second, and third rotating parts, provide high-rigidity and stable support, achieving a balance between mobility efficiency and operational flexibility, and enabling the robot to perform tasks at different heights. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a structural schematic diagram of the leg of the intelligent mobile composite robot provided in an embodiment of the present utility model; Figure 2 A schematic diagram of the structure of the moving component in the leg of the intelligent mobile composite robot provided in this embodiment of the utility model; Figure 3 A schematic diagram showing the installation position of the electrical mounting plate in the leg of the intelligent mobile composite robot provided in this embodiment of the utility model; Figure 4 A schematic diagram of the structure of the leg of the intelligent mobile composite robot in the extended state provided in an embodiment of this utility model; Figure 5 A schematic diagram of the structure of the leg of the intelligent mobile composite robot in a folded state, provided for an embodiment of this utility model; Figure 6 A schematic diagram showing the positional relationship of the wiring cavity in the leg of the intelligent mobile composite robot provided in this embodiment of the utility model.

[0032] icon: 100 - Moving component; 101 - Connecting part; 110 - Base plate; 120 - Top plate; 130 - Support component; 140 - Drive wheel; 150 - Flexible contact sensor; 160 - 3D camera; 170 - Electrical mounting plate; 200 - First rotating part; 210 - Rotating arm; 220 - First rotating shaft; 300 - Second rotating part; 310 - Second rotating shaft; 400 - Third rotating part; 410 - Third rotating shaft; 500 - Rotating structure. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0039] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0040] See Figure 1 , Figure 3 , Figure 4 The intelligent mobile composite robot leg provided in this embodiment includes a mobile component 100, a first rotating part 200, a second rotating part 300, a third rotating part 400, and multiple rotating structures 500.

[0041] A connecting part 101 is provided at the top center of the moving component 100. The connecting part 101, the first rotating part 200, the second rotating part 300, and the third rotating part 400 are sequentially rotatably connected by a rotating structure 500 to form a folding leg. The end of the third rotating part 400 away from the second rotating part 300 is used to connect to the robot body structure.

[0042] Among them, the rotating shafts of multiple rotating structures 500 all extend in the horizontal direction.

[0043] Specifically, in this embodiment, the moving component 100 is a wheeled moving structure. Based on the moving component 100, multiple rotating parts are connected in series above the center of the moving component 100, forming a foldable lifting structure, thereby expanding the vertical working range based on the moving component 100. Starting from the geometric center point at the top of the moving component 100, the first rotating structure 500 (ankle), the second rotating structure 500 (knee), and the third rotating structure 500 (hip) are connected in series, forming a series motion chain. This structure simulates the joints of the human leg. By controlling the rotation angle of each joint, various postures such as leg extension (raising the chest), flexion (lowering the chest), and forward tilt (hip joint forward rotation) can be achieved, making motion control more operable.

[0044] Meanwhile, the first connecting part 101, serving as the connection point between the leg assembly and the moving assembly 100, is located at the geometric center of the projection of the moving assembly 100, which helps maintain the stability of the robot during movement and under load. This achieves the folding function of the intelligent mobile composite robot's legs, allowing the robot to remain compact during movement and expand its workspace by extending its legs during operation. The connection point is located at the top center of the moving assembly 100, which helps maintain the overall stability of the robot.

[0045] Please combine Figure 5 , Figure 5 In the diagram, the arrows indicate the rotation direction of each shaft. In this embodiment, a first shaft 220 is provided at the top of the connecting part 101.

[0046] The first rotating part 200 includes two rotating arms 210, which are arranged opposite to each other and rotatably connected to the first rotating shaft 220. A second rotating part 300 is disposed between the two rotating arms 210, and the second rotating part 300 is connected to the ends of the two rotating arms 210 away from the connecting part 101 via the second rotating shaft 310. A third rotating part 400 is rotatably connected to the end of the second rotating part 300 away from the first rotating part 200 via the third rotating shaft 410.

[0047] Specifically, in this embodiment, the first rotating part 200 is composed of two opposing rotating arms 210. The two rotating arms 210 of the first rotating part 200 are connected to the connecting part 101 through the first rotating shaft 220 (ankle joint). The second rotating part 300 is accommodated between the two rotating arms 210 and connected through the second rotating shaft 310 (knee joint), forming a stable parallelogram or similar structure, thereby forming stable support on both sides of the second rotating part 300.

[0048] Furthermore, both sides of the third rotating part 400 near the end of the second rotating part 300 are provided with extended connecting structures. The two extended connecting structures also clamp the end of the second rotating part 300 and are rotatably connected to the end of the second rotating part 300 through the third rotating shaft 410.

[0049] The double rotating arm 210 structure in this embodiment significantly improves the rigidity and load-bearing capacity of the folding leg, especially the knee joint, making the knee joint more stable when bearing the weight of the upper body and multiple arms, and less prone to twisting or deformation.

[0050] Combination Figure 6 In this embodiment, the rotating arm 210, the second rotating part 300 and the third rotating part 400 are all hollow structures.

[0051] The rotating arm 210, the second rotating part 300 and the third rotating part 400 are connected and form a wiring cavity extending in the vertical direction on one side of the folding leg.

[0052] Figure 6 In the diagram, the arrow indicates the direction of the wiring cavity's extension. With this structure, power and signal lines leading to the robot's body structure can extend from the moving component 100 and enter the wiring cavity from the bottom of the rotating arm 210. They then pass sequentially through the second rotating part 300 and the third rotating part 400, ultimately entering the robot's body structure, forming an internal wiring system. This ensures that all cables are covered by the outer shell, achieving concealed, integrated, and protective wiring. It prevents exposed cables from tangling, wearing down, or breaking during complex movements, improving safety and lifespan. Simultaneously, it makes the legs look neat and aesthetically pleasing and reduces rotational resistance caused by cable friction.

[0053] In this embodiment, multiple rotating structures 500 are respectively disposed between the two rotating arms 210, inside the second rotating part 300, and inside the third rotating part. The multiple rotating structures 500 are respectively connected to the first rotating shaft 220, the second rotating shaft 310, and the third rotating shaft 410, and the driving ends of the multiple rotating structures 500 are all located on the side of the folding leg away from the wiring cavity.

[0054] In this embodiment, the drive ends of the power-providing rotating structure 500 are all arranged on the side of the leg away from the cable routing cavity. This includes a drive end that drives the knee joint between the two rotating arms 210 and a drive end that drives the hip and ankle joints within the second and third rotating parts 400, thus forming a drive side on that side. The side where the cable routing cavity is located is the support side. In this embodiment, a large-diameter bearing is used on the support side to assist in support and facilitate cable routing.

[0055] During assembly, cylindrical tooling is used to ensure the coaxiality of the drive side and the support side. In this embodiment, the drive end is centrally arranged and placed on both sides of the folding leg, separate from the wiring cavity. This achieves physical separation of the power line and the signal / electrical line in space, avoiding mutual interference, simplifying the internal structure, reducing the risk of interference, and improving assembly accuracy and reliability.

[0056] In this embodiment, the rotating structure 500 includes a servo motor and a harmonic reducer.

[0057] The servo motor and harmonic reducer are connected to drive the connection part 101 to rotate relative to the first rotating part 200, the first rotating part 200 to rotate relative to the second rotating part 300, and the second rotating part 300 and the third rotating part 400.

[0058] Specifically, in this embodiment, the servo motor and the harmonic reducer are connected to form a drive unit. The multiple drive units are divided into a first drive unit, a second drive unit and a third drive unit, and are respectively connected to the first rotating shaft 220, the second rotating shaft 310 and the third rotating shaft 410, thereby providing power to the ankle, knee and hip joints of the folded leg.

[0059] The first drive unit is disposed between the two rotating arms 210 and housed within the connecting portion 101 at the top of the moving assembly 100. The output shaft of the first drive unit is the first rotating shaft 220, which can directly drive the two rotating arms 210 to rotate relative to the connecting portion 101 of the moving assembly 100, so that the drive source is as close to the base as possible, thus optimizing the force transmission path.

[0060] The second drive unit is integrated inside the hollow structure of the second rotating part 300. The output shaft of the second drive unit is the second rotating shaft 310, which passes laterally through the second rotating part 300 and is connected to the rotating arms 210 on both sides, thereby driving the second rotating part 300 to rotate relative to the first rotating part 200 (i.e., the two rotating arms 210). The second drive unit is built into this position, so that the power source of the knee joint is located in the middle of the kinetic chain, resulting in a compact structure.

[0061] The third drive unit is integrated inside the hollow structure of the third rotating part 400. The output shaft of the third drive unit is the third rotating shaft 410, which is used to drive the third rotating part 400 (hip) to rotate relative to the second rotating part 300 (thigh). The third drive unit is built into the third rotating part 400, so that the power is applied directly to the hip joint, reducing unnecessary transmission chains and improving response speed and rigidity.

[0062] In this embodiment, the servo motor has a braking function. The reduction ratio of the harmonic reducer is 160:1.

[0063] Among them, the servo motor's brake function ensures that in the event of a power outage or when stationary, each joint can maintain its angle by mechanical force rather than electricity, preventing the load from falling. At the same time, the high reduction ratio of the harmonic reducer of 160:1 provides huge output torque, enabling the joints to easily support the upper load and improving the system's control resolution and anti-disturbance capability. This ensures the static self-locking safety and dynamic high load capacity of the drive joints, thus laying a safe foundation for the stable operation of the entire machine.

[0064] It should be noted that, in this embodiment, to ensure that the leg assembly moves within a safe and controllable range, the three rotating structures 500 (corresponding to the ankle, knee, and hip joints, respectively) are set with specific ranges of motion angles. Specifically, with the upright posture of the folded leg as the zero position of each joint, the maximum range of motion angles of the three joints are limited to: [-60°, 60°], [-120°, 120°], and [-60°, 60°].

[0065] Furthermore, to physically guarantee the range of motion and improve safety, each joint in this embodiment is equipped with a rigid limiting structure made of ABS engineering plastic. The rigid limiting structure can effectively prevent the joint from exceeding the set mechanical movement limits due to abnormal control or external impact, thereby protecting the drive components (such as harmonic reducers) inside the joint from damage.

[0066] In addition, to facilitate quick and accurate inspection and calibration of the leg posture during assembly, debugging and maintenance, clear mechanical markings are etched or machined on the machined parts corresponding to the zero positions of each joint. These markings provide a reference for visual alignment, ensuring the zero position accuracy of the leg components, and thus guaranteeing the accuracy and repeatability of the robot's overall motion control.

[0067] As an feasible approach, the rotating structure 500 can also be implemented using non-direct drive methods such as gear transmission and belt transmission, or as an integrated joint module.

[0068] Combination Figure 2 In this embodiment, the moving component 100 includes a base plate 110, a top plate 120, a support member 130, and a plurality of drive wheels 140.

[0069] A base plate 110 and a top plate 120 are spaced apart. Multiple support members 130 are provided between the base plate 110 and the top plate 120. The base plate 110, the top plate 120, and the multiple support members 130 form a frame structure. The frame structure has installation space for mounting electrical components and wires. Multiple drive wheels 140 are spaced apart circumferentially along the base plate 110.

[0070] Specifically, in this embodiment, the base plate 110, the column, the top plate 120, and the electrical mounting plate 170 form the basic mounting frame of the movable assembly 100. Battery structures, such as batteries, are secured to the base plate 110 by a cam-type quick-locking device, thereby enabling quick installation and removal of the power supply.

[0071] The frame structure in this embodiment provides a regular installation space. The top plate 120 is connected to the chassis by a locating pin and bolt group, and the locating pin and bolt group is located at the geometric center of the chassis ground projection. The four columns below the top plate 120 form a stable load-bearing structure, ensuring the benchmark uniformity and overall rigidity of the robot body structure, and providing a stable foundation for the precise movement of the upper collaborative arm.

[0072] The frame structure in this embodiment provides high rigidity and stability, while the low-profile and quick-installation battery design significantly lowers the overall center of gravity and improves anti-tipping ability. An interface for connecting control and power lines is located at the top center of the frame structure. This centralized top interface and modular frame allow for independent assembly of the leg and chassis components followed by rapid final assembly, greatly facilitating iteration and maintenance.

[0073] In this embodiment, the moving component 100 also includes a flexible edge sensor 150.

[0074] Multiple flexible edge sensors 150 are arranged at circumferential intervals on the side of the frame structure.

[0075] Specifically, when a robot accidentally comes into contact with a person or object in a collaborative environment, the contact edge will immediately generate a signal when squeezed. This can detect the accidental contact in time and instruct the robot to stop moving, avoiding injury and equipment damage, and enabling the robot to work safely in a human-robot collaborative environment.

[0076] In this embodiment, the mobile component 100 also includes a 3D camera 160, a ground-based camera, and a lidar.

[0077] The 3D camera 160 is located on one side of the frame structure. The ground camera is located at the bottom of the frame structure. The lidar is located on the side of the frame structure away from the 3D camera 160.

[0078] In this embodiment, 3D cameras 160 and LiDAR mounted at the front and rear of the chassis, respectively, combined with a ground-code camera at the bottom, jointly realize environmental mapping, localization, navigation, and obstacle perception functions in different industrial scenarios. The 3D cameras 160, LiDAR, and ground-code camera constitute a multi-layered, comprehensive environmental perception solution. This enables the robot to intelligently understand its surroundings, achieve precise localization and path planning, and adapt to various complex industrial scenarios, from large-area roving to precise point-to-point operations based on ground codes.

[0079] Combination Figure 3 In this embodiment, the movable component 100 also includes an electrical mounting plate 170.

[0080] An electrical mounting plate 170 is disposed within the frame assembly and vertically divides the mounting space into a first space and a second space. The first space is located above the second space and is used to accommodate wiring. The second space is used to mount electrical components.

[0081] The electrical mounting plate 170 clearly divides the installation space inside the frame assembly vertically. The upper first space is used to centrally lay all power and signal cables leading to the leg components and upper-level cameras, collaborative arms, and other components. The lower second space is used to house heavy electrical components such as batteries and controllers. After removing the outer casing, the components in each space can be quickly inspected and replaced.

[0082] This structure achieves physical isolation and management of power / signal cables and heavy electrical components, thereby optimizing internal space utilization and improving system maintainability and reliability. The spatial separation of cables and electrical components results in clear wiring that does not interfere with each other, greatly facilitating independent maintenance and replacement, and enhancing maintainability.

[0083] The intelligent mobile composite robot chassis structure provided in this embodiment includes the legs of the intelligent mobile composite robot described above.

[0084] In this embodiment, after the intelligent mobile composite robot chassis moves to the target position, it can autonomously and precisely adjust the height and tilt angle of the entire upper working system (such as the multi-arm chest assembly) via the robot's legs. This allows the robot to adapt to various working planes, from the ground to high positions, without relying on external lifting platforms or fixed columns, significantly improving the flexibility and adaptability of a single robot's working range.

[0085] The intelligent mobile composite robot leg system provided in this embodiment includes the intelligent mobile composite robot chassis structure described above.

[0086] In this embodiment, the robot can first use the chassis of the intelligent mobile composite robot leg system to move to any point in a wide working area, and then use its legs to make precise height and posture adjustments to perform tasks, thereby achieving "large-scale mobile coverage" and "local fine operation", expanding the effective working space of a single system and improving equipment utilization.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An intelligent mobile compound robot leg, characterized by, include: The moving component (100), the first rotating part (200), the second rotating part (300), the third rotating part (400), and a plurality of rotating structures (500); A connecting part (101) is provided at the top center of the moving component (100); The connecting part (101), the first rotating part (200), the second rotating part (300) and the third rotating part (400) are sequentially rotatably connected by the rotating structure (500) to form a folding leg; The end of the third rotating part (400) away from the second rotating part (300) is used to connect to the robot body structure; The rotating shafts of the plurality of rotating structures (500) extend in the horizontal direction.

2. The intelligent mobile compound robotic leg of claim 1, wherein, The top end of the connecting part (101) is provided with a first rotating shaft (220); The first rotating part (200) includes two rotating arms (210), which are arranged opposite to each other and are rotatably connected to the first rotating shaft (220); The second rotating part (300) is disposed between the two rotating arms (210), and the second rotating part (300) is connected to the end of the two rotating arms (210) away from the connecting part (101) via a second rotating shaft (310). The third rotating part (400) and the end of the second rotating part (300) away from the first rotating part (200) are rotatably connected by a third rotating shaft (410).

3. The intelligent mobile compound robotic leg of claim 2, wherein, The rotating arm (210), the second rotating part (300) and the third rotating part (400) are all hollow structures; The rotating arm (210), the second rotating part (300) and the third rotating part (400) are connected and form a wiring cavity extending in the vertical direction on one side of the folding leg.

4. The intelligent mobile compound robotic leg of claim 3, wherein, The plurality of said rotating structures (500) are respectively disposed between the two said rotating arms (210), inside the second rotating part (300) and inside the third rotating part (400); The plurality of rotating structures (500) are respectively connected to the first rotating shaft (220), the second rotating shaft (310) and the third rotating shaft (410), and the driving ends of the plurality of rotating structures (500) are all located on the side of the folding leg away from the wiring cavity.

5. The leg of the intelligent mobile composite robot according to claim 3, characterized in that, The rotating structure (500) includes: a servo motor and a harmonic reducer; The servo motor and the harmonic reducer are connected to drive the connecting part (101) to rotate relative to the first rotating part (200), the first rotating part (200) to rotate relative to the second rotating part (300), the second rotating part (300) and the third rotating part (400).

6. The intelligent mobile compound robotic leg of claim 5, wherein, The servo motor has a brake function; The reduction ratio of the harmonic reducer is 160:

1.

7. The intelligent mobile compound robotic leg of claim 1, wherein, The moving component (100) includes a base plate (110), a top plate (120), a support member (130), and a plurality of drive wheels (140); The base plate (110) and the top plate (120) are spaced apart, and there are multiple support members (130) disposed between the base plate (110) and the top plate (120). The base plate (110), the top plate (120) and the multiple support members (130) form a frame structure, and the frame structure has an installation space for setting electrical components and wires. The plurality of drive wheels (140) are arranged circumferentially along the base plate (110).

8. The intelligent mobile compound robotic leg of claim 7, wherein, The moving component (100) also includes a flexible edge sensor (150); Multiple flexible edge sensors (150) are arranged at circumferential intervals on the side of the frame structure.

9. An intelligent mobile composite robot chassis structure, characterized by, Including the legs of the intelligent mobile composite robot as described in any one of claims 1-8.

10. A leg system for an intelligent mobile composite robot, characterized in that, Includes the intelligent mobile composite robot chassis structure as described in claim 9.

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