Wheel-foot type suspension structure capable of switching dual modes based on holder height control

The invention belongs to the technical field of robots, and particularly relates to a wheel-foot type suspension structure based on holder height control switching dual modes, the wheel-foot type suspension structure comprises a four-connecting-rod mechanism and a three-connecting-rod mechanism, the three-connecting-rod mechanism comprises a gas spring, a lower rocker is connected between the gas spring and a toe rod piece, and an upper rocker is connected between the gas spring and a holder component; when the height of the cradle head component is reduced, the gas spring, the upper rocker and the lower rocker are located on the same straight line, the gas spring is pressed, and the gas spring and the cradle head motor complete the bearing function of the suspension at the same time; when the height of the holder component is increased, the gas spring, the upper rocker and the lower rocker are not located on the same straight line, the gas spring is in a relaxed state, and at the moment, the holder motor ind