In order to find a double-stator motor blade structure with small roller force and strong clearance compensation ability, and to improve the smooth operation of the double-stator blade hydraulic motor, a U-shaped connecting rod slot structure was proposed. The roller force characteristics under four different working modes of the double-stator hydraulic multi-speed motor were analyzed, and the relationship between the friction force between the roller and the connecting rod groove and the roller deflection angle, and the groove angle was deduced,to obtain the influence of roller wear on the positive pressure of each contact surface. At the same time, experimental research was also carried out. The results show that the blade structure with U-shaped connecting rod groove can not only improve the stress state between the roller and the connecting rod, but also make the change rate of the positive pressure between the roller and each contact surface more stable.