Absolute position type multi-legged robot servo

Abstract

An absolute position type multi-legged robot servo steering gear, including a motor, a reducer, a Hall array encoding chip, a Hall magnet, an angle transfer rod, and a Hall switch circuit board, wherein the Hall array encoding chip is fixedly arranged at the center of the rear end cover of the motor, and a ring-shaped Hall array is arranged on the Hall array encoding chip, and the motor output shaft is a hollow structure, and the angle transfer rod is arranged on the central axis of the motor output shaft, and the front end of the angle transfer rod extends into the reducer and is fixedly connected to the output end of the reducer, and the Hall magnet is fixedly arranged at the rear end of the angle transfer rod, and the Hall switch circuit board is arranged on the rear end cover of the motor. The present invention transmits the final output angle to the Hall magnet through the angle transfer rod, and the Hall array encoding chip senses the change in the magnetic field of the Hall magnet to directly obtain the absolute angle of the joint, reduce the axial length of the steering gear, and is miniaturized, modularized, and highly precise.

Description

Technical Field

[0001] The invention relates to the field of robots, in particular to an absolute position type multi-legged robot servo steering engine. Background Art

[0002] At present, large multi-legged robot servos weighing more than 20 kilograms mostly use BLDC 120-degree Hall motor plus planetary reducer structure. Articulated servos require the software system to obtain the absolute and precise angle of the joint in real time for control. Generally, there are two working methods: absolute position encoding, and working and real-time counting mode. The first mode is to place an encoder at the final output position of the joint and directly measure the rotation angle of the output end. The second mode is to place a periodic position detection element at the rotor end of the motor, and cumulatively measure the mechanical angle of the motor rotation to convert it into the angle information of the corresponding joint position.

[0003] The first mode has accurate detection, but it will obviously increase the axial length of the servo and increase the volume of the servo, which is not conducive to joint movement. As a result, the robotic arm structure cannot be miniaturized due to excessive volume and weight limitations. In addition, the use of encoders requires wiring at the front and rear ends of the servo, which makes the robotic arm power unit basically combined with the mechanical body, which is not suitable for the modular requirements and replaceability of mobile robot power components.

[0004] The second mode has a simple structure, but it usually uses mechanical zero-point limit with additional limit circuit parts, such as magnetic zero-point judgment or grating zero-point judgment for origin return. After power failure and power on again, it must find the absolute position zero reference point in one direction before it can operate normally. That is to say, when the system is powered on again after power failure, the motor output shaft will return to the mechanical origin and perform an absolute position zero-point search. This application is very inconvenient in legged robots, the program is cumbersome, it will increase the hardware structure cost and reduce the customer experience, and the absolute position search action is not safe and precise in certain occasions. Summary of the invention

[0005] In order to solve the above problems, the present invention provides an absolute position type multi-legged robot servo servo that transmits the final output angle to the Hall magnet through an angle transfer rod, senses the magnetic field change of the Hall magnet by a Hall array encoding chip, thereby directly obtaining the absolute angle of the joint, reducing the axial length of the servo, and miniaturizing, modularizing, and having high precision.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an absolute position type multi-legged robot servo steering gear, including a motor and a reducer, the motor including a motor front end cover, a motor housing, a motor rear end cover, a motor output shaft, a stator, and a rotor, the motor front end cover and the motor rear end cover are respectively covered on the front and rear ends of the motor housing, the reducer is fixed on the motor front end cover, the motor output shaft is arranged on the central axis of the motor housing and is rotatably connected to the motor front end cover and the motor rear end cover respectively, the front end of the motor output shaft extends into the reducer and is connected to the input end of the reducer, the rotor is fixed on the circumferential side of the motor output shaft, and the stator is fixed on the motor housing. The inner wall also includes a Hall array encoding chip, a Hall magnet, an angle transfer rod, and a Hall switch circuit board. The Hall array encoding chip is fixedly arranged at the center of the rear end cover of the motor. The Hall array encoding chip is provided with a ring-shaped Hall array. The motor output shaft is a hollow structure. The angle transfer rod is arranged on the central axis of the motor output shaft. The rear end of the angle transfer rod is rotatably connected to the rear end cover of the motor. The front end of the angle transfer rod extends into the reducer and is fixedly connected to the output end of the reducer. The Hall magnet is fixedly arranged at the rear end of the angle transfer rod. The Hall switch circuit board is arranged on the rear end cover of the motor. Three Hall switches are arranged on the Hall switch circuit board.

[0007] Specifically, the motor is a sine wave brushless servo motor, and the reducer is a harmonic reducer.

[0008] Specifically, the reducer includes a reducer housing, a flexible bearing, a wave generator, a flexible wheel, and a steel wheel. The reducer housing is fixedly connected to the front end cover of the motor, the wave generator is sleeved on the surface of the motor output shaft, the flexible wheel is sleeved on the surface of the wave generator through a flexible bearing, the steel wheel is fixedly mounted on the reducer housing, and the flexible wheel is meshed with the steel wheel, and the front end of the angle transmission rod is fixedly connected to the flexible wheel.

[0009] Specifically, the flexible wheel is connected to an output flange through a cross roller bearing.

[0010] Specifically, a concentric connecting ring is provided between the front end cover of the motor and the steel wheel. A first pre-tightening screw sequentially penetrates the rear end cover of the motor, the motor housing, the front end cover of the motor, the concentric connecting ring, the steel wheel, and the reducer housing, and the motor is fixedly connected to the reducer.

[0011] Specifically, pins are inserted into the front end cover of the motor, the concentric connecting ring, and the steel wheel in sequence.

[0012] Specifically, the inner hole of the flexible wheel is provided with a flexible wheel clamping cover, the outer ring of the cross roller bearing is fixed to the inner wall of the reducer housing, and the output clamping screw passes through the flexible wheel clamping cover and the inner ring of the cross roller bearing in sequence, and the flexible wheel is fixedly connected to the inner ring of the cross roller bearing.

[0013] Specifically, the center of the rear end cover of the motor is connected with a locking screw through a rotating centering bearing, the rear end of the angle transfer rod is placed in the locking screw, the front end of the angle transfer rod is sleeved with a locking screw, and the locking screw is locked on the flexible wheel clamping cover.

[0014] Specifically, an annular slide groove is provided on the rear end cover of the motor, and the Hall switch circuit board is slidably arranged in the slide groove.

[0015] Specifically, a protrusion is provided on the inner surface of the output flange, an annular limiting groove is provided at the end of the reducer housing, and the protrusion is placed in the limiting groove.

[0016] The beneficial effects of the present invention are as follows: the present invention adopts a built-in flat Hall array encoding chip and Hall magnet, and transmits the angle of the output end to the Hall magnet through an angle transmission rod. The Hall array encoding chip obtains the absolute angle information of the joint according to the change of the magnetic field of the Hall magnet. The output angle is direct and accurate, which eliminates the search action of the absolute position zero point when the system is powered on again after power failure, thereby improving the safety and accuracy of the system. At the same time, three timing signals are obtained through the Hall switch circuit board to drive the motor to move. Through the compact structural design, the present invention significantly shortens the shaft end size of the servo, can reduce the volume and weight of the servo, and does not require wiring at the output end, so that the mechanical arm power unit can be separated from the mechanical body, which is convenient for the miniaturization and modularization of the mechanical arm and improves replaceability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is a top view of the present invention;

[0019] Figure 3 yes Figure 2 Schematic diagram of the cross section at BB;

[0020] Figure 4 It is a schematic diagram of the connection between the output flange cover and the reducer of the present invention.

[0021] Description of the accompanying figures: 1-motor; 2-reducer; 11-motor front cover; 12-motor housing; 13-motor rear cover; 131-wire outlet hole; 132-slideway; 14-motor output shaft; 121-stator; 141-rotor; 142-rotor bearing; 15-angle transmission rod; 151-rotation centering bearing; 152-locking top screw; 153-locking screw; 16-Hall switch circuit board; 17-Hall array encoding chip; 18-Hall magnet; 1 91-concentric connecting ring; 192-first pre-tightening screw; 193-second pre-tightening screw; 21-reducer housing; 22-flexible bearing; 23-wave generator; 24-flexible wheel; 241-gear ring; 25-steel wheel; 26-cross roller bearing; 261-fixing hole; 27-flexible wheel clamping cover; 28-output clamping screw; 29-limiting groove; 31-output flange; 32-bump; 33-mounting hole; 34-flange locking screw hole; 35-stop pin hole. DETAILED DESCRIPTION

[0022] See also Figure 1-3 The present invention relates to an absolute position type multi-legged robot servo steering engine, comprising a motor 1 and a reducer 2. The motor 1 comprises a motor front end cover 11, a motor housing 12, a motor rear end cover 13, a motor output shaft 14, a stator 121, and a rotor 141. The motor front end cover 11 and the motor rear end cover 13 are respectively covered at the front and rear ends of the motor housing 12. The reducer 2 is fixed on the motor front end cover 11. The motor output shaft 14 is arranged on the central axis of the motor housing 12 and is rotatably connected to the motor front end cover 11 and the motor rear end cover 13 respectively. The front end of the motor output shaft 14 extends into the reducer 2 and is connected to the input end of the reducer 2. The rotor 141 is fixed on the peripheral side of the motor output shaft 14. The stator 121 is fixed inside the motor housing 12. The wall also includes a Hall array encoding chip 17, a Hall magnet 18, an angle transfer rod 15, and a Hall switch circuit board 16. The Hall array encoding chip 17 is fixedly mounted at the center of the rear end cover 13 of the motor. The Hall array encoding chip 17 is provided with a ring-shaped Hall array. The motor output shaft 14 is a hollow structure. The angle transfer rod 15 is arranged on the central axis of the motor output shaft 14. The rear end of the angle transfer rod 15 is rotatably connected to the rear end cover 13 of the motor. The front end of the angle transfer rod 15 extends into the reducer 2 and is fixedly connected to the output end of the reducer 2. The Hall magnet 18 is fixedly mounted at the rear end of the angle transfer rod 15. The Hall switch circuit board 16 is arranged on the rear end cover 13 of the motor. Three Hall switches are arranged on the Hall switch circuit board 16.

[0023] In this embodiment, the Hall array encoder chip 17 is fixed to the inner center of the motor rear end cover 13 through a locking cover, and the rotor 141 outside the motor output shaft 14 is rotatably connected to the motor front end cover 11 and the motor rear end cover 13 through a rotor bearing 142. The front and rear rotor bearings 142 ensure a uniform and stable magnetic field space between the rotor 141 and the stator 121. The Hall array encoder chip 17 and the Hall magnet are compressed within 5-8 mm.

[0024] The present invention adopts a built-in Hall array encoding chip 17 and a Hall magnet 18, which can output 3 Hall switch signals and also output the absolute angle information of the joint (output flange 31).

[0025] The specific principle is as follows: the angle output from the output end of the reducer 2 is transmitted from the front end of the reducer 2 to the Hall magnet 18 at the rear end of the angle transfer rod 15 by means of the angle transfer rod 15. The annular Hall array in the Hall array encoding chip 17 on the rear end cover 13 of the motor passes through the magnetic field generated by the Hall magnet 18. The rotation of the north and south poles of the Hall magnet 18 will be solved by the Hall array encoding chip 17 to calculate the absolute position (angle) of the joint. The angle information on the output side is transferred to the motor 1 side. The advantage of this is that all line routing only needs to be arranged on one side of the motor 1, making the connection between the output unit and the next level simple, facilitating the modular design of the whole machine, so that the power unit of the robot arm can be separated from the mechanical body, facilitating the miniaturization and modularization of the robot arm, and improving replaceability. Moreover, compared with the working and real-time counting modes, this design omits the search action of the absolute position zero point when the system is powered on again after power failure, thereby improving the safety and accuracy of the system.

[0026] In addition, the normal rotational movement of the brushless motor 1 requires detection of the position of the rotor 141 relative to the stator 121 slot. One approach is to place three Hall switches with an electrical angle of 120 degrees or 60 degrees on the stator 121 slot. When the magnetic lines of force of the rotor 141 pass through the Hall switch, three changing logic timing signals are generated and provided to the motor 1 drive board to generate normal timing. In order to make the axial dimension of the motor 1 as short as possible, this embodiment adopts an embedded rotor 141 position detection structure. The Hall switch is set on the Hall switch circuit board 16 with an electrical angle of 120 degrees or 60 degrees. When the permanent magnet of the rotor 141 passes through the Hall switch, three timing signals are output on the three Hall switches to the motor 1 drive board.

[0027] Specifically, the motor 1 is a sine wave brushless servo motor 1 , and the reducer 2 is a harmonic reducer 2 .

[0028] Traditional multi-legged robots mostly use a BLDC 120-degree Hall motor 1 plus a planetary reducer 2 structure. This solution has the problem of large single-step error of motor 1 and poor precision of planetary reducer 2. In order to obtain sufficient torque, ordinary low-speed motor 1 must use a large drive current, and the system will generate serious heat. Different from the ordinary design of low-speed motor 1, this design uses a high-speed, high-torque motor 1 with a large reduction ratio to minimize the ineffective energy loss of the joint part, without considering the heat dissipation problem. The high-speed motor 1 is combined with a large reduction ratio harmonic deceleration, so that the system can obtain sufficient holding torque with very little energy loss in static standing mode, without the need for a brake device.

[0029] This servo module adopts a brushless skew-slot sinusoidal motor 1 plus a harmonic reducer 2. The motor 1 part adopts a fractional skew-slot stator 121 winding design, and the rotor 141 part adopts a high-temperature resistant strong magnetic permanent magnet design, which effectively reduces inter-slot jitter and improves accuracy. It is used on a quadruped robot. In the static standing mode, the required locking current is small and the power module does not heat up.

[0030] Specifically, the reducer 2 includes a reducer housing 21, a flexible bearing 22, a wave generator 23, a flexible wheel 24, and a steel wheel 25. The reducer housing 21 is fixedly connected to the front end cover 11 of the motor, the wave generator 23 is sleeved on the surface of the motor output shaft 14, the flexible wheel 24 is sleeved on the surface of the wave generator 23 through the flexible bearing 22, the steel wheel 25 is fixedly arranged on the reducer housing 21, and the flexible wheel 24 is meshed with the steel wheel 25, and the front end of the angle transmission rod 15 is fixedly connected to the flexible wheel 24.

[0031] The working principle of the harmonic reducer 2 is as follows: the rotor bearing 142 transmits the high-speed rotation torque of the motor 1 to the wave generator 23, and the wave generator 23 undergoes periodic circumferential elliptical deformation, causing the flexible bearing 22 to undergo periodic elliptical deformation in the radial direction, and this deformation is finally transmitted to the ring gear 241 of the flexible wheel 24. Under the action of the wave generator 23, the ring gear 241 of the flexible wheel 24 undergoes periodic deformation and continuously meshes with the steel wheel 25. When the motor 1 rotates one circle, the flexible wheel 24 will produce a periodic deformation, and after the continuous meshing of the flexible wheel 24 and the steel wheel 25, the flexible wheel 24 and the steel wheel 25 move relative to each other in the radial direction by a tooth difference, achieving a deceleration effect. Finally, the torque after deceleration is output by the flexible wheel 24, and the output angle of the flexible wheel 24 is transmitted from the front end to the rear end via the angle transmission rod 15.

[0032] Specifically, the flexible wheel 24 is connected to the output flange 31 via a cross roller bearing 26 .

[0033] Because the flexible wheel 24 is a fragile device and has poor resistance to axial impact, the use of the cross roller bearing 26 is necessary to isolate the adverse impact between the flexible wheel 24 end and the load end. The output flange 31 is provided with two rows of mounting holes 33, and the next-level components can be installed on the output flange 31 through bolts matching the mounting holes 33. The torque output by the flexible wheel 24 is output to the next-level components through the output flange 31.

[0034] Specifically, a concentric connecting ring 191 is provided between the motor front end cover 11 and the steel wheel 25, and a first pre-tightening screw 192 is passed through the motor rear end cover 13, the motor housing 12, the motor front end cover 11, the concentric connecting ring 191, the steel wheel 25, and the reducer housing 21 in sequence, so that the motor 1 is fixedly connected to the reducer 2.

[0035] Because the motor 1 part and the reducer 2 part are modular independent units, in order to ensure the precise positional relationship required for the combination of the two independent units, such as the concentricity requirement, a concentric connecting ring 191 (connecting steel ring) is specially designed to simultaneously meet the connection positioning and concentricity requirements between the motor 1 and the reducer 2. The axial force locking between the motor 1 and the reducer 2 is achieved by the first pre-tightening screw 192.

[0036] Specifically, pins are inserted into the motor front end cover 11, the concentric connecting ring 191, and the steel wheel 25 in sequence.

[0037] The motor 1 and the reducer 2 are locked by the first pre-tightening screw 192 with axial force. The motor 1 and the reducer 2 units will generate radial torque when the load is applied. If the radial torque is too large, the motor 1 and the reducer 2 will be radially deflected, thereby affecting the accuracy of the final position output. Therefore, the present design uses a pin structure to penetrate the connection position of the motor front end cover 11, the concentric connecting ring 191, and the steel wheel 25 to ensure that even if the load is too large, there will be no positional deviation of the motor 1 and the reducer 2, which will affect the accuracy, thereby ensuring the high accuracy of the present servo.

[0038] Specifically, the inner hole of the flexible wheel 24 is provided with a flexible wheel clamping cover 27, the outer ring of the cross roller bearing 26 is fixed to the inner wall of the reducer housing 21, and the flexible wheel 24 is fixedly connected to the inner ring of the cross roller bearing 26 by an output clamping screw 28 that passes through the flexible wheel clamping cover 27 and the inner ring of the cross roller bearing 26 in sequence.

[0039] The output clamping screw 28 and the flexible wheel clamping cover 27 pre-tighten the flexible wheel 24 and the inner ring of the cross roller bearing 26, and finally output the torque of this unit to the next level through the output flange 31. The lower end of the flexible wheel clamping cover 27 is inserted into the inner hole of the cross roller bearing 26. The flexible wheel clamping cover 27 expands the clamping area and ensures the alignment of the cross roller bearing 26.

[0040] Specifically, pins are inserted into the flexible wheel pressing cover 27 and the inner ring of the cross roller bearing 26 in sequence.

[0041] When the load or torque is transmitted, if the torque is too large, radial sliding will occur between the flexible wheel 24 and the inner ring of the cross roller bearing 26, affecting the accuracy of the system. Therefore, pins are inserted into the flexible wheel clamping cover 27 and the inner ring of the cross roller bearing 26 in sequence to reduce the relative sliding between the wheel clamping cover and the inner ring of the cross roller bearing 26 and ensure the accuracy of the system.

[0042] Specifically, the center of the rear end cover 13 of the motor is connected to a locking top screw 152 through a rotating centering bearing 151, the rear end of the angle transfer rod 15 is placed in the locking top screw 152, the front end of the angle transfer rod 15 is sleeved with a locking screw 152, and the locking screw 152 is locked on the flexible wheel clamping cover 27.

[0043] The locking screw 152 and the locking top screw 152 fix the angle transfer rod 15. In order to ensure the concentricity of the transfer rod with the servo mechanism after angle transfer and reduce transmission friction and jitter, a rotating centering bearing 151 is used to connect the locking top screw 152 and the rear end cover 13 of the motor.

[0044] See also Figure 4 Specifically, the output flange 31 and the inner ring of the cross roller bearing 26 are fixedly connected by the flange locking screw 152 which passes through the output flange 31 and the inner ring of the cross roller bearing 26 in sequence.

[0045] The output flange 31 serves as an intermediate piece connecting the output of the reducer 2 and the next stage. The output flange 31 is provided with a locking screw 152 hole, and the inner ring of the cross roller bearing 26 is provided with a fixing hole 261. The flange locking screw 152 is inserted into the locking screw 152 hole and the fixing hole 261 in sequence to fix the output flange 31 to the inner ring of the cross roller bearing 26. The flange locking screw 152 mainly serves as an axial preload.

[0046] Specifically, pins are inserted into the centers of the output flange 31 and the inner ring of the cross roller bearing 26 in sequence.

[0047] When the load or torque is transmitted, if the torque is too large, the output flange 31 is not enough to ensure the relative position remains unchanged only by the axial preload force and the friction between the output flange 31 and the cross roller bearing 26 of the reducer 2. When the torque is too large, radial relative movement will occur, so that the reducer 2 will have backlash caused by radial sliding when it reaches the next level, which seriously affects the accuracy of the system. Therefore, the design opens a stop pin hole 35 at the center of the output flange 31 and the center of the inner ring of the cross roller bearing 26, and inserts the stop pin into the stop pin hole 35 of the output flange 31 and the inner ring of the cross roller bearing 26 in turn to solve the above problem.

[0048] Specifically, a protrusion 32 is provided on the inner surface of the output flange 31 , an annular limiting groove 29 is provided at the end of the reducer housing 21 , and the protrusion 32 is placed in the limiting groove 29 .

[0049] When this servo motor is used on an articulated legged robot, most of the joints are not 360-degree rotating, but 0-180 degrees. Otherwise, when the joint moves beyond the range, it will cause damage to the body or shell, and the built-in cables will be cut. Therefore, mechanical limiters are necessary for the safety design of articulated products. The mechanical position limiting structure is mainly composed of a protrusion 32 on the flange, which slides in the limit groove 29 on the reducer housing 21, thereby limiting the extreme position of safe movement. In addition, the limit structure is built-in, with few additional components and a simple structure.

[0050] See also Figure 1-2 Specifically, an annular slide groove 132 is provided on the rear end cover 13 of the motor, and the Hall switch circuit board 16 is slidably disposed in the slide groove 132 .

[0051] In order to fine-tune the mechanical phase of the Hall switch signal between the slot of the stator 121 of the motor 1 and the rotor 141, a slide slot 132 is specially opened on the rear end cover 13 of the motor, so that the Hall switch circuit board 16 can be adjusted along the circumference of the rear end cover 13 of the motor, so that the position relationship between the rotor 141 and the stator 121 can be output with the best phase signal.

[0052] Specifically, the motor front end cover 11, the motor housing 12, the motor rear end cover 13, and the reducer housing 21 are all made of aluminum alloy.

[0053] In order to reduce the total mass of the motor 1 and the reducer 2, the motor front end cover 11, the motor housing 12, the motor rear end cover 13, and the reducer housing 21 are all made of high-strength aluminum alloy.

[0054] The above implementation modes are merely descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary engineering and technical personnel in the field shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An absolute position type multi-legged robot servo steering engine, comprising a motor and a reducer, wherein the motor comprises a motor front end cover, a motor housing, a motor rear end cover, a motor output shaft, a stator, and a rotor, wherein the motor front end cover and the motor rear end cover are respectively covered at the front and rear ends of the motor housing, the reducer is fixed on the motor front end cover, the motor output shaft is arranged on the central axis of the motor housing and is rotatably connected to the motor front end cover and the motor rear end cover respectively, the front end of the motor output shaft extends into the reducer and is connected to the input end of the reducer, the rotor is fixed on the peripheral side of the motor output shaft, and the stator is fixed on the inner wall of the motor housing, characterized in that: It also includes a Hall array encoding chip, a Hall magnet, an angle transfer rod, and a Hall switch circuit board. The Hall array encoding chip is fixedly arranged at the center of the rear end cover of the motor. The Hall array encoding chip is provided with a ring-shaped Hall array. The motor output shaft is a hollow structure. The angle transfer rod is arranged on the central axis of the motor output shaft. The rear end of the angle transfer rod is rotatably connected to the rear end cover of the motor. The front end of the angle transfer rod extends into the reducer and is fixedly connected to the output end of the reducer. The Hall magnet is fixedly arranged at the rear end of the angle transfer rod. The Hall switch circuit board is arranged on the rear end cover of the motor. Three Hall switches are arranged on the Hall switch circuit board.

2. The absolute position type multi-legged robot servo actuator according to claim 1, characterized in that: The motor is a sine wave brushless servo motor, and the reducer is a harmonic reducer.

3. The absolute position type multi-legged robot servo actuator according to claim 2, characterized in that: The reducer includes a reducer housing, a flexible bearing, a wave generator, a flexible wheel, and a steel wheel. The reducer housing is fixedly connected to the front end cover of the motor. The wave generator is sleeved on the surface of the motor output shaft. The flexible wheel is sleeved on the surface of the wave generator through a flexible bearing. The steel wheel is fixedly arranged on the reducer housing, and the flexible wheel is meshed with the steel wheel. The front end of the angle transmission rod is fixedly connected to the flexible wheel.

4. The absolute position type multi-legged robot servo steering engine according to claim 3, characterized in that: The flexible wheel is connected with an output flange through a cross roller bearing.

5. The absolute position type multi-legged robot servo steering engine according to claim 3, characterized in that: A concentric connecting ring is provided between the front end cover of the motor and the steel wheel. A first pre-tightening screw sequentially penetrates the rear end cover of the motor, the motor housing, the front end cover of the motor, the concentric connecting ring, the steel wheel, and the reducer housing, and the motor is fixedly connected to the reducer.

6. The absolute position type multi-legged robot servo actuator according to claim 5, characterized in that: The front end cover of the motor, the concentric connecting ring and the steel wheel are sequentially inserted with pins.

7. The absolute position type multi-legged robot servo actuator according to claim 4, characterized in that: The inner hole of the flexible wheel is provided with a flexible wheel clamping cover, the outer ring of the cross roller bearing is fixedly arranged on the inner wall of the reducer housing, and the flexible wheel is fixedly connected to the inner ring of the cross roller bearing by an output clamping screw which passes through the flexible wheel clamping cover and the inner ring of the cross roller bearing in sequence.

8. The absolute position type multi-legged robot servo actuator according to claim 7, characterized in that: The center of the rear end cover of the motor is connected with a locking top screw through a rotating centering bearing, the rear end of the angle transfer rod is placed in the locking top screw, the front end of the angle transfer rod is sleeved with a locking screw, and the locking screw is locked on the flexible wheel clamping cover.

9. The absolute position type multi-legged robot servo actuator according to claim 1, characterized in that: The rear end cover of the motor is provided with an annular slide groove, and the Hall switch circuit board is slidably arranged in the slide groove.

10. The absolute position type multi-legged robot servo actuator according to claim 4, characterized in that: The inner surface of the output flange is provided with a protrusion, the end of the reducer housing is provided with an annular limiting groove, and the protrusion is placed in the limiting groove.

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