A novel quadruped robot leg joint

Abstract

This invention provides a novel quadruped robot leg joint. The novel quadruped robot leg joint includes a lateral swing motor mounted on the robot body, a thigh motor connected to the lateral swing motor, a calf motor connected to the thigh motor, a thigh shell connected to one side of the calf motor, a calf rotatably connected to the bottom end of the thigh shell, and a foot shell mounted to the bottom end of the calf. The novel quadruped robot leg joint provided by this invention has the advantages of simple structure, high transmission accuracy, and high efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a novel quadruped robot leg joint. Background Technology

[0002] Compared to traditional wheeled robots, legged robots have a higher degree of adaptability to terrain. To ensure walking stability, the leg joints of legged robots typically consist of three degrees of freedom composed of three power units. This requires numerous components, a precise structural design, and accurate joint positioning, often resulting in high costs. Therefore, ensuring the accuracy and stability of quadruped robots while also facilitating assembly and minimizing the number of components for easy manufacturing becomes crucial in design. Furthermore, the wiring layout of each joint is extremely important for aesthetics and durability. For legged robots to adapt to the ground environment, joint force detection is particularly important. To more accurately and intuitively determine the force applied to the soles of the feet, plantar force sensors need to be installed. Because the soles are a certain distance from the body where the controller is located, signal transmission lines and power lines for the plantar force sensors need to be laid. The frequent movement and joint rotation of the legs in legged robots make wiring difficult and present significant manufacturing challenges.

[0003] Therefore, it is necessary to provide a new type of quadruped robot leg joint to solve the above-mentioned technical problems. Summary of the Invention

[0004] The technical problem solved by this invention is to provide a novel quadruped robot leg joint with simple structure, high transmission accuracy and efficiency.

[0005] To solve the above-mentioned technical problems, the present invention provides a novel quadruped robot leg joint comprising: a side-swing motor mounted on the robot body, a thigh motor connected to the side-swing motor, a calf motor connected to the thigh motor, a thigh shell connected to one side of the calf motor, a calf rotatably connected to the bottom end of the thigh shell, and a foot shell mounted on the bottom end of the calf.

[0006] Preferably, the calf motor is fixedly connected to the thigh shell, the output shaft of the calf motor extends into the thigh shell and is fixedly sleeved with a crank disc, a first bearing is fixedly sleeved on the output shaft of the calf motor, the outer ring of the first bearing is fixedly sleeved with the thigh shell, a second bearing is fixedly sleeved on the crank of the crank disc, a transmission connecting rod is fixedly sleeved on the outer ring of the second bearing, a third bearing and a fourth bearing are installed on the calf, the transmission connecting rod is fixedly sleeved with the outer ring of the third bearing, and the thigh shell is rotatably connected to the calf through the fourth bearing.

[0007] Preferably, the side swing motor is provided with a side swing motor wiring, the thigh motor is provided with a thigh motor wiring, the calf motor is provided with a calf motor wiring, and the thigh shell is provided with a first calf limiter and a second calf limiter.

[0008] Preferably, the foot surgical device is equipped with a pressure sensor and a sensor circuit board. The pressure sensor is connected to the sensor circuit board. The thigh shell has a sensor power supply signal line that exits from the motor. The calf has a first sensor power supply inlet. The foot shell has a second sensor power supply inlet. The power signal line installed in the robot body passes through the sensor power supply signal line, exits from the motor, the first sensor power supply inlet, and the second sensor power supply inlet, and enters the foot shell to connect with the pressure sensor. The foot shell is made of plastic cushioning material.

[0009] Preferably, the side-swing motor and the lower leg motor include a stator bracket, a driver end cover / output connection unit, a rotor magnetic ring, a stator coil, a drive board sliding cover, a motor drive board, a bearing clamping cover, a circuit board retaining bracket, a deceleration position detection ring Hall array, a sun gear, a motor rotor magnet assembly, a first motor bearing, a planetary carrier unit, a planetary carrier unit / output flange, planetary gears, a central vertical retaining shaft, a planetary shaft / output pin, a second motor bearing, a third motor bearing, a fourth motor bearing, a planetary reduction internal gear ring, a motor angle measuring polarized magnet, a motor angle measuring Hall element, a linear Hall element, a deceleration angle feedback magnet, a through-metal conductor column, a motor drive board, a ring Hall plate, and a rotor bracket.

[0010] Preferably, the thigh motor includes a common cable routing for the thigh motor and lower leg knee joint, a hollow through-surface, a first thigh motor sun gear, a second thigh motor sun gear, a first thigh motor planetary gear, a second thigh motor planetary gear, a planetary reducer external gear ring, a drive plate, a motor-end ring encoder read head, a motor-end encoder ring encoder disk, a first thigh motor bearing, a second thigh motor bearing, a thigh motor rotor support, a thigh motor rotor magnet assembly, a thigh motor stator coil, a first-stage planetary reducer output disk, a second-stage planetary reducer output disk, a first planetary cage, a second planetary cage, an output pin, and cascade holes.

[0011] Preferably, the second circuit of the lower leg motor passes through the hollow part of the thigh motor and is led out. The second circuit of the thigh motor passes through the thigh motor and connects to the circuit board of the thigh motor, providing power and communication circuits for both the thigh motor and the lower leg motor. Both the second circuit of the thigh motor and the second circuit of the side swing motor are located within the robot body.

[0012] Preferably, the sensor power supply signal line is disconnected from the first sensor power supply input port, and two sections of the line are connected through a non-contact coil, using wireless power transmission and wireless signal transmission.

[0013] Preferably, the thigh shell is provided with a thigh coil, a first connecting wire, and a second connecting wire.

[0014] Preferably, the foot shell is covered with a protective sleeve, the foot shell has multiple corner grooves, the inner wall of the protective sleeve has a corresponding number of corner blocks, the corner blocks are adapted to the corresponding corner grooves, the two ends of the protective sleeve are fixedly installed with mounting seats, the mounting seats have grooves, the inner wall of the mounting seats has through holes, the foot shell has two threaded holes, the through holes are connected to the threaded holes, and the through holes are connected to the threaded holes by bolts.

[0015] Compared with related technologies, the novel quadruped robot leg joint provided by this invention has the following beneficial effects:

[0016] This invention provides a novel linkage transmission method for the leg joints of a quadruped robot, specifically for the lower leg joint. This simple structure has fewer components, a linkage leg transmission structure with good bearings, limiting methods, transmission accuracy and efficiency, and a small footprint with a protective mechanism. The three identical power modules feature a built-in dual-encoder external rotor planetary structure, adaptable to harsh environments and reducing costs. The cascaded method with hollow motor connections, wireless signal sensing at the feet, and wireless power supply solves the problems of exposed wiring and bending fatigue. The implementation of hollow motor position encoding makes the data more accurate. Attached Figure Description

[0017] Figure 1 A schematic diagram of a preferred embodiment of the leg joint of the novel quadruped robot provided by the present invention;

[0018] Figure 2 for Figure 1 The diagram shows the structure of the leg joints and the robot body.

[0019] Figure 3 for Figure 1 The diagram shows a cross-sectional view of the structure.

[0020] Figure 4 for Figure 1 The side view diagram shown;

[0021] Figure 5 for Figure 1 The diagram shows the connection structure of the three motors.

[0022] Figure 6 for Figure 1 The diagram shows the connection structure of the three motors in other embodiments.

[0023] Figure 7 for Figure 1 Schematic diagram of other embodiments of the sway motor and the calf motor shown;

[0024] Figure 8 for Figure 1 A schematic diagram of another embodiment of the thigh motor shown;

[0025] Figure 9 for Figure 7 The diagram shows a side view of the structure.

[0026] Figure 10 for Figure 1 The diagram shows the structural schematic of the foot shell;

[0027] Figure 11 for Figure 10 The diagram shows a top-view cross-sectional view of the structure.

[0028] Figure 12 for Figure 1 Other structural schematic diagrams of the embodiments shown;

[0029] Figure 13 A schematic diagram of the second embodiment of the novel quadruped robot leg joint provided by the present invention;

[0030] Figure 14 for Figure 13 The diagram shows the structure of the protective sleeve.

[0031] The numbers in the diagram are: 1a, side swing motor; 2a, thigh motor; 3a, calf motor; 4a, thigh shell; 5a, calf; 6a, foot shell.

[0032] 1b, crank disc; 2b, first bearing; 3b, second bearing; 4b, connecting rod; 5b, third bearing; 6b, fourth bearing;

[0033] 1c, Stator support; 2c, Driver end cover / output connection unit; 3c, Rotor magnetic ring; 4c, Stator coil; 5c, Driver board sliding cover; 6c, Motor driver board; 7c, Bearing clamping cover; 8c, Circuit board retaining bracket; 9c, Post-deceleration position detection ring Hall array; 10c, Sun gear; 11c, Motor rotor magnet assembly; 12c, First motor bearing; 13c, Planetary carrier unit; 14c, Planetary carrier unit / output flange; 15c, Planetary gears. 16c, Central vertical retaining shaft; 17c, Planetary shaft and output pin; 18c, Second motor bearing; 19c, Third motor bearing; 20c, Fourth motor bearing; 21c, Planetary reducer internal gear ring; 22c, Motor angle measuring polarized magnet; 23c, Motor angle measuring Hall effect sensor; 24c, Linear Hall effect sensor; 25c, Angle feedback magnet after deceleration; 26c, Through-metal conductor post; 27c, Motor drive board; 28c, Annular Hall effect sensor plate; 29c, Rotor support.

[0034] 1d, Thigh motor and lower leg knee joint shared wiring; 2d, Hollow through surface; 3d, First thigh motor sun gear; 4d, Second thigh motor sun gear; 5d, First thigh motor planetary gear; 6d, Second thigh motor planetary gear; 7d, Planetary reducer external gear ring; 8d, FOC drive board; 9d, Motor end ring encoder read head; 10d, Motor end encoder ring encoder disk; 11d, First thigh motor bearing; 12d, Second thigh motor bearing; 13d, Thigh motor rotor support; 14d, Thigh motor rotor magnet assembly; 15d, Thigh motor stator coil; 16d, First stage planetary reducer output disk; 17d, Second stage planetary reducer output disk; 18d, First planetary cage; 19d, Second planetary cage; 20d, Output pin; 21d, Cascade hole.

[0035] 1e, wiring for the side swing motor; 2e, wiring for the thigh motor; 3e, wiring for the calf motor.

[0036] 1f, First lower leg limit; 2f, Second lower leg limit;

[0037] 1g, pressure sensor; 2g, sensor circuit board; 3g, motor outlet; 4g, first sensor power supply inlet; 5g, second sensor power supply inlet.

[0038] 1h, wiring of the second circuit of the side swing motor; 2h, wiring of the second circuit of the thigh motor; 3h, wiring of the second circuit of the calf motor.

[0039] 1j, coil at the thigh; 2j, first connecting wire; 3j, second connecting wire; 4j, magnet array; 5j, induction coil;

[0040] 1k, Protective cover; 2k, Corner groove; 3k, Corner block; 4k, Mounting base; 5k, Groove; 6k, Threaded hole; 7k, Bolt. Detailed Implementation

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0042] First embodiment:

[0043] Please refer to Figures 1-11 In the first embodiment of the present invention, the leg joint of the novel quadruped robot includes: a side-swing motor 1a mounted on the robot body, a thigh motor 2a connected to the side-swing motor 1a, a lower leg motor 3a connected to the thigh motor 2a, a thigh shell 4a connected to one side of the lower leg motor 3a, a lower leg 5a rotatably connected to the bottom end of the thigh shell 4a, and a foot shell 6a mounted on the bottom end of the lower leg 5a.

[0044] To ensure sufficient system precision, the number of transmission components must be minimal, while also maintaining durability and high transmission efficiency. Furthermore, the space occupied by the transmission mechanism must be sufficiently small to allow for a compact leg design and minimal material usage. This contributes to reducing leg inertia and improving leg shape. Figure 1 As shown, the rotational motion of the calf motor 3a is transmitted through the transmission link 4b, a single device, which converts the force into relative motion between the thigh shell 4a and the calf 5a. Furthermore, the transmission link 4b has a dead zone position, requiring limiting in two directions to prevent entering the dead zone. Figure 3 The first lower leg limit 1f and the second lower leg limit 2f shown serve as both exterior components and mechanical support components. After the lower leg motor a3 is decelerated, it outputs force to the crank plate 1b through the flange. The transmission link 4b and the first bearing 2b, the second bearing 3b, the third bearing 5b, and the fourth bearing 6b form a quadrilateral linkage mechanism, which transmits the force of the motor rotation to the joint of the lower leg 5a in a 1:1 ratio. The lower leg rotates around the fourth bearing 6b. The first bearing 2b, the second bearing 3b, and the third bearing 5b are low-speed, high-load-bearing needle roller bearings. The cam output linkage structure is adopted, and bearings and cross linkages are set inside. The space required for the leg unit is only half that of ordinary units.

[0045] The lateral swing motor 1a rotates around direction R3, allowing the leg to swing inwards or outwards for balance and direction finding. The movement of the thigh motor 2a drives the thigh shell 4a and lower leg 5a to move forward and backward as shown in direction R2. The rotation of the lower leg motor 3a moves the lower leg 5a in direction R1, thus completing the movement of the entire leg. All four legs are designed in this way, enabling the quadruped robot to perform full-body movements such as forward and backward movement, lateral balancing, jumping, and turning, allowing it to adapt well to complex terrain. The large lateral swing motor 1a, thigh motor 2a, and lower leg motor 3a contain current sensors. The current is proportional to the force on the joints. Detecting the internal current allows for the determination of the joint stress and can map the stress on the foot shell 6a, thus sensing the hardness, height, and other terrain conditions of the foot and informing the central processor for comprehensive control.

[0046] The leg unit's position within the overall machine: the large side-swing motor 1a, thigh motor 2a, and calf motor 3a are all based on flexible force control. The accuracy of the three motors is within 0.025 degrees. Electrically, the three motors are connected in parallel on a single power line, and their CAN signals are also connected in parallel, sharing a single physical CAN port to feed back the current joint position, torque, and speed information to the central processing unit. Simultaneously, they receive motion commands from the central processing unit. Therefore, the entire leg joint's external electrical connections consist of only one power line and one signal line, simplifying the electrical design. The three motors can use the same motor structure, making replacement convenient. However, a drawback is that the calf motor 3a has exposed wiring 3e, which can easily rub against the machine body and external obstacles during movement. In another embodiment, the physical connection relationship of the three motors is as follows... Figure 6 As shown, the second circuit 3h of the calf motor 3a passes through the hollow part of the thigh motor 2a and is then led out. This avoids the calf motor 3a's second circuit 3h being exposed, improving the overall safety factor of the machine. The calf motor second circuit 3h passes through the thigh motor 2a and connects to the circuit board of the thigh motor 2a, providing power and communication circuits to both the thigh motor 2a and the calf motor 3a. Both the thigh motor second circuit 2h and the side-swing motor second circuit 1h are located inside the machine body, making them relatively safe under the protection of the outer casing. The side-swing motor 1a and the calf motor 3a adopt the following... Figure 7 The motor structure shown, the thigh motor 2a adopts the following... Figure 8 The hollow motor shown.

[0047] While plantar force can be indirectly obtained by monitoring the current of each motor, it can also be directly acquired from a pressure sensor 1g placed on the sole of the foot. From the device body to the sole, both wired and wireless energy and signal transmission can be used to power the pressure sensor 1g. For wire-free plantar force detection, the issues of disconnected energy supply and disconnected signal transmission need to be addressed. Signal transmission can utilize existing radio frequency technology, transmitting directly to the main unit. For wire-free energy supply, regenerated leg movement energy can be used, eliminating the need for wiring from the device body to the sole. The power supply scheme for the sole can be implemented as follows: based on the mechanical energy generated during rotation, energy recovery from the compression process of the sole; and a semi-wired scheme using bearings. The required power supply and signal transmission can be achieved using... Figure 10 As shown, the stitching runs through the thigh and calf area, from... Figure 10Observing that movement at the joints causes bending of the wiring, both exposed and internal wiring are susceptible to damage from bending fatigue. The solution is to disconnect the wiring at the first sensor power input port 4g, using two segments of wiring connected via wireless power and signal transmission for contactless energy and information transfer. This avoids folding of the wiring at the first sensor power input port 4g. The wiring is divided into two segments and connected via a non-contact coil. This wiring still requires connection from the leg motor 3a to the first connecting line 2.j, so it can be optimized by eliminating the first sensor power input port 4g. After eliminating the first sensor power input port 4g, the robot can no longer be powered by its internal battery. The source of power from the foot needs to be considered, which can utilize the mechanical energy generated by the movement of the lower leg 5a around the thigh, converting it into electrical energy. The implementation plan is as follows... Figure 12 As shown, 4j is a magnet array and 5j is an induction coil. When the lower leg moves, these two components can convert the mechanical energy of the leg into electrical energy to supply the foot force sensor, thus solving the power supply problem. The signal transmission of the foot force sensor can be completed by the radio frequency transceiver circuit on the foot circuit board and the radio frequency transceiver circuit placed inside the robot. The circuit of the sensor circuit board 2g contains the CPU and radio frequency transceiver circuits.

[0048] like Figure 7As shown, the stator support 1c is located inside the stator housing and has a stator coil winding 4c. The motor winding is controlled by a built-in motor drive circuit board 6c. The motor drive board has sensors for detecting the stator core winding and rotor magnets. The motor angle measuring polarized magnet 22c and the motor angle measuring Hall IC 23c on the rotor support 29c, which support the rotor magnet, can determine the relative position between the rotor and the stator and inform the motor drive CPU 27c of the current electrical angle between the rotor and the stator. Based on this information, the motor drive board controls the motor to rotate correctly. The motor angle measuring Hall IC 23c not only obtains the relative position between the stator and the rotor but also the absolute angle information of the entire rotor within 360 degrees of one rotation of the motor. This absolute angle information, in conjunction with the second Hall angle detection element, completes the absolute mechanical angle information of the flange after deceleration. The torque after the motor rotates correctly passes through the basic first-stage planetary reduction unit composed of the sun gear 10c, planet gears 15c, and planetary reduction internal gear ring 21c, and outputs the decelerated planet carrier unit, which also serves as the output flange 14c. The rotational torque is output to the next stage via the planetary shaft and output pin 17c. The output pin 20d can be inserted into the cascade hole 21d of the next stage, transmitting the torque to the next stage. On the planetary carrier rigidly connected to the flange, there is a deceleration angle feedback magnet 25c. This magnet transmits the flange's position information via magnetic lines of force through the aluminum alloy rotor support to the second angle linear Hall element 24c and the deceleration position detection ring Hall array PCB9c. This information is then fed back to the drive CPU, which combines the information from the second Hall array board and the absolute angle encoder to calculate the accurate absolute position of the flange. Because both sets of magnetic encoders are unaffected by power outages, there is no need for a backup battery to maintain the motor's rotation angle information, greatly improving the motor's practicality and safety.

[0049] The reducer gear set is a two-stage planetary gear structure, which allows for a relatively large sun gear to be used at the same speed ratio. The sun gear is designed to be located at the geometric center of the motor. A larger sun gear allows for a hollow configuration, such as... Figure 8There will be a through-type design, allowing power supply and signal transmission to the next-level power unit to pass through here. This solves the problem of exposed wiring. The working principle of this power unit is basically similar, and is briefly described as follows. Due to the hollow design requirements, all components and circuit boards on the central axis of this power unit must also be hollow. The stator coil 15d of the thigh motor is fixed on an internal bracket connected to the housing. The three-phase winding of the stator coil 15d of the thigh motor is controlled by the FOC drive board 8d. The FOC drive board 8d is controlled in the classic way of FOC, which requires knowing the absolute positions of the stator and rotor. To facilitate magnetic field vector synthesis control, the motor-end encoder ring 10d is an absolute position encoder ring fixed on the thigh motor rotor support 13d. The motor-end encoder ring 10d is an encoder read head indirectly fixed on the outer shell. Both the motor-end encoder read head 9d and the motor-end encoder ring 10d are hollow ring-shaped absolute encoder components, working together to read the absolute 0-360 degree electromechanical position of the rotor and stator, providing the necessary conditions for the drive board to correctly drive the three-phase brushless servo motor. This design is a two-stage reduction, with the two stages having the same reduction ratio, sharing a common external gear ring, and having the same sun gear and planetary gears, reducing cost and process. The first thigh motor sun gear 3d is fixed on the thigh motor rotor support 13d. The first thigh motor sun gear 3d, together with the second thigh motor planetary gear 6d and the planetary reducer external gear ring 7d, form the first stage of planetary reduction, outputting the reduced speed. The torque is borne by the sun gear 4d of the second large motor. The sun gear 4d of the second large motor, together with the planetary gear 5d of the first large motor and the external gear ring 7d of the planetary reducer, forms the second-stage reduction structure. After reduction, the output is finally output to this stage via the output disc 17d and output pin 20d of the second-stage planetary reducer, completing the basic function of this power unit from motor to reducer. The absolute position of the motor stator and rotor in a single turn can be obtained by the CPU at any time. However, due to the physical characteristics of the single-turn encoder, it can only represent the angle from 0 to 360 degrees at the motor end, and cannot represent the mechanical angle of the flange, because it passes through a reduction machine, such as the 9x reduction in this design. In one scheme, the input at the motor end and the output at the flange have a fixed reduction ratio. In this way, it is only necessary to remember the rotational position and number of turns at the motor end, and then divide by the reduction ratio to know the angle of the flange. Traditional designs are all designed this way. The drawback is that the number of turns is lost when the power is off. Although a backup battery can be used to remember the number of turns, it increases the difficulty of circuit design. More importantly, the battery life and battery depletion, as well as interference, will cause the number of turns to be lost or inaccurate. This poses a significant hidden danger. This joint design provides a solution: simply place a ring-shaped Hall array plate on the opposite side of the motor and a magnet on this side. This allows for the acquisition of the relative scale position of the flange with respect to the housing. This coarse scale position, combined with a ring encoder at the motor end, can then provide precise angle information for the flange end.The basic principle can be simply described as follows: The encoder at the motor end is equivalent to the second hand of a clock, and the second Hall encoder ring connected to the flange after fixed reduction is equivalent to the hour hand. For every rotation of the encoder at the motor end, the reduction ratio changes by a number of revolutions, for example, 9 in this case. The position of the magnetic lines sensed by the second encoder changes by one interval. By reading the interval where the magnet on the second encoder is located (similar to the minute hand), and adding the reading from the motor end (second hand), the final precise mechanical position of the output flange can be obtained.

[0050] Compared with related technologies, the novel quadruped robot leg joint provided by this invention has the following beneficial effects:

[0051] This invention provides a novel linkage transmission method for the leg joints of a quadruped robot, specifically for the lower leg joint. This simple structure has fewer components, a linkage leg transmission structure with good bearings, limiting methods, transmission accuracy and efficiency, and a small footprint with a protective mechanism. The three identical power modules feature a built-in dual-encoder external rotor planetary structure, adaptable to harsh environments and reducing costs. The cascaded method with hollow motor connections, wireless signal sensing at the feet, and wireless power supply solves the problems of exposed wiring and bending fatigue. The implementation of hollow motor position encoding makes the data more accurate.

[0052] Second embodiment:

[0053] Based on the novel quadruped robot leg joint provided in the first embodiment of this application, the second embodiment of this application proposes another novel quadruped robot leg joint. The second embodiment is merely a preferred embodiment of the first embodiment, and the implementation of the second embodiment will not affect the separate implementation of the first embodiment.

[0054] The second embodiment of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0055] Please refer to Figures 12-13 The difference between this embodiment and the first embodiment is that the foot shell 6a is covered with a protective sleeve 1k, the foot shell 6a has multiple corner grooves 2k, the inner wall of the protective sleeve 1k has a corresponding number of corner blocks 3k, the corner blocks 3k are adapted to the corresponding corner grooves 2k, the two ends of the protective sleeve 1k are fixedly installed with mounting bases 4k, the mounting bases 4k have grooves 5k, the inner wall of the 5k has through holes, the foot shell 6a has two threaded holes 6k, the through holes are connected to the threaded holes 6k, and the through holes are connected to the threaded holes 6k by bolts 7k.

[0056] The protective sleeve 1k can protect the foot shell 6a from wear and tear, and the protective sleeve 1k is easy to replace.

[0057] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A novel quadruped robot leg joint, characterized in that, include: The side-swing motor installed on the robot body A thigh motor is connected to a side-swing motor, and a calf motor is connected to the thigh motor. A thigh shell is connected to one side of the calf motor, and a calf is rotatably connected to the bottom of the thigh shell. A foot shell is installed at the bottom of the calf. The thigh motor includes a shared cable routing between the thigh motor and the knee joint, a hollow through-plane, a first thigh motor sun gear, a second thigh motor sun gear, a first thigh motor planetary gear, a second thigh motor planetary gear, a planetary reducer external gear ring, an FOC drive board, a motor-end ring encoder reader, a motor-end encoder ring encoder disk, a first thigh motor bearing, a second thigh motor bearing, a thigh motor rotor bracket, a thigh motor rotor magnet assembly, a thigh motor stator coil, and a... The system includes a first-stage planetary reducer output disc, a second-stage planetary reducer output disc, a first planetary cage, a second planetary cage, an output pin, and cascading holes. A hollow through-face is positioned at the center of the first thigh motor sun gear. A common wiring harness for the thigh motor's lower leg and knee joint passes through this hollow through-face. The second thigh motor sun gear is located on the bottom side of the first thigh motor sun gear. The thigh motor rotor bracket is fitted onto the first thigh motor sun gear. The motor-end encoder ring is an absolute position encoder ring fixed to the thigh motor rotor bracket. The first thigh motor bearing is fitted outside the thigh motor rotor bracket. The FOC drive... A drive plate is positioned above the sun gear of the first thigh motor. The motor-end ring encoder read head is positioned on the bottom side of the drive plate. The planetary gears of the second thigh motor are positioned on the bottom side of the second planetary cage. The first planetary cage is positioned on the bottom side of the sun gear of the second thigh motor. The first thigh motor planetary gears are positioned on the bottom side of the first planetary cage. The sun gear of the first thigh motor, the planetary gears of the second thigh motor, and the external gear ring of the planetary reducer form a first-stage planetary reduction. After reduction, the output torque is borne by the sun gear of the second thigh motor. The sun gear of the second thigh motor, the planetary gears of the first thigh motor, and the planetary reducer... The external gear ring forms the second-stage reduction structure. The output disk of the second-stage planetary reducer is located on the bottom side of the sun gear of the second thigh motor. The bearing of the second thigh motor is located inside the output disk of the second-stage planetary reducer. The output pin is located on the output disk of the second-stage planetary reducer. The output disk of the first-stage planetary reducer is located on one side of the sun gear of the second thigh motor. The stator coil of the thigh motor is fixed on an internal bracket connected to the housing. The three-phase winding of the stator coil of the thigh motor is controlled by the FOC drive board. The rotor magnet assembly of the thigh motor is located on one side of the stator coil of the thigh motor. The cascade hole is opened on the top side of the thigh motor. The output shaft of the calf motor extends into the thigh shell and is fixedly fitted with a crank disc.

2. The novel quadruped robot leg joint according to claim 1, characterized in that, The calf motor is fixedly connected to the thigh shell. A first bearing is fixedly sleeved on the output shaft of the calf motor. The outer ring of the first bearing is fixedly sleeved on the thigh shell. A second bearing is fixedly sleeved on the crank of the crank disc. A transmission connecting rod is fixedly sleeved on the outer ring of the second bearing. A third bearing and a fourth bearing are installed on the calf. The transmission connecting rod is fixedly sleeved on the outer ring of the third bearing. The thigh shell is rotatably connected to the calf through the fourth bearing.

3. The novel quadruped robot leg joint according to claim 1, characterized in that, The side swing motor is wound with a side swing motor wiring, the thigh motor is wound with a thigh motor wiring, the calf motor is wound with a calf motor wiring, and the thigh shell is provided with a first calf limiter and a second calf limiter.

4. The novel quadruped robot leg joint according to claim 1, characterized in that, A pressure sensor and a sensor circuit board are installed inside the foot shell. The pressure sensor is connected to the sensor circuit board. The thigh shell has a sensor power supply signal line that exits from the motor. The lower leg has a first sensor power supply inlet. The foot shell has a second sensor power supply inlet. The power signal line installed inside the robot body passes through the sensor power supply signal line, exits from the motor, and enters the foot shell through the first and second sensor power supply inlets to connect with the pressure sensor. The foot shell uses plastic cushioning material.

5. The novel quadruped robot leg joint according to claim 1, characterized in that, The side-swing motor and the lower leg motor include a stator bracket, a driver end cover / output connection unit, a rotor magnetic ring, a stator coil, a drive board sliding cover, a motor drive board, a bearing clamping cover, a circuit board retaining bracket, a deceleration position detection ring Hall array, a sun gear, a motor rotor magnet assembly, a first motor bearing, a planetary carrier unit, a planetary carrier unit / output flange, planetary gears, a central vertical retaining shaft, a planetary shaft / output pin, a second motor bearing, a third motor bearing, a fourth motor bearing, a planetary reduction internal gear ring, a motor angle measuring polarized magnet, a motor angle measuring Hall element, a linear Hall element, a deceleration angle feedback magnet, a through-metal conductor column, a motor drive board, a ring Hall plate, and a rotor bracket; The driver end cover / output connection unit is disposed within the stator support. The rotor support is disposed within the stator support. The rotor magnetic ring is disposed on the rotor support and is located above the driver end cover / output connection unit. The stator coil is disposed within the rotor magnetic ring. The drive board sliding cover is disposed on the top side of the stator support. The motor drive board is disposed on the top side of the rotor magnetic ring. The bearing clamping cover is disposed on the bottom side of the stator support. The circuit board holding bracket is disposed within the stator support and is located on the bottom side of the motor drive board. The deceleration position detection annular Hall array is disposed within the stator support. The sun gear is disposed at the center of the stator support. The motor rotor magnet assembly is disposed on one side of the stator coil. The first motor bearing is disposed on one side of the rotor magnetic ring. The planetary carrier unit is located on the bottom side of the stator support and is connected to the bearing clamping cover. The planetary carrier unit / output flange is located on the bottom side of the stator support. The bearing clamping cover is located inside the planetary carrier unit / output flange. The planetary gears are located on the sun gear. The central vertical retaining shaft on the sun gear is located at the center of the stator support. The planetary shaft / output pin is located on the bottom side of the planetary carrier unit / output flange. The second motor bearing is located inside the planetary carrier unit / output flange. The fourth motor bearing is sleeved and connected to the sun gear. The planetary reduction internal gear ring is located on the driver end cover / output connection unit. The motor angle measuring polarized magnet is located above the sun gear. The motor angle measuring Hall effect sensor is located on the bottom side of the motor drive board. The linear Hall effect sensor is located on the bottom side of the deceleration position detection ring Hall effect array. The deceleration angle feedback magnet is located on the top side of the sun gear. The through-metal conductor post is located on one side of the circuit board retaining bracket. The ring Hall effect sensor plate is located on one side of the motor angle measuring polarized magnet. The torque generated after the motor rotates correctly passes through the basic first-stage planetary reduction unit, which consists of the sun gear, the planet gears, and the planetary reduction internal gear ring.

6. The novel quadruped robot leg joint according to claim 1, characterized in that, The second circuit of the lower leg motor passes through the hollow part of the thigh motor and is led out. The second circuit of the thigh motor passes through the thigh motor and connects to the circuit board of the thigh motor, providing power and communication circuits for both the thigh motor and the lower leg motor. The second circuits of the thigh motor and the second circuit of the side swing motor are both located inside the robot body.

7. The novel quadruped robot leg joint according to claim 4, characterized in that, The sensor power supply signal line is disconnected from the power supply input port of the first sensor, and two sections of the line are connected through a non-contact coil, using wireless power transmission and wireless signal transmission.

8. The novel quadruped robot leg joint according to claim 4, characterized in that, The thigh shell is provided with a thigh coil, a first connecting line, and a second connecting line.

9. The novel quadruped robot leg joint according to claim 1, characterized in that, The foot outer shell It is equipped with a protective sleeve, and the foot shell has multiple corner grooves. The inner wall of the protective sleeve has a corresponding number of corner blocks that fit into the corresponding corner grooves. The two ends of the protective sleeve are fixedly installed with mounting bases. The mounting bases have grooves and through holes on their inner walls. The foot shell has two threaded holes. The through holes and threaded holes are connected and connected by bolts.

Images