Motor controller of foot-type robot and foot-type robot

Abstract

The invention discloses a motor controller of a foot type robot and the foot type robot. The motor controller of the foot type robot comprises a weak current circuit board assembly and a strong current circuit board assembly electrically connected with the weak current circuit board assembly, the strong current circuit board assembly and the weak current circuit board assembly are arranged in an up-down stacked mode, and a first heat dissipation channel is arranged between the strong current circuit board assembly and the weak current circuit board assembly. The motor controller of the foot type robot further comprises a supporting column supported between the strong current circuit board assembly and the weak current circuit board assembly, and the supporting column is used for fixing the height of the first heat dissipation channel between the strong current circuit board assembly and the weak current circuit board assembly. The invention further discloses a foot type robot which adopts the motor controller. The device has the advantages that the vertical space is effectively utilized, and the whole device is more compact in structure. The size of the device can be reduced, layout and installation in the robot are facilitated, meanwhile, lightweight design of the whole robot is facilitated, and the movement flexibility of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and in particular to a motor controller of a legged robot and the legged robot. Background Art

[0002] Legged robots, such as humanoid robots, have humanoid structures and are similar in shape and size to humans, which allows them to adapt well to human living and working environments. For example, in a home environment, they can use furniture and appliances like humans, and can easily shuttle between rooms, walk up stairs, sit on a chair, or open a refrigerator to take items.

[0003] In the existing leg-type robots, each leg includes three motors, namely, a thigh motor and a knee joint motor arranged at the upper end of the thigh, and a calf motor at the hinged part of the calf and thigh. For example, the Chinese patent publication number CN118810959A discloses a bipedal robot, and its leg structure is similar to that of most current robots. In the above existing patent: the thigh motor is used to drive the thigh to rotate relative to the pelvis, and the rotation axis of the thigh coincides with the output axis of the thigh motor. The rotation of the thigh relative to the pelvis can also drive the calf to move. A cavity is provided in the thigh, and a connecting rod mechanism is arranged in the cavity. The knee joint motor is used to drive the connecting rod mechanism to move, so as to drive the calf to rotate relative to the thigh through the connecting rod mechanism. In the above structure, the three motors are all arranged in a disc shape, which will cause the motors to be concentrated at the pelvic position, making the pelvic position huge, and because the disc motor is round and flat, there is not enough space for the controller to be assembled in the motor, so the controller circuit board will be arranged in the space surrounded by the middle of the stator, and the heat dissipation of the circuit board will be affected. And due to space limitations, the size of the circuit board will also be affected, and more electronic components cannot be arranged, which will eventually lead to insufficient output voltage and current, and thus the motor power cannot be increased.

[0004] Therefore, the motor can be installed in the leg to make full use of the leg space. However, due to the limited space in the joints, the size of the motor controller will affect the design of the motor. If the motor controller is too large, the size of the motor power component will be reduced, resulting in insufficient motor output power, reduced motor output torque, and poor robot performance. If the controller is too small, it cannot provide enough voltage and current for the motor. In addition, in a small space, circuit board heat dissipation is also a problem. If the temperature of the circuit board is too high, it will affect the normal operation of the circuit board and still cause the output voltage and current to decrease. Summary of the invention

[0005] The purpose of the present invention is to provide a motor controller for a legged robot and a legged robot, which can effectively solve the problems that the current motor controller of a legged robot cannot be adapted to a small space or provides insufficient driving voltage and current, and has poor heat dissipation performance.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The motor controller of the legged robot includes a low-current circuit board assembly and a high-current circuit board assembly electrically connected to the low-current circuit board assembly. The high-current circuit board assembly and the low-current circuit board assembly are stacked up and down and a first heat dissipation channel is provided between the two. The motor controller of the legged robot also includes a support column supported between the high-current circuit board assembly and the low-current circuit board assembly to fix the height of the first heat dissipation channel between the high-current circuit board assembly and the low-current circuit board assembly.

[0008] In the motor controller of the above-mentioned legged robot, the high-voltage circuit board assembly includes a first circuit board and a second circuit board. The first circuit board is used to control the voltage and current input to the power assembly, and the second circuit board is used to reduce voltage fluctuations during the operation of the drive motor.

[0009] In the above-mentioned motor controller of the legged robot, the first circuit board includes a PCB substrate, a first component group and a second component group, the PCB substrate includes a first end face and a second end face, the first component group is arranged on the first end face, and the second component group is arranged on the second end face.

[0010] In the above-mentioned motor controller of the legged robot, the first component group includes multiple groups of MOS tubes, the height of the components in the first component group except the MOS tubes is lower than the height of the MOS tubes protruding from the first end surface, and all MOS tubes share a heat sink.

[0011] In the above-mentioned motor controller of the legged robot, the first component group includes multiple groups of MOS tubes and current-carrying copper blocks protruding from the first end surface, and the second circuit board includes a copper substrate, which is attached to the second end surface for dissipating heat for the MOS tubes and the current-carrying copper blocks.

[0012] In the above-mentioned motor controller of the legged robot, the second component group avoids the projection area of ​​all MOS tubes and current-carrying copper blocks on the second end surface, and the copper substrate is provided with avoidance holes avoiding the second component group, and the copper substrate at least covers the projection area of ​​all MOS tubes and current-carrying copper blocks on the second end surface.

[0013] In the above-mentioned motor controller of the legged robot, the number of conductive layers of the second circuit board is greater than the number of conductive layers of the first circuit board.

[0014] In the above-mentioned motor controller of the legged robot, the width of the conductor layer on the second circuit board is smaller than the width of the conductor layer on the first circuit board.

[0015] In the motor controller of the above-mentioned legged robot, the high-voltage circuit board assembly includes multiple groups of MOS tubes, MOS tube drivers corresponding to each group of MOS tubes, and a first power chip, which converts the power supply voltage into the working voltage required by the MOS tube driver and the low-voltage circuit board assembly.

[0016] In the motor controller of the above-mentioned legged robot, the low-current circuit board assembly includes a low-current circuit board and an isolation power conversion module that electrically isolates the low-current circuit board from the high-current circuit board assembly. The isolation power conversion module is electrically connected to the first power chip to convert the voltage provided by the first power chip into the working voltage required by the low-current circuit board.

[0017] In the motor controller of the above-mentioned legged robot, the low-current circuit board assembly includes a low-current circuit board and an isolation power conversion module that electrically isolates the low-current circuit board from the high-current circuit board assembly. An MCU chip is provided on the low-current circuit board. The high-current circuit board assembly includes multiple groups of MOS tubes, MOS tube drivers corresponding to each group of MOS tubes, and digital isolation chips corresponding to multiple MOS tube drivers. The MCU chip establishes signal interaction with the MOS tube driver through the digital isolation chip.

[0018] In the motor controller of the above-mentioned legged robot, one of the high-current circuit board assembly and the low-current circuit board assembly is provided with an electrical connection pin, and the other is provided with an electrical connection socket that cooperates with the electrical connection pin.

[0019] In the motor controller of the above-mentioned legged robot, the electrical connection pins include voltage signal pins that transmit different voltage signals on the high-voltage circuit board assembly to the low-voltage circuit board assembly for detection.

[0020] A legged robot, wherein the driving motors at the joints of the legged robot adopt any of the motor controllers described above.

[0021] Compared with the prior art, the advantages of the present invention are:

[0022] The working voltages required for weak-current circuit board assemblies and strong-current circuit board assemblies are different. The working voltage required for strong-current circuit board assemblies is much higher than that required for weak-current circuit board assemblies. The main electronic components on weak-current circuit board assemblies (except for conventional components such as resistors and capacitors) are all weak-current components, and the main electronic components on strong-current circuit board assemblies are all strong-current components. Usually, weak-current components and strong-current components are arranged on a PCB board. Weak-current components are generally used to process signals, communications, etc., while strong-current components are generally used to control the output voltage and current. Strong-current components have a much higher heat generation than weak-current components. By physically separating strong-current components and weak-current components, the strong-current components are kept apart from the weak-current components, and the heat generated by the strong-current components will not affect the normal operation of the weak-current components. In addition, because the weak-current circuit board assemblies and the strong-current circuit board assemblies are separated, physical isolation can also be formed between the weak-current components and the strong-current components, avoiding potential electrical interference and electric shock hazards.

[0023] By stacking the weak current circuit board components and the strong current circuit board components up and down, the vertical space is effectively utilized, making the entire device structure more compact. This is crucial for installation in the limited space of the leg of a foot-type robot, which helps to reduce the size of the device and facilitates layout and installation inside the robot. It is also conducive to the overall lightweight design of the robot and improves the robot's movement flexibility. This makes the entire motor controller have a small spacing and volume and high output voltage and current performance.

[0024] The first heat dissipation channel arranged between the high-voltage circuit board assembly and the low-voltage circuit board assembly provides a dedicated path for heat dissipation. During the motor control process, the electronic components on the high-voltage and low-voltage circuit board assemblies will generate heat. If the heat cannot be dissipated in time, it will affect the performance and life of the components. The first heat dissipation channel can guide the heat to be discharged, avoid heat accumulation, ensure that the device works in a suitable temperature environment, improve the reliability and stability of the device, and reduce the risk of failure due to overheating, thereby ensuring the continuous and normal operation of the leg motor control of the foot-type robot.

[0025] The presence of the support column further enhances the stability of the device. It not only fixes the height of the first heat dissipation channel to ensure the stable performance of the heat dissipation function, but also supports and positions the high-voltage and low-voltage circuit board components, preventing the circuit board from being displaced or loosened due to vibration, collision and other factors during the movement of the robot, ensuring the reliability of the electrical connection and the normal operation of the circuit, and reducing the hidden dangers of electrical failures caused by mechanical factors.

[0026] Furthermore, the high-voltage circuit board assembly includes a first circuit board and a second circuit board, wherein the first circuit board is used to control the voltage and current input to the power assembly, and the second circuit board is used to reduce the voltage fluctuation during the operation of the drive motor. The voltage, current control and voltage fluctuation suppression functions are respectively undertaken by different circuit boards, so that each circuit board focuses on a specific function, thereby improving the accuracy and stability of the function implementation. The first circuit board can more accurately adjust the voltage and current according to the motor operation requirements. During the operation of the robot, its joints will be in a state of reciprocating motion, so the motor is also in a high-frequency and reciprocating forward and reverse rotation during the operation. The voltage of the motor will fluctuate violently during the forward and reverse switching process. The second circuit board can specifically deal with the voltage fluctuation problem to avoid damage caused by violent voltage fluctuations that exceed the rated voltage value of the controller, thereby improving the stability of the motor operation.

[0027] Furthermore, the first circuit board includes a PCB substrate, a first component group and a second component group, the PCB substrate includes a first end face and a second end face, the first component group is arranged on the first end face, and the second component group is arranged on the second end face. The first component group is arranged on the first end face of the PCB substrate, and the second component group is arranged on the second end face. This double-sided layout method can make full use of the two surface spaces of the PCB substrate, increase the layout density of the components, and is conducive to dispersing the heat source, avoiding excessive concentration of heat on one side of the PCB substrate, thereby improving the heat dissipation effect of the entire circuit board, reducing problems such as component performance degradation or damage caused by overheating, and helping to maintain the stable operation of the motor controller of the foot-type robot. At the same time, because the high-voltage components can be arranged on the upper and lower surfaces of the PCB substrate, the size of the PCB substrate can be further reduced, and the volume of the controller can be reduced.

[0028] Furthermore, the first component group includes multiple groups of MOS tubes, and the height of the components other than the MOS tubes in the first component group is lower than the height of the MOS tube protruding from the first end face, and all MOS tubes share a heat sink. The height of the components other than the MOS tubes in the first component group is lower than the height of the MOS tube protruding from the first end face, which helps to form a more regular layout structure on the circuit board, avoids the problem of space waste or mutual interference caused by uneven component heights, and makes the space utilization of the circuit board more reasonable. Multiple groups of MOS tubes in the first component group share a heat sink, and this design can centrally dissipate heat for the MOS tubes. Since MOS tubes usually generate more heat during operation, sharing a heat sink can increase the heat dissipation area, enhance the heat dissipation effect, effectively reduce the temperature of the MOS tube, ensure that it works within an appropriate temperature range, reduce performance degradation or failures caused by overheating, and improve the stability and reliability of the entire device, thereby ensuring the continuous and stable operation of the leg motor control of the foot-type robot.

[0029] Furthermore, the first component group includes multiple groups of MOS tubes and current-carrying copper blocks protruding from the first end surface, and the second circuit board includes a copper substrate, which is attached to the second end surface for heat dissipation of the MOS tubes and the current-carrying copper blocks. Copper has good thermal conductivity and can quickly conduct the heat generated by the MOS tubes and the current-carrying copper blocks. Although the surface of the PCB substrate itself also has a layer of copper, it is too thin to carry higher voltages and currents. The current-carrying copper block protrudes from the first end surface, so it has a larger volume and heat dissipation area. The large volume enables the current-carrying copper block to have better voltage and current carrying capacity, thereby achieving a larger voltage and current output to the motor when the controller is reduced, so that the motor outputs a larger torque and improves the operating performance of the robot; the large heat dissipation area enables the high temperature generated by the current-carrying copper block when carrying voltage and current to radiate outward faster. Both the MOS tube and the current-carrying copper block will generate a lot of heat. Since the two are in direct contact with the PCB substrate, part of the heat generated will be transferred to the PCB substrate. The copper substrate is attached to the second end surface, so part of the heat generated by the MOS tube and the current-carrying copper block will be transferred to the copper substrate. The main material of the copper substrate is copper, so the copper substrate can quickly dissipate the heat to the outside, thereby improving the heat dissipation efficiency. This design forms an efficient heat conduction path from the heating element to the heat dissipation substrate, effectively reducing the temperature of the MOS tube and the current-carrying copper block, ensuring the stable operation of these key components, thereby improving the reliability and durability of the motor controller of the legged robot.

[0030] Furthermore, the second component group avoids the projection area of ​​all MOS tubes and current-carrying copper blocks on the second end surface, and the copper substrate is provided with avoidance holes to avoid the second component group, and the copper substrate at least covers the projection area of ​​all MOS tubes and current-carrying copper blocks on the second end surface. Such a layout not only ensures the normal installation and operation of the second component group, avoids mutual interference with the heat dissipation structure, but also ensures that the copper substrate can dissipate heat from the heating element to the maximum extent, realizes the rationality and compactness of the structural layout, improves the space utilization rate of the circuit board, helps to reduce the volume and weight of the entire device, and meets the design requirements of the foot-type robot for miniaturization and lightweight of components.

[0031] Furthermore, the number of conductive layers of the second circuit board is greater than the number of conductive layers of the first circuit board. In the motor controller of the legged robot, the second circuit board is to realize the function of reducing the voltage fluctuation during the operation of the drive motor. Its main electrical component is a capacitor. Relatively speaking, the first circuit board needs to control the output voltage and current and other functions. The first circuit board needs to handle relatively complex circuit connections and signal transmission. More conductive layers can provide more abundant wiring space and path selection, making the circuit design more flexible, and can better layout various electronic components and connection lines, effectively avoiding line crossing and interference, thereby improving the stability and reliability of the circuit and ensuring the accuracy of the motor control process.

[0032] Furthermore, the width of the conductor layer on the second circuit board is smaller than the width of the conductor layer on the first circuit board. In the motor controller of the legged robot, the second circuit board needs to layout more complex circuits, but the space is limited. The smaller conductor layer width can achieve denser wiring on the limited circuit board area, increase the integration of the circuit, and thus more effectively utilize the circuit board space, which helps to reduce the volume of the entire control device, meet the robot's design requirements for miniaturization of components, and enable it to be more conveniently installed in the limited space of the leg. For some high-frequency signals or signals with high transmission accuracy requirements, the narrower conductor layer width can reduce the adverse effects of parasitic capacitance and inductance during signal transmission, improve the transmission quality and speed of the signal, and improve the integrity of the signal. This is critical to ensuring the accuracy and timeliness of the motor control signal, and can improve the accuracy and response performance of the motor control, thereby enhancing the stability and coordination of the leg movements of the legged robot.

[0033] Furthermore, the high-voltage circuit board assembly includes multiple groups of MOS tubes, MOS tube drivers corresponding to each group of MOS tubes, and a first power chip, wherein the first power chip converts the power supply voltage into the operating voltage required by the MOS tube driver and the low-voltage circuit board assembly. The first power chip can convert the external input power supply voltage to generate the specific operating voltage required by the MOS tube driver and the low-voltage circuit board assembly, ensuring that each component can operate stably under appropriate voltage conditions, maintaining the normal working order of the entire motor controller, and avoiding problems such as component failure or performance degradation caused by voltage mismatch.

[0034] Furthermore, the weak-current circuit board assembly includes a weak-current circuit board and an isolation power conversion module that electrically isolates the weak-current circuit board from the strong-current circuit board assembly, and the isolation power conversion module is electrically connected to the first power chip to convert the voltage provided by the first power chip into the working voltage required by the weak-current circuit board. The weak-current circuit board assembly is physically isolated from the strong-current circuit board assembly, and the reference grounds of the two are different. The voltage converted by the first power chip cannot directly power the weak-current components on the weak-current circuit board assembly. The electrical isolation of the strong-current area and the weak-current area can be achieved through the isolation power conversion module, and the voltage converted by the isolation power conversion module has the same reference ground as the weak-current circuit board, so that it can power the weak-current components on the weak-current circuit board.

[0035] Further, the weak-current circuit board assembly includes a weak-current circuit board and an isolation power conversion module for electrically isolating the weak-current circuit board from the strong-current circuit board assembly, an MCU chip is provided on the weak-current circuit board, and the strong-current circuit board assembly includes multiple groups of MOS tubes, MOS tube drivers corresponding to each group of MOS tubes, and digital isolation chips corresponding to multiple MOS tube drivers, and the MCU chip establishes signal interaction with the MOS tube driver through the digital isolation chip. In the motor controller, if the strong-current part and the weak-current part are directly electrically connected, the signal processing accuracy and stability of the weak-current part may be affected due to the interference of the strong current. By isolating the strong and weak currents through the isolation power conversion module, the transmission of such interference can be effectively avoided, the normal operation of the weak-current part can be ensured, and the reliability and stability of the entire device can be improved. The strong-current circuit usually handles higher voltages and larger currents, and the electromagnetic interference, voltage spikes, etc. generated by it may damage the sensitive components in the weak-current circuit. Digital isolation chips transmit signals through optical, magnetic or capacitive coupling, cutting off electrical connections and preventing interference signals from the strong current side from entering the weak current side, thereby protecting sensitive components in the weak current circuit from high voltage and high current shocks, avoiding damage and extending their service life.

[0036] Further, one of the strong current circuit board assembly and the weak current circuit board assembly is provided with an electrical connection pin, and the other is provided with an electrical connection seat that cooperates with the electrical connection pin. By setting the electrical connection pin and the electrical connection seat, the strong current circuit board assembly and the weak current circuit board assembly become more convenient and quick when assembled. Compared with complex connection methods such as welding and wiring, only the electrical connection pin needs to be inserted into the corresponding electrical connection seat to achieve the electrical connection between the two, which reduces the difficulty and cost of assembly and improves the assembly efficiency. Especially in the large-scale production process, the complexity and error rate of manual operation can be significantly reduced. The cooperation of the electrical connection pin and the electrical connection seat can provide a more reliable electrical connection. They can ensure good contact through precise design, avoiding electrical performance instability caused by loose connection, virtual connection and other problems. During the operation of the motor controller of the foot-type robot, it will be subjected to mechanical stress such as vibration and impact, and this connection method can ensure that good electrical conduction can be maintained under certain mechanical stress, reduce problems such as signal transmission interruption and circuit failure caused by poor connection, and improve the reliability and stability of the entire device.

[0037] Furthermore, the electrical connection pins include voltage signal pins for transmitting different voltage signals on the high-voltage circuit board assembly to the low-voltage circuit board assembly for detection. Monitoring the voltage signal of the high-voltage circuit board assembly can provide data support for system optimization. The control strategy of the motor can be adjusted according to the monitored voltage signal, such as adjusting the motor's speed, torque and other parameters according to the change in voltage to adapt to different workloads and operating conditions.

[0038] The invention also discloses a legged robot, which has a motor controller with small volume and high output voltage and current, and has good heat dissipation performance, thereby ensuring that the legged robot has good movement performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 An exploded view of a motor controller of a legged robot of the present invention;

[0040] Figure 2 The three-dimensional structure of the high-voltage circuit board assembly in the present invention Figure 1 ;

[0041] Figure 3 The three-dimensional structure of the high-voltage circuit board assembly in the present invention Figure 2 ;

[0042] Figure 4 The three-dimensional structure of the weak current circuit board assembly in the present invention Figure 1 ;

[0043] Figure 5 The three-dimensional structure of the weak current circuit board assembly in the present invention Figure 2 ;

[0044] Figure 6 It is a schematic diagram of the structure after two strong current circuit board assemblies and one weak current circuit board assembly are combined in the present invention;

[0045] Figure 7 It is a schematic diagram of the structure of the leg motor of the foot-type robot using the present invention;

[0046] Figure 8 It is a schematic diagram of the structure when the first accommodating cavity and the end cover of the leg motor of the foot-type robot using the present invention are separated;

[0047] Fig. 9 A structural view of the first accommodating cavity in the leg motor of a foot-type robot using the present invention;

[0048] Fig.10 It is a schematic diagram of the structure of the cooperation between the heat sink and the first accommodating cavity in the leg motor of the foot-type robot using the present invention;

[0049] Fig.11 A cross-sectional view of a leg motor of a foot-type robot using the present invention;

[0050] Fig.12 A schematic diagram of the structure of the lower body of a foot-type robot using the present invention;

[0051] Fig.13 It is a cross-sectional view of the first accommodating cavity of the foot-type robot using the present invention.

[0052] The accompanying drawings are marked as follows:

[0053] The drive motor 100, the housing 110, the power cavity 111, the first accommodating cavity 112, the fixing column 113, the wiring harness channel 114, the fixing groove 115, the power assembly 120, the rotating shaft 121, the gear 122, the end cover 130, the second accommodating cavity 131, the wiring gap 132, the motor controller 200, the strong current control assembly 210, the strong current circuit board assembly 211, the first circuit board 2111, the first end surface 21111, the second end surface 21112, the MOS tube 21113, the current-carrying copper block 21114, the MOS tube driver 21115, the first electric Source chip 21116, second component group 21117, digital isolation chip 21118, second circuit board 2112, avoidance hole 21121, capacitor 21122, heat sink 212, low-voltage circuit board assembly 220, speed sensor 221, low-voltage circuit board 222, isolated power conversion module 223, MCU chip 224, isolated analog-to-digital conversion chip 225, electrical connection pin 226, electrical connection seat 227, voltage signal pin 228, first heat dissipation channel 230, second heat dissipation channel 231, support column 240, robot leg 1000. DETAILED DESCRIPTION

[0054] The motor controller of the legged robot includes a low-current circuit board assembly 220 and a high-current circuit board assembly 211 electrically connected to the low-current circuit board assembly 220. The high-current circuit board assembly 211 and the low-current circuit board assembly 220 are stacked up and down and a first heat dissipation channel 230 is provided therebetween. The motor controller of the legged robot also includes a support column 240 supported between the high-current circuit board assembly 211 and the low-current circuit board assembly 220 to fix the height of the first heat dissipation channel 230 between the high-current circuit board assembly 211 and the low-current circuit board assembly 220.

[0055] The two components are stacked up and down, with a first heat dissipation channel 230 reserved between them, and the height of the first heat dissipation channel 230 is fixed by a support column 240 to ensure the stability of the heat dissipation effect. The support columns 240 are evenly distributed between the strong current circuit board component 211 and the weak current circuit board component 220, which can play a supporting role without hindering the circulation of heat dissipation air.

[0056] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0057] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0059] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] Embodiment 1:

[0061] See also Figures 1 to 6 In the first embodiment of the present invention, the motor controller of the legged robot includes a weak-current circuit board assembly 220 and a strong-current circuit board assembly 211, and the weak-current circuit board assembly 220 is electrically connected to the strong-current circuit board assembly 211. The strong-current circuit board assembly 211 and the weak-current circuit board assembly 220 are arranged separately, which can effectively avoid the interference of strong electricity on weak-current signals, and prevent the weak-current signals from malfunctioning or data transmission errors. For example, in the motor control of the robot leg 1000, if the weak-current signal is interfered with, it may cause the motor control command error, affecting the robot's motion stability and accuracy. Separate settings can also reduce the safety risks caused by strong-current faults. If the strong-current part has problems such as short circuit, due to isolation from the weak-current circuit board assembly 220, the impact on the weak-current part can be reduced, and damage to the control core (such as weak-current components such as MCU chips) can be avoided, thereby ensuring the safety of the entire control device and preventing the fault from further expanding.

[0062] Separately designing circuit boards allows engineers to optimize the design for the characteristics of strong and weak currents. The strong current circuit board can focus on the layout and heat dissipation design of high-power components to meet the power supply requirements of high-power loads such as motors; the weak current circuit board assembly 220 can focus on the implementation of signal processing and control logic, using more sophisticated wiring and component selection to ensure signal accuracy and stability. In addition, the strong current circuit board and the weak current circuit board assembly 220 can be made modular, and the number of strong current circuit boards can be freely combined or different types of weak current circuit board assemblies 220 can be matched according to different power requirements, reducing the difficulty of redesign.

[0063] The separate circuit board layout helps to reduce electromagnetic compatibility issues. The electromagnetic field generated by strong electricity will not directly affect the performance of the weak current circuit, making the signal transmission of the weak current part more reliable and improving the anti-interference ability of the entire control system. For example, during the signal transmission process, the attenuation and distortion of the weak current signal will be reduced, thereby ensuring the quality of the control signal, allowing the motor to operate more accurately according to instructions, and improving the accuracy and smoothness of the movement of the robot leg 1000. After the strong current and weak current are separated, the electrical performance of each can be better optimized. The strong current circuit board can be optimized for the transmission of high voltage and high current, using thicker wires and suitable power components; the weak current circuit board assembly 220 can be optimized for low voltage and low current signal processing, such as using high-precision resistors, capacitors and other components, thereby improving the overall performance of the entire control device.

[0064] The high-voltage circuit board assembly 211 and the low-voltage circuit board assembly 220 are stacked up and down, and a first heat dissipation channel 230 is provided between the two. The layout of the high-voltage circuit board assembly 211 and the low-voltage circuit board assembly 220 stacked up and down greatly saves the space inside the robot leg 1000. In the limited space of the leg, this compact structure can avoid the waste of space caused by the scattered arrangement of the circuit board, so that the control device can better adapt to the structural shape of the leg, leaving more installation space for the motor and other components, which is conducive to the miniaturization and lightweight design of the robot leg 1000. Compared with other possible layout methods, such as arranging circuit boards side by side, the stacked structure reduces the space occupied in the horizontal direction, making the internal layout of the leg more regular, facilitating wiring and optimization of the overall structure. If the motor is a long strip structure, the structural characteristics of the motor can be more fully utilized.

[0065] The first heat dissipation channel 230 specially arranged between the high-voltage circuit board assembly 211 and the low-voltage circuit board assembly 220 provides an effective way to dissipate heat. During the operation of the motor, the high-voltage circuit board assembly 211 will generate a large amount of heat. If it cannot be dissipated in time, it may affect the performance and life of the electronic components. The first heat dissipation channel 230 can guide the flow of hot air, enhance the heat dissipation effect of air convection, and prevent heat from accumulating near the circuit board assembly. The design of the support column 240 fixing the height of the first heat dissipation channel 230 ensures the stability and patency of the first heat dissipation channel 230. It ensures that hot air can pass through the channel smoothly, avoids the reduction of heat dissipation efficiency due to deformation or blockage of the channel, thereby improving the reliability and stability of the entire control device, and helps the motor to continue to operate efficiently in a suitable temperature environment.

[0066] The following is a specific example of the structure of the strong current circuit board and the weak current circuit board assembly 220, including but not limited to the following methods:

[0067] The strong current circuit board assembly 211 includes a first circuit board 2111 and a second circuit board 2112. The first circuit board 2111 is used to control the voltage and current input to the motor, and the second circuit board 2112 is used to reduce the voltage fluctuation during the operation of the motor. The first circuit board 2111 focuses on controlling the voltage and current of the motor, and can more accurately adjust the power supply according to the motor operation requirements of the robot leg 1000, ensure that the motor obtains a stable and adaptive power input, and improve the motor operation efficiency and stability. The second circuit board 2112 processes the voltage fluctuation during the operation of the motor, which can effectively reduce the interference of the voltage fluctuation on the motor and the entire control system, reduce the risk of equipment failure, extend the service life of the equipment, and improve the reliability and accuracy of the movement of the robot leg 1000. When a problem occurs in a certain functional module, the first circuit board 2111 or the second circuit board 2112 can be detected, repaired or replaced in a targeted manner, without the need to conduct large-scale investigation and processing of the entire strong current circuit board assembly 211, reducing maintenance costs and difficulties. When upgrading technology, if there are new voltage and current control algorithms or better voltage fluctuation suppression technologies, they can be improved and optimized on the corresponding circuit boards respectively without affecting the normal operation of other parts, thereby improving the scalability of the system.

[0068] Further, the first circuit board 2111 includes a PCB substrate, a first component group and a second component group 21117, and the PCB substrate includes a first end surface 21111 and a second end surface 21112. Figure 1Taking the perspective of as an example, the end face of the PCB substrate facing upward, that is, away from the weak current circuit board assembly 220, is the first end face 21111, and the end face of the PCB substrate facing downward, that is, close to the weak current circuit board assembly 220, is the second end face 21112. The first component group is arranged on the first end face 21111, and the second component group 21117 is arranged on the second end face 21112. The first component group is arranged on the first end face 21111 of the PCB substrate, and the second component group 21117 is arranged on the second end face 21112, so as to realize the three-dimensional layout of the components on the circuit board, effectively utilize the double-sided space of the PCB substrate, greatly increase the number of components that can be accommodated compared with the single-sided layout, and provide the possibility for realizing more complex circuit functions. At the same time, this double-sided layout method naturally forms functional partitions, and the components on different end faces can respectively assume different sub-functions or process different types of signals, reduce mutual interference between components, and make the circuit work more stable and reliable. For example, the components related to power processing can be placed on one side, and the control signal processing components can be placed on the other side, so that the power circuit and the control circuit are relatively independent, reduce the influence of electromagnetic interference on the control signal, and improve the control accuracy. From the perspective of heat dissipation, the double-sided layout disperses the distribution of components, avoiding the problem of local overheating caused by excessive concentration of components on a single side. Heat can be dissipated more evenly to the surrounding environment, which helps maintain the normal operating temperature of the components and improves the reliability and service life of the components. In terms of maintenance, when a component fails and needs to be replaced or debugged, the double-sided layout allows maintenance personnel to more clearly identify and operate the relevant components, reducing the difficulty of maintenance, reducing the risk of damage to other components caused by maintenance operations, and improving the maintainability of the equipment.

[0069] Since the motor of the robot leg 1000 is limited by space and is in the shape of a long strip, the heat dissipation space is limited. In this embodiment, the layout of the entire motor controller 200 is considered more from the perspective of heat dissipation.

[0070] Furthermore, the first component group includes multiple groups of MOS tubes 21113, each group of MOS tubes 21113 has two MOS tubes. Because three-phase electricity is connected, the first component group includes three groups of MOS tubes 21113 in this embodiment. The height of the components except the MOS tube 21113 in the first component group is lower than the height of the MOS tube 21113 protruding from the first end face 21111, and all MOS tubes 21113 share a heat sink 212. Compared with the previous structure, the above-mentioned setting of the first component group needs to be attached to each MOS tube 21113 to avoid the heat sink 212 from touching the components higher than the MOS tube 21113, which will greatly increase the mounting time and reduce the total heat dissipation area. With the solution in this embodiment, the heat sink 212 does not need to avoid the components of the first component group. The heat sink 212 can cover the entire first end face 21111, expand the heat dissipation area, improve the heat dissipation efficiency, ensure that the MOS tube works within a suitable temperature range, thereby stabilizing its electrical performance and ensuring the accuracy and reliability of motor control. At the same time, during the production process, this relatively regular layout helps to simplify the assembly process and reduce production costs.

[0071] The second circuit board 2112 includes a copper substrate, on which a capacitor 21122 is provided to reduce bus voltage fluctuations, and the copper substrate has excellent thermal conductivity to dissipate heat. The first component group includes multiple groups of MOS tubes 21113 and current-carrying copper blocks 21114 protruding from the first end face 21111, and the current-carrying copper blocks 21114 can improve the current-carrying capacity, increase the voltage and current carried by the PCB board, and improve the heat dissipation capacity. The copper substrate is attached to the second end face 21112 for heat dissipation of the MOS tube 21113 and the current-carrying copper block 21114. The setting of the current-carrying copper block 21114 and the copper substrate attachment design of the second circuit board 2112 achieve good adaptation in structure. The copper substrate not only serves for heat dissipation, but also plays an auxiliary role in mechanical support and electrical connection to a certain extent. This structural design makes the connection between the first circuit board 2111 and the second circuit board 2112 tighter and more stable, which helps to improve the integration of the entire high-voltage circuit board assembly 211, reduce the problems that may be caused by loose connections or poor contact between circuit boards, improve the reliability and seismic resistance of the system, and provide guarantee for the stable operation of the robot leg 1000 in complex motion environments.

[0072] Furthermore, in order to transfer the heat emitted by the MOS tube 21113 and the current-carrying copper block 21114 to the copper substrate more quickly, the copper substrate needs to be in close contact with the second end face 21112, which requires that the second component group 21117 cannot be set in the area of ​​the second end face 21112 covered by the copper substrate. Therefore, the second component group 21117 avoids the projection area of ​​all MOS tubes 21113 and the current-carrying copper block 21114 on the second end face 21112, and the copper substrate is provided with a avoidance hole 21121 to avoid the second component group 21117. The copper substrate at least covers the projection area of ​​all MOS tubes 21113 and the current-carrying copper block 21114 on the second end face 21112. Through the above structural design, the requirement of the copper substrate to be in close contact with the second end face 21112 to guide heat is met without affecting the setting of the second component group 21117 on the second end face 21112.

[0073] As for the first circuit board 2111 and the second circuit board 2112, since they have different functions and different requirements, the number of conductive layers of the second circuit board 2112 is greater than that of the first circuit board 2111. The second circuit board 2112 has key functions such as reducing the voltage fluctuation during motor operation. It needs to handle relatively complex circuit connections and signal transmissions. More conductive layers can provide more abundant wiring space and path selection, making the circuit design more flexible, and can better layout various electronic components and connection lines, effectively avoiding line crossing and interference, thereby improving the stability and reliability of the circuit and ensuring the accuracy of the motor control process. The width of the conductor layer on the second circuit board 2112 is less than the width of the conductor layer on the first circuit board 2111. The first circuit board 2111 controls the voltage and current of the input motor, so its power is relatively large, and a wider conductor layer is beneficial to reducing line loss and heat generation; the second circuit board 2112 needs to layout more complex circuits, but the space is limited. A smaller conductor layer width can achieve denser wiring on the limited circuit board area, increase the integration of the circuit, and thus more effectively utilize the circuit board space, which helps to reduce the size of the entire control device and meet the robot's design requirements for miniaturized components, so that it can be more conveniently installed in the limited space of the leg.

[0074] In addition to including multiple groups of MOS tubes 21113, the strong current circuit board assembly 211 also includes a MOS tube driver 21115 and a first power chip 21116 corresponding to each group of MOS tubes 21113. Each MOS tube driver 21115 controls the switch of a group of MOS tubes 21113, and the first power chip 21116 converts the power supply voltage into the working voltage required by the MOS tube driver 21115 and the weak current circuit board assembly 220. The strong current part and the weak current part are electrically isolated and voltage-adapted by the first power chip 21116. This effectively prevents the interference and damage that strong current may cause to the weak current circuit, avoids the loss of control of the weak current system due to strong current failure, ensures the safety of the robot control system, reduces the risk of electrical accidents, and protects the sensitive electronic components inside the robot and the stable operation of the entire system.

[0075] On the basis of the above embodiment, the weak current circuit board assembly 220 includes a weak current circuit board 222 and an isolated power conversion module 223 that electrically isolates the weak current circuit board 222 from the strong current circuit board assembly 211, and the isolated power conversion module 223 is electrically connected to the first power chip 21116 to convert the voltage provided by the first power chip 21116 into the working voltage required by the weak current circuit board 222. The first power chip 21116 will realize the 48V to 12V voltage, and output the 12V voltage to all MOS tube drivers 21115, and also output it to the isolated power conversion module 223, the isolated power conversion module 223 converts the 12V voltage to 5V voltage, and supplies power to other electrical components of the weak current circuit board assembly 220, ensuring that the weak current circuit board assembly 220 obtains an adapted stable power supply. This effectively avoids the problems of component performance degradation, damage or system failure that may be caused by voltage mismatch, provides a reliable working voltage environment for key components such as MCU chips in the weak current area, and ensures the stable operation of the weak current part, thereby improving the stability and reliability of the entire motor controller 200. By making the reference ground the same as the PCB in the weak-current area to achieve electrical isolation, the electromagnetic interference effect of the strong-current area on the weak-current area is greatly reduced. Interference factors such as voltage fluctuations and current changes in the strong-current part are effectively blocked, preventing abnormal conditions such as signal distortion and malfunction caused by the interference signal being transmitted to the weak-current area, and improving the anti-interference ability of the system. At the same time, electrical isolation significantly enhances the safety of the system, reduces the risk of safety accidents caused by strong-current faults affecting the weak-current part, and provides a strong guarantee for the safe operation of the foot-type robot. This design clearly divides the strong-current and weak-current areas, and has obvious advantages in system maintenance and upgrades. When a problem occurs, technicians can quickly locate whether the fault area is in the strong-current or weak-current part, and then carry out targeted maintenance or replacement of modules without large-scale troubleshooting and disassembly of the entire system. This not only improves the efficiency of troubleshooting and repair, reduces maintenance costs, but also facilitates the functional expansion or upgrade of the system without affecting the overall architecture, enhancing the flexibility and scalability of the system.

[0076] In addition to the low-current circuit board 222 and the isolation power conversion module 223 that electrically isolates the low-current circuit board 222 from the high-current circuit board assembly 211, the low-current circuit board assembly 220 also has an MCU chip 224 on the low-current circuit board 222, and the MCU chip 224 is powered by a 5V to 3.3V power chip on the low-current circuit board 222. The high-voltage circuit board assembly 211 includes multiple groups of MOS tubes 21113, MOS tube drivers 21115 corresponding to each group of MOS tubes 21113, and digital isolation chips 21118 corresponding to multiple MOS tube drivers 21115. The MCU chip 224 establishes signal interaction with the MOS tube driver 21115 through the digital isolation chip 21118. The essence of the MOS tube is a switching element. The function of the MOS tube driver is to control the on and off of the MOS tube. By controlling the switches between multiple groups of MOS tubes, the motor can operate normally. The MCU chip establishes signal interaction with the MOS tube driver through the digital isolation chip 21118, so that the MCU chip can send signals to the MOS tube driver to control the on and off of the MOS tube, thereby avoiding the MCU chip misjudging the switching signal of the MOS tube due to the inconsistent reference ground of the low-voltage circuit board assembly and the high-voltage circuit board assembly.

[0077] Since the weak-current circuit board assembly 220 is physically isolated from the strong-current circuit board assembly 211, the reference grounds of the two are different, and the voltage converted by the first power chip 21116 cannot directly power the weak-current components on the weak-current circuit board assembly 211. The electrical isolation of the strong-current area and the weak-current area can be achieved through the isolation power conversion module 223, which can effectively prevent strong electricity from interfering with weak-current signals, and the voltage converted by the isolation power conversion module has the same reference ground as the weak-current circuit board, so that it can power the weak-current components on the weak-current circuit board, ensuring that the MCU chip and other components of the weak-current part work stably. At the same time, the digital isolation chip 21118 is used to establish signal interaction between the MCU chip and the MOS tube driver, while ensuring the accuracy of signal transmission, the isolation effect between strong and weak electricity is further enhanced, and the reliability and anti-interference ability of the system are improved. The multiple groups of MOS tubes and drivers of the strong-current part are responsible for the drive control of the motor, while the MCU chip of the weak-current part can accurately control the signal of the strong-current part through the digital isolation chip 21118. This structure enables the strong and weak current parts to work closely together in function. The MCU chip can accurately control the MOS tube driver according to the robot's movement requirements, thereby achieving precise control of the motor and improving the accuracy and flexibility of the robot's leg 1000 movement. The functions and connection methods of the strong and weak current parts are clearly defined and modularly designed to facilitate the assembly, debugging and maintenance of the system. Once a module fails, it can be quickly located whether it is a problem with the strong or weak current module, and targeted repairs or replacements can be carried out, reducing the difficulty and cost of repairs and improving the maintainability and availability of the entire motor controller 200.

[0078] An isolated analog-to-digital conversion chip 225 is also provided on the low-voltage circuit board 222. The isolated analog-to-digital conversion chip 225 has two interfaces, one for connecting to the 5V voltage outputted by the isolated power conversion module 223, and the other for connecting to the 12V to 5V voltage on the high-voltage circuit board assembly 211.

[0079] On the basis of the above embodiment, for the electrical connection between the strong current circuit board assembly 211 and the weak current circuit board assembly 220, the present embodiment adopts the method of setting the electrical connection pin 226 on one of them and setting the electrical connection seat 227 matching with the electrical connection pin 226 on the other. Specifically, the electrical connection pin 226 is set on the weak current circuit board assembly 220, and the electrical connection seat 227 is set on the strong current circuit board assembly 211 closest to the weak current circuit board assembly 220. Figure 6 As shown, if there are multiple groups of strong current circuit board assemblies 211, adjacent strong current circuit board assemblies 211 are also interconnected through electrical connection pins 226 and electrical connection seats 227. The electrical connection pins 226 and the electrical connection seats 227 that cooperate therewith, this design makes the connection between the two simple and convenient. During the assembly process, electrical connection can be achieved quickly and accurately, which improves production efficiency and reduces assembly difficulty and time cost. When it is necessary to maintain, detect or replace the strong current or weak current circuit board assembly 220, this connection method is convenient for disassembly and reinstallation. Technicians can easily separate or connect two circuit board assemblies without causing excessive interference or damage to other parts, which is conducive to improving the maintainability of the equipment and the replaceability of the components, and reducing the difficulty of maintenance and upgrading.

[0080] Further, the electrical connection pin 226 includes a voltage signal pin 228 for transmitting different voltage signals on the strong current circuit board assembly 211 to the weak current circuit board assembly 220 for detection. There are three groups of voltage signal pins 228, which transmit 48V, 12V and 5V voltages respectively. The voltage signal pin 228 is set to transmit different voltage signals on the strong current circuit board assembly 211 to the weak current circuit board assembly 220 for detection, thereby realizing effective monitoring of the voltage of the strong current part. This helps to timely discover voltage anomalies in the strong current circuit, such as overvoltage, undervoltage and other problems, so that measures can be taken in the early stage to adjust or repair, avoid equipment failures caused by voltage problems, and improve the safety and reliability of the entire device.

[0081] In addition to the above technical solutions, a CAN chip and / or a 485 communication chip can also be set on the weak current circuit board 222 of the weak current circuit board assembly 220 to facilitate the user to realize the communication connection with the weak current circuit board assembly 220 as needed. A FLESH chip can also be set on the weak current circuit board 222 for data storage after power failure.

[0082] The present invention also discloses a foot-type robot, which adopts a driving motor equipped with the motor controller to ensure that the foot-type robot has good movement performance.

[0083] Embodiment 2

[0084] like Figures 7 to 12 The figure shows the second embodiment of the present invention, which is a legged robot using the motor controller described in the first embodiment, including a robot leg 1000 and a drive motor 100 arranged in the robot leg 1000. The drive motor 100 uses the motor controller 200 of the technical solution of the first embodiment.

[0085] The drive motor 100 includes a shell 110 with a power chamber 111 therein and a power assembly 120 disposed in the power chamber 111. The entire shell 110 is cylindrical, and the power chamber 111 is located in the middle of the shell 110. The power assembly 120 includes a stator and a mover disposed in the power chamber 111. The driving shaft of the mover extends toward the top of the shell 110 to connect to a set of bevel gears 122. The entire drive motor 100 is arranged along the length direction of the robot leg 1000 to make full use of the space of the robot leg 1000.

[0086] A first accommodating chamber 112 is provided at the tail of the housing 110, and the opening of the first accommodating chamber 112 is located on the end surface of the tail of the housing 110. The motor controller 200 is fixed in the first accommodating chamber 112, and the motor controller 200 is electrically connected to the power assembly 120 to realize the control of the power assembly 120. The motor controller 200 includes a strong electric control assembly 210 and a weak electric circuit board assembly 220 stacked along the rotation axis direction of the power assembly 120. The strong electric control assembly 210 and the weak electric circuit board assembly 220 are electrically connected and a first heat dissipation channel 230 is left between the two. In this way, the space in the length direction of the robot leg 1000 can be fully utilized, and sufficient setting space is reserved for the drive motor 100, and the motor controller 200 is arranged in the first accommodating chamber 112 at the tail of the housing 110, and the operation and power output of the power assembly 120 will not be affected. A first heat dissipation channel 230 is left between the strong electric control assembly 210 and the weak electric circuit board assembly 220, which can timely dissipate the heat generated when the generator is running. Effective heat dissipation can avoid circuit failure and component damage caused by excessive temperature, improve the stability and service life of the motor and control device, and ensure the reliability of the robot leg 1000 device during long-term operation.

[0087] The strong current control component 210 includes at least one set of strong current circuit board components 211. The specific number of sets of strong current circuit board components 211 is determined according to the requirements of the power component 120. Therefore, the strong current circuit board components 211 can be modularly configured to facilitate power adjustment and matching. The specific structures of the strong current circuit board components 211 and the weak current circuit board components 220 can refer to the solution of the first embodiment.

[0088] A removable end cap 130 is provided at the rear of the housing 110 for closing the first accommodating chamber 112. The depth of the first accommodating chamber 112 can be set to just accommodate a group of strong-current circuit board assemblies 211 and a group of weak-current circuit board assemblies 220. When at least two groups of strong-current circuit board assemblies 211 are provided, the strong-current circuit board assemblies 211 are still stacked along the rotation axis of the power assembly 120. At this time, the entire motor controller 200 will partially protrude from the first accommodating chamber 112. A second accommodating chamber 131 for accommodating the strong-current control assembly 210 protruding from the first accommodating chamber 112 can be provided on the end cap 130, that is, an end cap 130 with a second accommodating chamber 131 is replaced. In this way, even if different groups of strong-current circuit board assemblies 211 are used, there is no need to replace the housing 110, and the protection requirements of the motor controller 200 can be met by replacing the matching end cap 130.

[0089] Furthermore, a wiring notch 132 is provided on the end cover 130 to allow the second accommodating cavity 131 to communicate with the outside world, which facilitates the connection of the lines inside the robot leg 1000 device, so that the wires, cables and other wiring harnesses can pass through the second accommodating cavity 131 in a more regular and orderly manner to connect with other external devices, avoiding the messy entanglement of the wiring harness at the end cover 130, facilitating installation and later maintenance, and also reducing the risk of wear, short circuit and other problems caused by chaotic lines. The design of the wiring notch 132 can meet the wiring requirements while allowing the end cover 130 to better cooperate with the shell 110 and maintain a relatively closed space environment for the second accommodating cavity 131. This helps to protect the high-voltage control component 210 in the accommodating cavity from the intrusion of external impurities such as dust and water vapor, reduce damage to the high-voltage control component 210 caused by external environmental factors, and extend the service life of the device.

[0090] like Figure 8 , Fig. 9 As shown, a harness channel 114 connected to the power chamber 111 is provided in the first accommodating chamber 112, and the motor controller 200 is electrically connected to the power assembly 120 through the harness channel 114. This design enables the connection lines to be arranged in an orderly manner to avoid the lines from being tangled in the device. The clear and standardized wiring structure is convenient for installation and maintenance, and the staff can more conveniently check and replace the lines, thereby reducing the difficulty and cost of maintenance. In addition, the harness channel 114 is located in the housing 110, which avoids the connection harness between the motor controller 200 and the power assembly 120 from being exposed. The harness channel 114 provides a relatively stable and safe space for the harness, which can prevent the harness from being squeezed, rubbed, and damaged during the movement of the robot leg 1000. The risk of circuit failure caused by harness damage is reduced, and the stability and reliability of the electrical signal transmission between the motor controller 200 and the power assembly 120 are guaranteed, thereby improving the working stability of the entire leg device.

[0091] Furthermore, the cross-section of the motor controller 200 is adapted to the cross-section of the first accommodating cavity 112. In the present embodiment, the cross-section of the first accommodating cavity 112 is circular, so the cross-section of the motor controller 200 is also circular, that is, the high-current circuit board assembly 211 and the low-current circuit board assembly 220 are both circular. Of course, in order to facilitate wiring and component arrangement, the high-current circuit board assembly 211 and the low-current circuit board assembly 220 can also generally have a circular cross-section. For example, the cross-section of the high-current circuit board assembly 211 in the present embodiment is a large semicircular arc, but it also needs to adapt to the cross-sectional shape of the first accommodating cavity 112 as much as possible, thereby ensuring that the motor controller 200 can be tightly installed in the first accommodating cavity 112, improving space utilization, avoiding loose internal line connections due to shaking or displacement of the device, ensuring the stability of the electrical connection between the motor controller 200 and the power assembly 120, and thereby ensuring the reliability of the operation of the entire leg device. A groove is provided on the side wall of the first accommodating cavity 112 and the groove penetrates into the power cavity 111 to form the wiring harness channel 114. Compared with a simple connecting structure, this groove design further standardizes the direction of the wiring harness, so that the wiring harness can be arranged in an orderly manner along the groove, reducing mutual interference between the wiring harnesses, improving the stability of electrical signal transmission, and facilitating the inspection and management of the wiring harness during installation and maintenance.

[0092] On the basis of the above embodiment, in order to ensure that the first heat dissipation channel 230 is left between the strong current control component 210 and the weak current circuit board component 220, a support column 240 can be arranged between the strong current control component 210 and the weak current circuit board component 220; or a support column 240 can be arranged in the first accommodating chamber 112, and a through groove for avoiding the support column 240 is opened on the weak current circuit board component 220, and the strong current control component 210 is abutted against the top of the support column 240, so as to achieve the purpose of separating the first heat dissipation channel 230 from the strong current control component 210 and the weak current circuit board component 220. When the strong current control component 210 includes at least two groups of strong current circuit board components 211, support columns 240 can also be arranged between adjacent strong current circuit board components 211, or support columns 240 with different cross-sections arranged on the first accommodating chamber 112 can be used to achieve interval arrangement, so that a second heat dissipation channel 231 is formed between adjacent strong current circuit board components 211, ensuring that there is also enough heat dissipation space between adjacent strong current circuit board components 211.

[0093] Although the weak-current circuit board assembly 220 generates low heat, it will also generate heat during operation, and the weak-current circuit board assembly 220 also requires a certain amount of heat dissipation. Therefore, a heat dissipation space is also provided between the weak-current circuit board 222 and the bottom surface of the first accommodating cavity 112. Specifically, the end surface of the first accommodating cavity 112 close to the power cavity 111, that is, the bottom surface of the first accommodating cavity 112 is provided with a fixing column 113, and the motor controller 200 is fixed on the fixing column 113, which can not only ensure the stable connection between the motor controller 200 and the housing 110, but also allow the weak-current circuit board assembly 220 located at the bottom to have heat dissipation space. At least two fixing columns 113 can be provided to ensure that the motor controller 200 can be firmly fixed on the housing 110.

[0094] On the basis of the above-mentioned embodiment, the power assembly 120 is provided with a rotating shaft 121 extending into the first accommodating cavity 112, and the rotating shaft 121 rotates coaxially with the output shaft of the mover. A speed sensor 221 for detecting the speed of the rotating shaft 121 is provided on the weak current circuit board 222. By setting the speed sensor 221 for detecting the speed of the rotating shaft 121 on the weak current circuit board assembly 220, the speed information of the rotating shaft 121 in the power assembly 120 can be obtained in real time. This information can be fed back to the control system of the robot, so that the system can adjust the operating state of the drive motor 100 in time according to the speed data, such as adjusting the output power and torque of the motor. In this way, the movement speed and strength of the robot leg 1000 can be accurately controlled, so as to achieve more precise, natural and smooth movements, and perform better in complex sports scenes such as walking, running, and climbing.

[0095] Furthermore, a gear 122 may be arranged on the rotating shaft 121 in the first accommodating cavity 112, and the speed sensor 221 is a Hall sensor for detecting the speed of the gear 122. During the rotation of the gear 122, the magnetic field changes between the teeth will be accurately captured by the Hall sensor and then converted into an electrical signal output. This detection method can provide high-precision speed measurement results, and compared with other detection methods, it can more accurately reflect the actual speed of the rotating shaft 121, provide more accurate data support for the motion control of the robot leg 1000, and ensure the accuracy of the robot's movements.

[0096] By setting a first accommodating cavity 112 at the rear of the shell 110 to accommodate the motor controller 200, the space advantage of the drive motor 100 set in the robot leg 1000 in the length direction is fully utilized. When the space of the robot leg 1000 is limited, the strong current control component 210 and the weak current circuit board component 220 of the motor controller 200 are stacked along the rotation axis of the power component 120, making full use of the space of the drive motor 100 in the length direction. This layout avoids the dispersed arrangement of components in the horizontal or other directions, making the entire drive motor 100 structure more compact. Taking the walking of a legged robot in a narrow passage as an example, the compact leg structure can reduce the risk of collision and improve the robot's passability.

[0097] For other contents not described in this embodiment, please refer to Embodiment 1.

[0098] Embodiment 3

[0099] like Fig. 9 , Fig.10 , Fig.13 The third embodiment of the present invention is shown, which adds a heat dissipation structure of the motor controller 200 on the basis of the first and / or second embodiments.

[0100] The motor controller 200 generates a large amount of heat when working. If the heat cannot be dissipated in time, the temperature of the device will continue to rise. Excessive temperature will seriously affect the performance of electronic components, such as changing the resistance value of electronic components, which will lead to changes in circuit parameters and affect the control accuracy; it may also greatly shorten the service life of the components and increase the probability of failure. A heat sink 212 is provided on the motor controller 200, and the heat sink 212 is thermally connected to the housing 110, which can quickly transfer the heat generated by the motor controller 200 to the housing 110, and then dissipate it to the surrounding environment through the housing 110, effectively reducing the temperature of the device, maintaining the normal working environment of the electronic components, and ensuring the stable operation of the motor controller 200. The stably operating motor controller 200 can accurately control the operation of the drive motor 100. For example, the motor speed, torque and other parameters are accurately adjusted to make the leg movement of the foot-type robot more smooth and natural, and the accuracy and coordination of the movement are better. In complex sports scenes, such as walking, running, jumping, etc., it can respond to instructions quickly to improve the movement performance and work efficiency of the foot-type robot.

[0101] The heat sink 212 is integrated with the motor controller 200 and directly connected to the housing 110 for heat conduction, so there is no need to open up a large space in the robot leg 1000 for heat dissipation, saving valuable internal space. This design makes the structure of the entire leg device more compact, and more functional modules can be integrated in a limited space, improving space utilization, while also helping to reduce the weight of the leg device and improve the energy efficiency and movement flexibility of the legged robot.

[0102] Furthermore, a fixing groove 115 is opened on the side wall of the first accommodating chamber 112, and the fixing groove 115 extends from the opening of the first accommodating chamber 112 along the rotating shaft 121 of the driving motor 100 toward the bottom of the fixing groove 115. The fixing groove 115 cannot be arranged in a ring shape along the side wall of the first accommodating chamber 112, and there needs to be a partition in the middle, that is, on the circumference of the first accommodating chamber 112, the fixing groove 115 can be a single arc or a plurality of arcs arranged at intervals. In this way, it can also produce a limiting effect on the motor controller 200 along the circumference of the first accommodating chamber 112. The heat sink 212 extends out of the driving assembly toward the side wall of the first accommodating cavity 112, and the portion of the heat sink 212 that extends beyond the driving assembly is slidably arranged in the fixed groove 115 along the axial direction of the power assembly 120. This makes it convenient to install the motor controller 200 into the first accommodating cavity 112 along the axial direction of the power assembly 120. The fixed groove 115 serves as a guide for the installation of the motor controller 200. During the installation process, the installer can install the heat sink 212 to the specified position more conveniently and accurately, which reduces the difficulty of installation, improves installation efficiency, reduces heat dissipation problems caused by improper installation, and helps to improve the overall assembly quality of the robot leg 1000 device.

[0103] Furthermore, the side wall of the heat sink 212 is in close contact with the inner wall of the fixing groove 115, and the heat of the heat sink 212 is transferred to the fixing groove 115. This close contact can be achieved by increasing the roughness of the side wall of the heat sink 212 and the inner wall of the fixing groove 115, or adding thermal conductive silicone grease between the side wall of the heat sink 212 and the inner wall of the fixing groove 115 to eliminate the gap between the two, so that the heat of the heat sink 212 can be quickly transferred to the fixing groove 115, and the heat is dissipated through the housing 110. This tightly fitting design reduces the thermal resistance in the heat transfer process, and the heat dissipation efficiency is significantly improved compared to the case where there is a gap between the heat sink 212 and the fixing groove 115. The stable heat dissipation effect can enable the motor controller 200 to operate within a suitable temperature range, avoiding performance degradation or failure due to overheating, thereby ensuring the stable operation of the robot leg 1000 device.

[0104] On the basis of the above embodiment, the motor controller 200 includes at least two circuit boards provided with heat sinks 212. For example, the motor controller 200 includes two groups of high-power circuit board assemblies 211, and each group of high-power circuit board assemblies 211 is provided with heat sinks 212. At this time, the two groups of high-power circuit board assemblies 211 need to be separated to ensure that their heat can be dissipated. To achieve the separation of the two groups of high-power circuit boards, in addition to using the support column 240, the fixing groove 115 can also be used. The fixing groove 115 is set as a stepped groove. From the opening of the first accommodating cavity 112 along the axial direction, the stepped groove includes multiple sections of groove bodies with decreasing widths, so that the upper heat sink 212 can abut on the step, thereby pulling away from the lower heat sink 212, and realizing the separation of the two layers of high-power circuit board assemblies 211. Of course, when there are multiple groups of high-power circuit board assemblies 211, the number of steps of the fixing groove 115 can also be increased accordingly.

[0105] Good heat dissipation design can reduce the failure of the motor controller 200 due to overheating, reduce the maintenance frequency and maintenance cost. At the same time, because the electronic components work at a suitable temperature, their aging speed is slowed down, the service life of the motor controller 200 and the entire leg device is extended, the trouble and cost of frequent replacement of parts are reduced, and the reliability and economy of the leg robot are improved.

[0106] For other contents not described in this embodiment, please refer to Embodiment 1 or Embodiment 2.

[0107] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by any technician in the field of the present invention are included in the patent scope of the present invention.

Claims

1. A motor controller for a legged robot, characterized in that: It includes a low-current circuit board assembly and a high-current circuit board assembly electrically connected to the low-current circuit board assembly. The high-current circuit board assembly and the low-current circuit board assembly are stacked up and down and a first heat dissipation channel is provided between the two. The motor controller of the foot-type robot also includes a support column supported between the high-current circuit board assembly and the low-current circuit board assembly to fix the height of the first heat dissipation channel between the high-current circuit board assembly and the low-current circuit board assembly.

2. The motor controller of the legged robot according to claim 1, characterized in that: The high-voltage circuit board assembly includes a first circuit board and a second circuit board. The first circuit board is used to control the voltage and current input to the power assembly, and the second circuit board is used to reduce voltage fluctuations during the operation of the drive motor.

3. The motor controller of the legged robot as claimed in claim 2, characterized in that: The first circuit board includes a PCB substrate, a first component group and a second component group. The PCB substrate includes a first end surface and a second end surface. The first component group is arranged on the first end surface, and the second component group is arranged on the second end surface.

4. The motor controller of the legged robot as claimed in claim 3, characterized in that: The first component group includes multiple groups of MOS tubes. The height of the components except the MOS tubes in the first component group is lower than the height of the MOS tube protruding from the first end surface. All MOS tubes share a heat sink.

5. The motor controller of the legged robot as claimed in claim 3, characterized in that: The first component group includes multiple groups of MOS tubes and current-carrying copper blocks protruding from the first end surface, and the second circuit board includes a copper substrate, which is attached to the second end surface to dissipate heat for the MOS tubes and the current-carrying copper blocks.

6. The motor controller of the legged robot as claimed in claim 5, characterized in that: The second component group avoids the projection area of ​​all MOS tubes and current-carrying copper blocks on the second end surface, and the copper substrate is provided with avoidance holes avoiding the second component group. The copper substrate at least covers the projection area of ​​all MOS tubes and current-carrying copper blocks on the second end surface.

7. The motor controller of the legged robot as claimed in claim 2, characterized in that: The number of conductive layers of the second circuit board is greater than the number of conductive layers of the first circuit board.

8. The motor controller of the legged robot as claimed in claim 2, characterized in that: The width of the conductor layer on the second circuit board is smaller than the width of the conductor layer on the first circuit board.

9. The motor controller of the legged robot according to claim 1, characterized in that: The high-voltage circuit board assembly includes multiple groups of MOS tubes, a MOS tube driver corresponding to each group of MOS tubes, and a first power chip, wherein the first power chip converts the power supply voltage into the working voltage required by the MOS tube driver and the low-voltage circuit board assembly.

10. The motor controller of the legged robot according to claim 9, characterized in that: The low-current circuit board assembly includes a low-current circuit board and an isolation power conversion module for electrically isolating the low-current circuit board from the high-current circuit board assembly. The isolation power conversion module is electrically connected to the first power chip to convert the voltage provided by the first power chip into the working voltage required by the low-current circuit board.

11. The motor controller of the legged robot according to claim 1, characterized in that: The weak-current circuit board assembly includes a weak-current circuit board and an isolation power conversion module that electrically isolates the weak-current circuit board from the strong-current circuit board assembly. An MCU chip is provided on the weak-current circuit board. The strong-current circuit board assembly includes multiple groups of MOS tubes, MOS tube drivers corresponding to each group of MOS tubes, and digital isolation chips corresponding to multiple MOS tube drivers. The MCU chip establishes signal interaction with the MOS tube driver through the digital isolation chip.

12. The motor controller of the legged robot according to claim 1, characterized in that: One of the high-voltage circuit board assembly and the low-voltage circuit board assembly is provided with an electrical connection pin, and the other is provided with an electrical connection seat matched with the electrical connection pin.

13. The motor controller of the legged robot according to claim 12, characterized in that: The electrical connection pins include voltage signal pins for transmitting different voltage signals on the high-voltage circuit board assembly to the low-voltage circuit board assembly for detection.

14. A legged robot, characterized in that: The driving motor of the joint of the legged robot adopts the motor controller described in any one of claims 1 to 13.

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