A legged robot joint module assembly and its working method

Abstract

This invention discloses a legged robot joint module assembly and its working method, relating to the field of robot technology. It solves the problem of wear and tear on built-in cables in existing technologies, offering the beneficial effects of avoiding cable wear and ensuring shaft rigidity. The specific solution is as follows: A legged robot joint module assembly includes a first joint module, a second joint module, and a third joint module. The third joint module is mounted on the robot's torso. The output end of the third joint module is connected to the first motor housing of the first joint module. The output ends of the first and second joint modules are located on the same plane. Both the first and second joint modules can be connected to the robot's leg components. The third joint module has an opening. The cable of the first joint module passes through the first motor housing, and the cable of the second joint module passes through the second motor mount and the first motor housing, merging with the first joint module and passing through the opening of the third joint module.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a legged robot joint module assembly and its working method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Legged robots have experienced rapid development in recent years due to their excellent mobility and adaptability to complex terrain. To reduce the rotational inertia of the robot's legs and improve dynamic motion performance, existing legged robots generally employ a specific joint arrangement: the knee joint drive module is mounted at the output end of the thigh pitch joint, while the thigh pitch joint is mounted at the output end of the lateral swing joint, with the axes of the two joints perpendicular to each other. This structure causes the knee joint motor to move synchronously with the thigh pitch joint, but the motor cables for both the knee and thigh pitch joints are exposed and in a passive flexion-extension state for extended periods. When the robot lies down or collides with the environment, the cables are easily damaged, and prolonged flexion-extension movements can also lead to cable fatigue damage. This problem seriously affects the robot's operational reliability and aesthetic appearance.

[0004] To avoid cable damage, some existing technologies disclose that the cables are built into the leg structure of robots. Specifically, the cables for the knee joint motor and the thigh pitch joint motor are passed out from the thigh pitch joint, but the problem of exposed wires still exists. Moreover, the knee joint and the thigh pitch joint still rotate relative to each other, which makes the cables prone to wear during rotation. Other solutions can avoid the knee joint motor lead wire from swinging back and forth with the movement of the hip joint through the design of the solution. However, in this structure, the output shaft of the outer motor rotor needs to pass through the inner motor rotor and the reducer. The slender structure leads to a significant decrease in the stiffness of the shaft and the torque transmission capacity. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a legged robot joint module assembly that enables reasonable cable layout and avoids cable collisions and damage.

[0006] To achieve the above objectives, the present invention employs the following technical solution:

[0007] A legged robot joint module assembly includes a first joint module, a second joint module, and a third joint module. The third joint module is mounted on the robot's torso. The output end of the third joint module is connected to the first motor housing of the first joint module. The first motor of the first joint module is mounted through the first motor housing. The first joint module is connected to the second motor mount of the second joint module. The output end of the first joint module is rotatable relative to the first motor housing, and the output end of the second joint module is rotatable relative to the output end of the first joint module. The output ends of the first and second joint modules are located on the same plane. Both the first and second joint modules can be connected to the robot's leg components respectively. The third joint module has an opening. The cable of the first joint module passes through the first motor housing, and the cable of the second joint module passes through the second motor mount and the first motor housing, merges with the first joint module, and then passes through the opening of the third joint module.

[0008] In the legged robot joint module assembly described above, the central axis of the third joint module is perpendicular to the central axis of the first joint module, and the central axis of the first joint module is coaxial with the central axis of the second joint module.

[0009] As described above, in a legged robot joint module assembly, the first motor includes a first motor stator, which is fixedly installed in the cavity of a first motor housing. A partition is provided inside the first motor housing to support the first motor stator. The end of the first motor rotor is located outside the first motor stator. The first motor rotor is connected to a first central gear to form a first motor rotor assembly. The first motor rotor assembly is rotatably installed inside the first motor housing. Some cables of the first joint module are led out from the side of the first motor stator near the second joint module.

[0010] A first drive board is provided at one end of the first motor housing. The first drive board is connected to the first motor stator. The cable of the first drive board passes around the first motor housing near the third joint module and merges with the cable led out from the first motor stator.

[0011] As described above, in a legged robot joint module assembly, a first motor steel ring is installed on the circumference of the first motor rotor, a set of first motor magnets are uniformly fixed on the inner surface of the first motor steel ring, a first encoder magnetic ring is coaxially installed on the left end face of the first motor rotor, a first drive plate is fixed on the inner wall of the motor rear cover, the winding wires of the first motor stator are connected to the first drive plate, and a first encoder reading plate is also provided on the first drive plate.

[0012] As described above, in a legged robot joint module assembly, the first motor is connected to the first reducer, which is a first planetary gear mechanism. The first planetary gear mechanism includes a first gear ring, which is rotatably mounted on the first motor housing. The first planetary gear is rotatably mounted between the first motor housing and the second motor base. The first planetary gear meshes with the output end of the first motor and the first gear ring, respectively. The first motor output shaft is fixedly connected to the first gear ring. The first motor output shaft is a hollow structural component and is connected to the first motor output flange. The first motor output flange can be connected to the robot's thigh component. The second joint module is placed inside the first motor output shaft.

[0013] The cable of the second joint module passes through the second motor mount and the first motor housing, and the junction of the cable of the second joint module and the cable of the first joint module is located near the first motor.

[0014] As described above, in a legged robot joint module assembly, the second joint module includes a second motor, which includes a second motor stator. The second motor stator is fixedly mounted on the outside of the second motor mount. The end of the second motor rotor is located on the outside of the second motor stator. The center of the second motor rotor is recessed towards the first motor. The second motor rotor is connected to a second central gear to form a second motor rotor assembly. The second motor rotor assembly is connected to a second reducer. The output end of the second reducer is provided with a second motor output flange to connect to the robot's lower leg component. The second motor output flange and the output end of the first joint module are located on the same plane. The cable of the second motor passes through the second motor mount and merges with the cable of the first motor.

[0015] As described above, in a legged robot joint module assembly, the second reducer is a second planetary gear mechanism, which includes a second gear ring. The second gear ring is fixedly connected to the output end of the first joint module. The second planetary gear is rotatably mounted on the second motor output flange. The second motor output flange is the planet carrier of the second reducer. The second motor output flange is provided with a notch for mounting the second planetary gear. The second planetary gear meshes with the second central gear and the second gear ring, respectively.

[0016] The second encoder magnetic ring is coaxially mounted on one end of the rotor of the second motor. The second drive plate is fixed on the inner wall of the second motor base. The second encoder reading plate is provided on the second drive plate. The second encoder reading plate maintains a distance from the second encoder magnetic ring. The winding of the stator of the second motor is connected to the second drive plate.

[0017] As described above, a legged robot joint module assembly includes a third joint module comprising a third motor connected to a third reducer. The third motor includes a third motor housing, and a third motor stator is fixedly installed within the cavity of the third motor housing. The cable of the third motor stator passes around one end of the third motor rotor and exits from the end furthest from the first motor. The third motor rotor is connected to a third central gear to form a third motor rotor assembly. The third motor rotor assembly is rotatably installed within the cavity of the third motor housing. The third central gear has a central hole communicating with the opening. A cable sheath is installed within the central hole, passing through the third housing. A first bushing is installed at the end of the central hole near the first motor. One end of the cable sheath furthest from the first motor is fixed, and the other end is rotatably engaged with the first bushing. The output end of the third reducer is fixedly connected to the first motor housing.

[0018] As described above, in a legged robot joint module assembly, the third reducer is a third planetary gear mechanism, which includes a third gear ring. The third gear ring is rotatably mounted on the third motor housing. The third motor output flange is also the planetary carrier of the third reducer. The third planetary gear is located inside the third motor output flange through the third planetary gear shaft. The third planetary gear meshes with the third central gear and the third gear ring simultaneously. The third motor output flange is fixedly connected to the first motor housing.

[0019] The third drive board is placed inside the housing of the third motor on the side away from the first motor, and the winding wires of the stator of the third motor are closely attached to the inner wall of the housing of the third motor and connected to the third drive board.

[0020] Secondly, the present invention also provides a method for operating a legged robot joint module assembly, comprising the following:

[0021] The third joint module is installed on the robot's torso. The output end of the third joint module is connected to the first motor housing of the first joint module. The output end of the first joint module is connected to the robot's thigh component. The output end of the second joint module is connected to the robot's lower leg component.

[0022] The movement of the third joint module drives the movement of the first and second joint modules, enabling the robot's leg components to swing.

[0023] The first joint module moves, and the output end of the first joint module drives the movement of the robot's thigh component.

[0024] The second joint module moves by driving the robot's lower leg components through its output.

[0025] The beneficial effects of the present invention are as follows:

[0026] 1) In this invention, the third joint module can drive the first joint module and the second joint module to move. The third joint module is equivalent to the side swing joint of the robot. The cable of the first joint module passes through the first motor housing, and the cable of the second joint module passes through the second motor base and the first motor housing. After merging with the first joint module, it passes through the opening of the third joint module. The cables are arranged reasonably. The cables of the first joint module and the second joint module pass through the opening of the third joint module. They are not external and will not cause wear problems. Moreover, the second joint module is provided with a second motor base, so that the fixed end of the second joint module will not swing relative to the first joint module, so that the cable of the second motor will not be worn due to relative rotation.

[0027] 2) In this invention, the central axis of the third joint module is set perpendicular to the central axis of the first joint module, and the central axis of the first joint module is set coaxially with the central axis of the second joint module. The reasonable arrangement of the first joint module, the second joint module and the third joint module also facilitates the cables of the first joint module and the second joint module to pass through the opening of the third joint module to enter the robot's body without causing exposure problems.

[0028] 3) In this invention, the first motor housing is installed at the output end of the third joint module. The second motor and the first motor stator are relatively stationary during operation. The second motor cable merges with the first motor cable inside the first motor housing, and then passes through the opening of the third motor, i.e. the central hole, into the robot body. The third motor cable directly enters the robot body. When the robot moves, there is no relative swinging or bending motion between the three motor cables, which avoids the cables from being squeezed, collided, and fatigued, thus improving the reliability of the joint module.

[0029] 4) In this invention, the first reducer drives the robot's thigh component through the output shaft of the first motor, the second motor output flange of the second reducer drives the robot's lower leg transmission component, and the first motor housing is directly mounted on the output flange of the third motor, ensuring that all three joint motors can output large torque and maintain sufficient rigidity. Attached Figure Description

[0030] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0031] Figure 1 This is a cross-sectional view of a legged robot joint module assembly according to one or more embodiments of the present invention.

[0032] Figure 2 This is a schematic diagram of the external structure of a legged robot joint module assembly according to one or more embodiments of the present invention.

[0033] The diagram exaggerates the spacing or dimensions between parts to show their positions; the diagram is for illustrative purposes only.

[0034] The components include: 1. First motor housing; 2. First motor stator; 3. First motor steel ring; 4. First motor magnet; 5. First planetary gear shaft; 6. First wear-resistant gasket; 7. First planetary gear; 8. First bearing; 9. Second bearing; 10. First gear ring; 11. First motor output shaft; 12. Second drive plate; 13. Second encoder reading plate; 14. Second encoder magnetic ring; 15. Second motor base; 16. Second motor steel ring; 17. Second motor magnet; 18. Second motor stator; 19. Second motor rotor; 20. Second... 21. Gear ring, 22. First motor output flange, 23. Third bearing, 24. Second planetary gear, 25. Second wear-resistant gasket, 26. Second planetary gear shaft, 27. Fourth bearing, 28. Second elastic retaining ring, 29. Second center gear, 30. Second pin shaft, 31. Fifth bearing, 32. Dust cover, 33. Sixth bearing, 34. Second motor output flange, 35. Second bearing cover, 36. First motor rotor, 37. First motor rear cover, 38. First drive plate, 39. Seventh bearing, 40. Eighth bearing, 51. First center gear. 41. Gear, 42. First encoder reading plate, 43. First elastic retaining ring, 44. First pin, 45. First encoder magnetic ring, 46. Second motor cable, 47. First motor cable, 48. Semi-conical ring clamp, 49. Conical flange, 50. Third motor front cover, 51. Ninth bearing, 52. Third bearing cover, 53. Third elastic retaining ring, 54. Tenth bearing, 55. First bushing, 56. Eleventh bearing, 57. Third planetary gear, 58. Third wear-resistant gasket, 59. Third planetary gear shaft 60. Third motor housing; 61. Third motor steel ring; 62. Third motor magnet; 63. Third motor rear cover; 64. Third motor stator; 65. Third drive board; 66. Shaft retaining ring; 67. Third encoder magnetic ring; 68. Third encoder reading board; 69. Third center gear; 70. Cable sheath; 71. Main cable; 72. Third pin; 73. Third motor cable; 74. Cable sheath; 75. Third motor rotor; 76. Twelfth bearing; 77. Cable cover; 78. First bearing cover; 79. Third gear ring. Detailed Implementation

[0035] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0036] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0037] As described in the background section, the exposed cables of existing robot joint modules are prone to damage, and there is still wear and tear between some of the built-in cables. In order to solve the above technical problems, this invention proposes a legged robot joint module assembly.

[0038] Example 1

[0039] In a typical embodiment of the present invention, reference is made to Figure 1 and Figure 2 As shown, a legged robot joint module assembly includes a first joint module, a second joint module, and a third joint module. The third joint module is mounted on the robot's torso. The output end of the third joint module is connected to the first motor housing of the first joint module. The first motor of the first joint module is mounted through the first motor housing 1. The first joint module is connected to the second motor mount 15 of the second joint module. The output end of the first joint module is rotatable relative to the first motor housing 1, and the output end of the second joint module is rotatable relative to the output end of the first joint module. Both the first and second joint modules can be connected to the robot's leg components respectively. The third joint module has a central hole. The cable of the first joint module passes through the first motor housing 1, and the cable of the second joint module passes through the second motor mount 15 and the first motor housing 1, and merges with the first joint module before passing through the central hole of the third joint module.

[0040] The first joint module includes a first motor and a first reducer. The first motor and the first reducer are connected. The first reducer amplifies the output torque of the first motor to drive the movement of the legged robot's components.

[0041] The first motor includes a first motor housing 1, a first motor stator 2, a first motor rotor 35, and a first drive plate 37. The first motor stator 2 is fixedly installed in the cavity of the first motor housing 1. A partition is provided inside the first motor housing 1 to support the first motor stator 2. The first motor rotor 35 and the first central gear 40 are rigidly connected coaxially by screws to form a first motor rotor assembly. The two are circumferentially fixed by a first pin 43 to transmit torque. The first motor rotor assembly is installed in the seat hole in the middle of the cavity of the first motor housing 1 through a seventh bearing 38 and an eighth bearing 39, and is axially positioned by a first elastic retaining ring 42. The seventh bearing 38 and the eighth bearing 39 are spaced apart, and the seventh bearing 38 is located close to the first drive plate 37.

[0042] It is easy to understand that a first motor steel ring 3 is installed on the circumference of the first motor rotor 35, and a set of first motor magnets 4 are uniformly fixed on the inner surface of the first motor steel ring 3. A first encoder magnetic ring 44 is coaxially installed on the left end face of the first motor rotor 35. The first motor rear cover 36 encloses the first motor stator 2 and the first motor rotor assembly in the cavity of the first motor housing 1. The first drive plate 37 is fixed on the inner wall of the first motor rear cover 36. The winding wires of the first motor stator 2 are connected to the first drive plate 37. A first encoder reading plate 41 is also provided on the first drive plate 37, and the first encoder reading plate 41 maintains an appropriate distance from the first encoder magnetic ring 44. The number of rotations of the first motor rotor is obtained through the first encoder reading plate 41.

[0043] It should be explained that the first reducer includes a first gear ring 10 and a first planetary gear 7. The first gear ring 10 is mounted on the right end of the first motor housing 1 via a second bearing 9. The second bearing 9 is a crossed roller bearing. The outer ring of the second bearing 9 is fixed to the first motor housing 1 by a first bearing cap 78. The first motor output shaft 11 is rigidly connected to the first gear ring 10 and fixed on the inner ring of the second bearing 9. The first motor output shaft 11 is a hollow structure. The second joint module is placed inside the first motor output shaft 11. The first planetary gear 7 is mounted between the right end face of the first motor housing 1 and the second motor base 15 via a first planetary gear shaft 5 and a first bearing 8. The second motor base 15 is rigidly connected to the first motor housing 1 by screws.

[0044] Furthermore, the first planetary gear 7 meshes simultaneously with the first central gear 40 and the first gear ring 10. Multiple first planetary gears 7 can be arranged symmetrically relative to the central axis of the first motor housing 1 according to the magnitude of the transmitted torque. First wear-resistant pads 6 are installed on both sides of the first planetary gear 7 to reduce friction and wear between it and the first motor housing 1 and the second motor base 15. Lubricating grease is applied to the meshing points of the first planetary gear 7 with the first central gear 40 and the first gear ring 10 during installation. When the first motor rotor 35 rotates, the first central gear 40 drives the first gear ring 10 to rotate through the first planetary gear 7. Since the number of teeth of the first gear ring 10 is much larger than the number of teeth of the first central gear 40, the output torque of the first motor rotor 35 is amplified.

[0045] In this embodiment, the second joint module includes a second motor and a second reducer. The second motor and the second reducer are connected. The second reducer amplifies the output torque of the second motor to drive the legged robot component to move.

[0046] The second motor includes a second motor base 15, a second motor stator 18, a second motor rotor 19, and a second drive plate 12. A second motor steel ring 16 is installed on the circumference of the second motor rotor 19. A set of second motor magnets 17 are uniformly fixed on the inner surface of the second motor steel ring 16. The second motor stator 18 is fixedly installed on the outside of the second motor base 15. The second motor rotor 19 is placed on the outside of the second motor stator 18. The center of the second motor rotor 19 is recessed towards the first motor to utilize space and facilitate the setting of the second motor output flange 33. The second motor rotor 19 is arranged opposite to the first motor rotor. The second motor rotor 19 and the second central gear 28 are rigidly connected coaxially by screws to form a second motor rotor assembly. The two are circumferentially fixed by the second pin 29 to transmit torque. The second motor rotor assembly is installed in the bearing seat hole of the second motor output flange 33 through the sixth bearing 32 and the fifth bearing 30, and is axially positioned by the second elastic retaining ring 27. The fifth bearing 30 and the sixth bearing 32 are spaced apart, and the sixth bearing 32 is set closer to the first motor than the fifth bearing 30.

[0047] Additionally, it is easy to understand that a second encoder magnetic ring 14 is coaxially mounted on the left end face of the second motor rotor 19. The second drive plate 12 is fixed on the inner wall of the second motor base 15. A second encoder reading plate 13 is also provided on the second drive plate 12, and the second encoder reading plate 13 maintains an appropriate distance from the second encoder magnetic ring 14. The rotation angle of the second motor rotor 19 is obtained through the second encoder reading plate 13. The winding of the second motor stator 18 is connected to the second drive plate 12. The second motor cable 45 is merged with the first motor cable 46 in the wiring groove on the wall of the first motor housing 1 through the wiring hole at the end of the second motor base 15 to form a total cable 71. The total cable 71 passes through the cable conduit 70 inside the third joint module. Both the first motor cable 46 and the second motor cable 45 include power lines and communication lines.

[0048] The first motor cable 46 includes two clusters of cables. The first cluster of cables connects the three-phase winding of the first motor stator 2 to the first drive board 37. The second cluster of cables includes power lines and signal lines. The power lines connect the first drive board 37 to the robot power supply, and the signal lines connect the first drive board 37 to the robot controller. The second cluster of cables passes through the first motor housing 1 from the side of the first drive board 37 near the third joint module and merges with the second motor cable 45 to form a total cable 71. The second motor cable 45 is led out from the side of the second motor stator 18 near the first motor.

[0049] The second reducer includes a second gear ring 20 and a second planetary gear 23. The first motor output flange 21 is fixedly connected to the first motor output shaft 11 by screws. When the first motor rotor 35 rotates, the first motor output flange 21 drives the robot thigh component connected to it to move. The second gear ring 20 is rigidly connected to the first motor output flange 21 and simultaneously fixes the outer ring of the third bearing 22. The third bearing 22 is a crossed roller bearing. The second motor output flange 33 is fixed to the inner ring of the third bearing 22 by the second bearing cover 34. The second motor output flange 33 is also the planetary carrier of the second reducer. The second planetary gear 23 is installed in the second motor output flange 33 through the second planetary gear shaft 25 and the fourth bearing 26.

[0050] In addition, the second planetary gear 23 meshes simultaneously with the second central gear 28 and the second ring gear 20. Multiple second planetary gears 23 can be symmetrically arranged relative to the central axis of the second motor according to the magnitude of the transmitted torque. Second wear-resistant pads 24 are installed on both sides of the second planetary gear 23 to reduce friction and wear between them and the output flange 33 of the second motor. Lubricating grease is applied to the meshing points of the second central gear 28, the second planetary gear 23 and the second ring gear 20 during installation. A dust cover 31 is installed at the center hole of the output flange 33 of the second motor. The dust cover 31 is fixedly connected to the output flange 33 of the second motor to prevent dust from entering the interior of the second reducer and contaminating the lubricating grease. When the rotor 19 of the second motor rotates, the second central gear 28 drives the output flange 33 of the second motor to rotate through the second planetary gear 23. The output flange 33 of the second motor is connected to the lower leg component of the robot through a linkage mechanism to drive the lower leg component of the robot to move. Because the number of teeth of the second ring gear 20 is much larger than the number of teeth of the second central gear 28, the output torque of the rotor 19 of the second motor is amplified.

[0051] The third joint module consists of two parts: a third motor and a third reducer. The third motor is connected to the third reducer, and the third reducer amplifies the output torque of the third motor to drive the movement of the legged robot components.

[0052] The third motor includes a third motor housing 60, a third motor stator 64, a third motor rotor 75, and a third drive plate 65. The third motor stator 64 is fixedly installed in the cavity of the third motor housing 60. The central axis of the third motor is perpendicular to the central axis of the first motor. The third motor rotor 75 and the third central gear 69 are rigidly connected coaxially by screws to form a third motor rotor assembly. The third motor rotor assembly is circumferentially fixed by a third pin 72 to transmit torque. The third motor rotor assembly is installed in the cavity of the third motor housing 60 through a twelfth bearing 76 and a tenth bearing 54, and is axially positioned by a third elastic retaining ring 53. The tenth bearing 54 is positioned closer to the first motor than the twelfth bearing 76. A third motor steel ring 61 is installed on the circumference of the third motor rotor 75. A set of third motor magnets 62 are uniformly fixed on the inner surface of the third motor steel ring 61.

[0053] In addition, the middle of the third motor rotor 75 is recessed towards the first motor to make room for the installation of the third encoder reading plate 68. The third encoder magnetic ring 67 is coaxially mounted on the end face of the third motor rotor 75 away from the first motor. The third motor rear cover 63 encloses the third motor stator 64 and the third motor rotor assembly in the cavity of the third motor housing 60. The third drive plate 65 is fixed to the inner wall of the third motor rear cover 63. The winding wires of the third motor stator 64 are closely attached to the inner wall of the third motor housing 60 and connected to the third drive plate 65, and are fixed to the third motor housing 68 by the cable cover 77. The inner wall of the housing 60 is designed to prevent friction with the third motor rotor assembly. The third drive plate 65 is also equipped with a third encoder reading plate 68. The rotation angle of the third motor rotor 75 is obtained through the third encoder reading plate 68. The third encoder reading plate 68 and the third encoder magnetic ring 67 are kept at an appropriate distance. The third motor cable 73 passes through the third motor rear cover 63 and is fixed with a cable sheath 74. The third encoder reading plate 68 is set close to the third motor rear cover 63, that is, the third encoder reading plate 68 is set close to the robot's body to facilitate the wiring of the third drive plate.

[0054] The third reducer includes a third motor housing 60, a third gear ring 79, and a third planetary gear 57. The third motor front cover 49 is fixedly mounted on the upper end of the third motor housing with screws. The third gear ring 79 is rigidly connected to the third motor front cover 49 with screws, and at the same time, the outer ring of the ninth bearing 50 is fixed. The ninth bearing 50 is a crossed roller bearing. The third motor output flange 52 is fixed on the inner ring of the ninth bearing 50 through the third bearing cover 51. The third motor output flange 52 is also the planetary carrier of the third reducer. The third planetary gear 57 is installed in the third motor output flange 52 through the third planetary gear shaft 59 and the eleventh bearing 56. The third planetary gear 57 is a double gear. The third planetary gear 57 meshes with the third central gear 69 and the third gear ring 79 simultaneously. Multiple third planetary gears 57 are symmetrically arranged relative to the central axis of the third motor according to the magnitude of the transmitted torque. Third wear-resistant gaskets 58 are installed on both sides of the third planetary gear 57 to reduce friction and wear between it and the third motor output flange 52. The meshing parts of the third planetary gear 57 with the third central gear 69 and the third gear ring 79 are coated with grease during installation.

[0055] It should be noted that the third central gear 69 is hollow, the third motor output flange 52 is hollow, and the main cable 71 passes through the third motor output flange 52 and the third central gear 69.

[0056] In addition, the shaft retaining ring 66 is fixedly installed on the inner side of the third motor output flange 52 with screws to prevent the third planetary gear shaft 59 from moving axially. The first bushing 55 is installed at the end of the center hole of the third central gear 69 near the first motor. The end of the cable conduit 70 away from the first motor is fixed to the end face of the rear cover of the third motor with screws, and the other end passes through the third central gear 69 and rotates with the first bushing 55. A tapered flange 48 is installed at the end of the third motor output flange 52. A tapered flange is provided on the outer surface of the first motor housing 1 facing the third motor. Two semi-circular conical rings 47 fix the two tapered flanges together. When the third motor rotor 75 rotates, the third central gear 69 drives the third motor output flange 52 to rotate through the third planetary gear 57. Because the number of teeth of the third gear ring 79 is much larger than the number of teeth of the third central gear 69, the output torque of the third motor rotor 75 is amplified.

[0057] The third motor housing 60 is mounted on the robot's torso, the first motor housing 1 is mounted on the third motor output flange, the second motor output flange 33 is mounted on the first motor output flange 21, the robot's thigh component is mounted on the first motor output flange 21, the robot's lower leg transmission mechanism is connected to the second motor output flange 33, the first drive board 37 performs position, speed, or torque servo control on the first motor rotor 35, the second drive board 12 performs position, speed, or torque servo control on the second motor rotor 19, and the third drive board 65 and the third encoder reading board 68 perform position, speed, or torque servo control on the third motor rotor 75.

[0058] The robot motion controller generates control commands for each joint based on the robot's current motion state and desired motion, and sends them to the first drive board 37, the second drive board 12 and the third drive board 65 through the communication line in the main cable 71 via the third motor cable 73. By controlling the movement of the first motor rotor 35, the second motor rotor 19 and the third motor rotor 75, the robot's thigh and lower leg components are controlled to achieve the desired motion.

[0059] Example 2

[0060] This embodiment discloses a working method for a legged robot joint module assembly, including the following:

[0061] The third joint module is installed on the robot's torso. The output end of the third joint module is connected to the first motor housing of the first joint module. The output end of the first joint module is connected to the robot's thigh component. The output end of the second joint module is connected to the robot's lower leg component.

[0062] The third joint module moves by driving the first and second joint modules through the output flange 52 of the third motor, thereby realizing the swinging motion (lateral swinging motion) of the robot's leg components.

[0063] The first joint module moves, and the first motor output flange 21 drives the robot's thigh component to move.

[0064] The second joint module moves by driving the robot's lower leg components through the output end of the second joint module, namely the second motor output flange 33.

[0065] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A legged robot joint module assembly, characterized in that, The system includes a first joint module, a second joint module, and a third joint module. The third joint module is mounted on the robot's torso. The output end of the third joint module is connected to the first motor housing of the first joint module. The first motor of the first joint module is mounted through the first motor housing. The first joint module is connected to the second motor mount of the second joint module. The output end of the first joint module is rotatable relative to the first motor housing, and the output end of the second joint module is rotatable relative to the output end of the first joint module. The output ends of the first and second joint modules are located on the same plane. Both the first and second joint modules can be connected to the robot's leg components respectively. The third joint module has an opening. The cable of the first joint module passes through the first motor housing, and the cable of the second joint module passes through the second motor mount and the first motor housing, merges with the first joint module, and then passes through the opening of the third joint module. The first motor includes a first motor stator, which is fixedly installed in the cavity of the first motor housing. The second joint module includes a second motor, which includes a second motor stator, which is fixedly installed on the outside of the second motor mount. The second motor mount is rigidly connected to the first motor housing. The first motor is connected to the first reducer, which is a first planetary gear mechanism. The first planetary gear mechanism includes a first gear ring, which is rotatably mounted on the first motor housing. The first planetary gear is rotatably mounted between the first motor housing and the second motor base. The first planetary gear meshes with the output end of the first motor and the first gear ring, respectively. The first motor output shaft is fixedly connected to the first gear ring. The first motor output shaft is a hollow structural component and is connected to the first motor output flange. The first motor output flange can be connected to the robot's thigh component. The second joint module is placed inside the first motor output shaft. The cable of the second joint module passes through the second motor mount and the first motor housing, and the junction of the cable of the second joint module and the cable of the first joint module is located close to the first motor. The second reducer is a second planetary gear mechanism, which includes a second gear ring. The second gear ring is fixedly connected to the output end of the first joint module. The second planetary gear is rotatably mounted on the second motor output flange. The second motor output flange is the planet carrier of the second reducer. The second motor output flange is provided with a notch to install the second planetary gear. The second planetary gear meshes with the second center gear and the second gear ring, respectively. The second encoder magnetic ring is coaxially mounted on one end of the rotor of the second motor. The second drive plate is fixed on the inner wall of the second motor base. The second encoder reading plate is provided on the second drive plate. The second encoder reading plate maintains a distance from the second encoder magnetic ring. The winding of the stator of the second motor is connected to the second drive plate.

2. The legged robot joint module assembly according to claim 1, characterized in that, The central axis of the third joint module is perpendicular to the central axis of the first joint module, and the central axis of the first joint module is coaxial with the central axis of the second joint module.

3. The legged robot joint module assembly according to claim 1, characterized in that, A partition is provided inside the first motor housing to support the first motor stator. The end of the first motor rotor is located outside the first motor stator. The first motor rotor is connected to the first central gear to form a first motor rotor assembly. The first motor rotor assembly is rotatably installed inside the first motor housing. Some cables of the first joint module are led out from the side of the first motor stator near the second joint module. A first drive board is provided at one end of the first motor housing. The first drive board is connected to the first motor stator. The cable of the first drive board passes around the first motor housing near the third joint module and merges with the cable led out from the first motor stator.

4. The legged robot joint module assembly according to claim 3, characterized in that, The first motor rotor is equipped with a first motor steel ring on its circumference. A set of first motor magnets are uniformly fixed on the inner surface of the first motor steel ring. A first encoder magnetic ring is coaxially installed on the left end face of the first motor rotor. The first drive plate is fixed on the inner wall of the motor rear cover. The winding wires of the first motor stator are connected to the first drive plate. The first encoder reading plate is also provided on the first drive plate.

5. The legged robot joint module assembly according to claim 1, characterized in that, The end of the second motor rotor is located outside the second motor stator, and the center of the second motor rotor is recessed towards the first motor. The second motor rotor is connected to the second central gear to form a second motor rotor assembly. The second motor rotor assembly is connected to the second reducer. The output end of the second reducer is provided with a second motor output flange to connect with the robot's lower leg component. The second motor output flange and the output end of the first joint module are located on the same plane. The cable of the second motor passes through the second motor base and merges with the cable of the first motor.

6. The legged robot joint module assembly according to claim 1, characterized in that, The third joint module includes a third motor connected to a third reducer. The third motor includes a third motor housing, and a third motor stator is fixedly installed in the cavity of the third motor housing. The cable of the third motor stator passes around one end of the third motor rotor and exits from the end away from the first motor. The third motor rotor is connected to a third central gear to form a third motor rotor assembly. The third motor rotor assembly is rotatably installed in the cavity of the third motor housing. The third central gear has a central hole communicating with the opening. A cable sheath is installed in the central hole and passes through the third housing. A first bushing is installed at the end of the central hole near the first motor. One end of the cable sheath away from the first motor is fixed, and the other end is rotatably engaged with the first bushing. The output end of the third reducer is fixedly connected to the first motor housing.

7. The legged robot joint module assembly according to claim 6, characterized in that, The third reducer is a third planetary gear mechanism, which includes a third gear ring. The third gear ring is rotatably mounted on the third motor housing. The third motor output flange is also the planetary carrier of the third reducer. The third planetary gear is inside the third motor output flange through the third planetary gear shaft. The third planetary gear meshes with the third central gear and the third gear ring at the same time. The third motor output flange is fixedly connected to the first motor housing. The third drive board is placed inside the housing of the third motor on the side away from the first motor, and the winding wires of the stator of the third motor are closely attached to the inner wall of the housing of the third motor and connected to the third drive board.

8. A method for operating a legged robot joint module assembly according to any one of claims 1-7, characterized in that, Includes the following: The third joint module is installed on the robot's torso. The output end of the third joint module is connected to the first motor housing of the first joint module. The output end of the first joint module is connected to the robot's thigh component. The output end of the second joint module is connected to the robot's lower leg component. The movement of the third joint module drives the movement of the first and second joint modules, enabling the robot's leg components to swing. The first joint module moves, and the output end of the first joint module drives the movement of the robot's thigh component. The second joint module moves by driving the robot's lower leg components through its output.

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