Power unit assembly and foot type robot

Abstract

The invention provides a power unit assembly and a foot type robot. The power unit assembly comprises a shell assembly, a driving circuit board located in the shell assembly, a motor assembly and a speed reduction assembly. Part of electronic devices on the driving circuit board are inserted into the motor assembly and overlapped with the axial part of the motor assembly, the speed reduction assembly is a two-stage planetary speed reduction assembly, and a duplex gear ring part of the speed reduction assembly is embedded into a rotor assembly of the motor assembly so as to be overlapped with the axial part of the motor assembly, so that the compactness of the power unit assembly is improved, and the service life of the power unit assembly is prolonged. And miniaturization development is facilitated. In addition, a planetary gear in at least one gear set in the speed reduction assembly is supported on one side, the axial size of the speed reduction assembly can be further reduced, and then the axial size of the power unit assembly is reduced.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a power unit assembly and a legged robot. Background Technology

[0002] Joint modules have become one of the core components of robots in recent years. For example, bipedal and quadrupedal robots each carry more than ten joint modules. Multiple joint modules are connected in a certain way to form the robot's limbs, which is the basis for achieving flexible and varied limb movements.

[0003] As robotics technology rapidly extends into heavy-duty outdoor scenarios, specialized robots such as quadruped robots are increasingly used in fields such as power line inspection, petrochemical security, and emergency rescue. The performance of their core power component—the joint module—directly determines the robot's environmental adaptability, load capacity, and motion stability. These heavy-duty outdoor scenarios place more stringent demands on the compactness of the joint module. Summary of the Invention

[0004] In view of this, this application provides a power unit assembly and a legged robot to improve the compactness of the power unit assembly and facilitate miniaturization.

[0005] In a first aspect, a power unit assembly is provided for use in a legged robot. The power unit assembly includes a housing assembly, a motor assembly and a reduction gear assembly located within the housing assembly; wherein...

[0006] The housing assembly includes an outer shell with openings at both ends, a front cover, a middle cover, and a rear cover; wherein the front cover and the rear cover respectively cover the openings at both ends of the outer shell, the middle cover is located inside the outer shell and divides the space inside the outer shell into a first cavity and a second cavity; a driving circuit board is disposed in the second cavity, and the middle cover has a hollow structure; multiple electronic devices are disposed on the driving circuit board, and some of the electronic devices pass through the hollow structure and are inserted into the first cavity; The motor assembly includes a stator fixed in the first cavity and a rotor assembly rotatably connected to the middle end cover. The deceleration assembly includes a double gear ring fixed in the first cavity, a high-speed planetary gear set meshing with the first gear ring of the double gear ring, and a low-speed planetary gear set meshing with the second gear ring of the double gear ring, wherein the high-speed planetary gear set is drive-connected to the low-speed planetary gear set, and the high-speed planetary gear set is drive-connected to the rotor assembly. in, Both the low-speed planetary gear set and the high-speed planetary gear set include a planet carrier and planetary gears, and at least one planet carrier in the low-speed planetary gear set and the high-speed planetary gear set is rotatably connected to the corresponding planetary gear through a single cantilevered planetary shaft; and at least one planet carrier is partially embedded in the axial concave region of the corresponding planetary gear. The second gear ring is fixedly connected to the housing assembly; The diameter of the first gear ring is smaller than the diameter of the second gear ring; Along the axial direction of the power unit assembly, the first gear ring is at least partially nested within the rotor assembly; The planet carrier of the low-speed planetary gear set is rotatably connected to the housing assembly via a first bearing, and the planet carrier of the low-speed planetary gear set is axially limited by the first bearing.

[0007] In the above technical solution, the hollowed-out middle end cover allows some electronic components on the drive circuit board to partially overlap with the motor assembly axially. A double-gear ring is used as the gear ring of the two-stage planetary reducer, allowing the second gear ring to support the first gear ring and be inserted into the rotor assembly. This partial axial overlap between the motor assembly and the reduction assembly improves the compactness of the power unit assembly and facilitates miniaturization. Furthermore, a single cantilever planetary shaft supports the planetary gears, allowing for support on one side and further reducing the axial dimension of the reduction assembly, thereby reducing the axial dimension of the power unit assembly. The planet carrier of the low-speed planetary gear set improves impact resistance by axially limiting the first bearing, thus protecting the reduction assembly.

[0008] In one specific implementation, the rotor assembly includes a rotor support rotatably connected to the middle end cover, and a rotor disposed on the rotor support; The rotor support has a recessed receiving groove at one end facing the deceleration assembly; the first gear ring is at least partially embedded in the receiving groove.

[0009] In one specific implementation, the front cover and the rear cover are respectively sealed to the outer shell; The second gear ring is located between the stator and the front end cover, and is fixedly connected to the outer casing; The planet carrier of the low-speed planetary gear set is a low-speed planetary carrier. The low-speed planetary carrier is rotatably connected to the front end cover through the first bearing, and the low-speed planetary carrier is rotatably connected to the low-speed sun gear through the second bearing.

[0010] In one specific implementation, the low-speed planetary carrier includes a planetary carrier body and a pressure plate connected to the planetary carrier body; The first bearing is nested in the planetary carrier body, and the planetary carrier body is provided with a boss; the boss abuts against one end of the first bearing. The pressure plate abuts against the other end of the first bearing.

[0011] In one specific implementation, the pressure plate includes a plurality of support rings, the support rings being mounted on the planetary carrier body, and each support ring being fixedly connected to a first planetary shaft; The support ring abuts the first bearing against the boss.

[0012] In one specific implementation, the pressure plate further includes a plurality of limiting protrusions, which are arranged alternately with a plurality of support rings; Each of the limiting protrusions is fixed to the planetary carrier body by a threaded connection; and each of the limiting protrusions abuts against the first bearing.

[0013] In one specific implementation, an annular body is provided between the support ring and the planetary carrier body; the limiting protrusion and the support ring are both fixedly connected to the annular body. The plurality of limiting protrusions and the plurality of supporting ring portions protrude outward from the circumferential surface of the annular body and are used to abut against the first bearing.

[0014] In one specific implementation, the planetary gears of the low-speed planetary gear set are low-speed planetary gears; the support ring is partially embedded in the axial concave region of the low-speed planetary gear.

[0015] In one specific implementation, there are at least four limiting protrusions and four supporting rings, and the limiting protrusions and / or the supporting rings are integrally formed with the annular body.

[0016] In one specific implementation, the first bearing is a crossed roller bearing.

[0017] In one specific implementation, the planet carrier of the high-speed planetary gear set is a high-speed planetary carrier; The high-speed planetary carrier and the high-speed sun gear are rotatably connected via a third bearing.

[0018] In one specific implementation, the perforated structure is a notch or through hole formed in the middle end cap.

[0019] In one specific implementation, the middle end cover has a recessed region that is recessed towards the inside of the outer casing; a rotor gear is coaxially fixed on the rotor support, and a counting gear that meshes with the rotor gear is provided on the middle end cover; both the rotor gear and the counting gear are located within the recessed region. The rotor support is provided with an encoder magnet, and the drive circuit board is also provided with an encoder that cooperates with the encoder magnet.

[0020] In one specific implementation, the stator is provided with a plurality of conductive wires; the edge of the middle end cover is provided with a notch for passing through the conductive wires.

[0021] In one specific implementation, the plurality of electronic devices include horizontal capacitors and vertical capacitors, wherein the hollow structure includes through holes that correspond one-to-one with the horizontal capacitors and the vertical capacitors.

[0022] Secondly, a legged robot is provided, comprising a first joint component, a second joint component, and a power unit assembly as described in any one of the preceding embodiments; wherein... The first joint component and the second joint component are rotatably connected through the power unit assembly.

[0023] In the above technical solution, the hollowed-out middle end cover allows some electronic components on the drive circuit board to partially overlap with the motor assembly axially. A double-gear ring is used as the gear ring of the two-stage planetary reducer, allowing the second gear ring to support the first gear ring and be inserted into the rotor assembly. This partial axial overlap between the motor assembly and the reduction assembly improves the compactness of the power unit assembly and facilitates miniaturization. Furthermore, a single cantilever planetary shaft supports the planetary gears, allowing for support on one side and further reducing the axial dimension of the reduction assembly, thereby reducing the axial dimension of the power unit assembly. The planet carrier of the low-speed planetary gear set improves impact resistance by axially limiting the first bearing, thus protecting the reduction assembly.

[0024] In one specific implementation, the legged robot is a bipedal robot or a quadrupedal robot. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this application and, together with the specification, serve to explain the technical solutions of this application. It should be understood that the following drawings only show some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This illustration shows an application scenario of the power unit assembly provided in this embodiment of the application in a bipedal robot.

[0027] Figure 2 An exploded view of the power unit assembly provided in an embodiment of this application is shown.

[0028] Figure 3 A cross-sectional view of the power unit assembly provided in an embodiment of this application is shown.

[0029] Figure 4 An exploded view of the deceleration component provided in an embodiment of this application is shown.

[0030] Figure 5 A cross-sectional view of the deceleration assembly provided in an embodiment of this application is shown.

[0031] Figure 6 An exploded view of the high-speed planetary gear set provided in an embodiment of this application is shown.

[0032] Figure 7 An exploded view of a low-speed planetary gear set provided in an embodiment of this application is shown.

[0033] Figure 8 A schematic diagram of the structure of the pressure plate provided in an embodiment of this application is shown.

[0034] Figure 9 A cross-sectional view is shown of the drive circuit board and the middle end cover provided in the embodiment of this application when they are in contact.

[0035] Figure 10 An exploded view of the drive circuit board, middle end cover, and rotor assembly provided in an embodiment of this application is shown.

[0036] Figure 11 A schematic diagram of the structure of the middle end cap provided in an embodiment of this application is shown.

[0037] Explanation of reference numerals in the attached figures: 10-Housing assembly 11-Outer shell 12-Front end cover 13-Rear end cover 14-Middle end cover 141-Hollowed-out structure 1411-Through hole 1412-Notch 20-Motor assembly 21-Stator 211-Conducting wire 22-Rotor 23-Rotor support 30 - Reduction assembly; 31 - High-speed planetary gear set; 311 - High-speed sun gear; 312 - High-speed planetary gear; 313 - High-speed planetary carrier; 314 - Second planetary shaft; 32 - Low-speed planetary gear set; 321 - Low-speed sun gear; 322 - Low-speed planetary gear; 323 - Low-speed planetary carrier; 3231 - Planetary carrier body; 3232 - Pressure plate; 3232a - Annular body; 3232b - Limiting protrusion; 3232c - Support ring; 324 - First planetary shaft; 33 - Double gear ring; 331 - First gear ring; 332 - Second gear ring. 40-Rotor Gear 50-Encoder Magnet 60-Counting Gear 70-Connector 80 - Driver circuit board; 81 - Electronic components; 811 - Horizontal capacitor; 812 - Vertical capacitor a-First bearing b-Second bearing c-Third bearing 1-First seal 2-Second seal 3-Third seal 100-First joint component 200-Power Unit Assembly 300 - Second Joint Component Detailed Implementation To more clearly illustrate the technical solutions in the embodiments of this application, the specific implementation methods of this application will be described below with reference to the accompanying drawings. The accompanying drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort. Adjustments and improvements made without departing from the concept of this application are all within the protection scope of this application.

[0038] To keep the drawings simple, each figure only schematically shows the parts related to the corresponding embodiment, and they do not represent the actual structure of the product. In addition, for the sake of simplicity and ease of understanding, some figures only schematically show parts of components with the same structure or function, and there may actually be more or fewer components with the same structure or function.

[0039] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “first,” “second,” and similar terms used in the patent application description and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the element or object preceding “comprising” or “including” encompasses the element or object listed following “comprising” or “including” and its equivalents, and do not exclude other elements or objects. The terms “connected,” “coupled,” or “linked” and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0040] Unless otherwise specified, all embodiments mentioned herein can be combined to form new technical solutions. Furthermore, unless otherwise specified, all technical features and preferred features mentioned herein can be combined to form new technical solutions.

[0041] In this application, the terms "or" and "and / or" describe the relationship between related objects and indicate a non-exclusive inclusion. For example, "A and / or B" and "A or B" can include: only "A" exists, only "B" exists, and both "A" and "B" exist simultaneously, where "A" and "B" can be singular or plural. As another example, "A, B, and / or C" and "A, B, or C" can include: only "A" exists, only "B" exists, only "C" exists, both "A" and "B" exist simultaneously, both "A" and "C" exist simultaneously, both "B" and "C" exist simultaneously, and both "A", "B", and "C" exist simultaneously, where "A", "B", and "C" can be singular or plural. Furthermore, the symbol " / " in this application indicates an "or" relationship between the related objects before and after the symbol. In this application, the term "at least one A or B" has the same meaning as the aforementioned "A or B". The term "at least one A, B, or C" has the same meaning as "A, B, or C" above. "One or more" of multiple objects refers to any one or any combination of multiple objects, such as "one or more of A, B, and C" including: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B, and C".

[0042] To facilitate understanding of the power unit assembly provided in the embodiments of this application, the application scenario of the power unit assembly provided in the embodiments of this application will first be described. The power unit assembly provided in the embodiments of this application is applied to legged robots. However, current power unit assemblies are large in size and occupy a lot of space, which is not conducive to miniaturization. Therefore, the embodiments of this application provide a power unit assembly to improve the compactness of the power unit assembly and facilitate its miniaturization. The following is a detailed description with reference to specific drawings and embodiments.

[0043] The power unit assembly provided in this application embodiment is applied in a legged robot to provide power to the legged robot. (Reference) Figure 1 , Figure 1 A schematic diagram illustrating an application scenario of the power unit assembly provided in an embodiment of this application is shown. Figure 1 A schematic diagram illustrating the application of a power unit assembly in a bipedal robot is shown. Figure 1The bipedal robot includes a first joint component 100, a power unit assembly 200, and a second joint component 300. The power unit assembly 200 includes a motor assembly and a reducer. The output shaft of the motor assembly is connected to the reducer. The power unit assembly 200 is fixedly connected to the first joint component 100, and the first planetary carrier of the reducer is connected to the second joint component 300 as its output end to drive the second joint component 300 to swing.

[0044] refer to Figure 2 and Figure 3 As shown, Figure 2 An exploded view of the power unit assembly provided in an embodiment of this application is shown. Figure 3 A cross-sectional view of the power unit assembly provided in this application embodiment is shown. The power unit assembly provided in this application embodiment mainly includes a housing assembly 10, a motor assembly 20, and a reduction gear assembly 30. The housing assembly 10 serves as a support member to support the motor assembly 20 and the reduction gear assembly 30. The motor assembly 20 drives the reduction gear assembly 30 to move and outputs power through the reduction gear assembly 30. The reduction gear assembly 30 is a two-stage planetary reduction gear assembly. The structure of each part of the power unit assembly will be described in detail below with reference to the specific drawings and embodiments.

[0045] Please refer to the above. Figure 3 , Figure 10 and Figure 11 The housing assembly 10 provided in this application embodiment includes a housing 11 and three end caps. The housing 11 has openings at both ends. The three end caps are named a front end cap 12, a middle end cap 14, and a rear end cap 13. When assembled, the front end cap 12 and the rear end cap 13 cover the openings at both ends of the housing 11. The middle end cap 14 is located inside the housing 11 and divides the space inside the housing 11 into a first cavity and a second cavity. The motor assembly 20 and the reduction gear assembly 30 are located in the first cavity. The drive circuit board 80 is disposed in the second cavity.

[0046] During assembly, the middle end cover 14 has a hollow structure 141, and the drive circuit board 80 has multiple electronic components 81, some of which pass through the hollow structure 141 and are inserted into the first cavity. This causes the drive circuit board 80 and the motor assembly 20 to partially overlap in the axial direction, reducing the axial dimension of the power unit assembly, improving the compactness between the internal components of the power unit assembly, and facilitating its miniaturization.

[0047] The motor assembly 20 provided in this embodiment includes a stator 21 and a rotor assembly. The stator 21 is fixed in a first cavity, while the rotor assembly is rotatably connected to the middle end cover 14. Under the action of magnetic force, the stator 21 can drive the rotor assembly to rotate.

[0048] Please refer to the above. Figure 4 and Figure 5 As shown, the reduction assembly 30 provided in this embodiment is a two-stage planetary reduction assembly. It includes two planetary reducers connected in series. Each planetary reducer includes a ring gear, planetary gears, a sun gear, and a planet carrier. The ring gears of the two planetary reducers are double ring gears 33, which include a first ring gear 331 and a second ring gear 332. For ease of description, the gear sets of the two planetary reducers are respectively named high-speed planetary gear set 31 and low-speed planetary gear set 32. The high-speed planetary gear set 31 includes a high-speed planetary gear 312, a high-speed sun gear 311, and a high-speed planet carrier 313. The low-speed planetary gear set 32 ​​includes a low-speed planetary gear 322, a low-speed sun gear 321, and a low-speed planet carrier 323. The diameter of the first ring gear 331 is smaller than the diameter of the second ring gear 332; that is, the high-speed planetary gear set 31 is the gear set of the high-speed planetary reducer, and the low-speed planetary gear set 32 ​​is the gear set of the low-speed planetary reducer.

[0049] In forming the power transmission path, the high-speed planetary gear set 31 is drivenly connected to the rotor assembly, and the high-speed planetary gear set 31 is drivenly connected to the low-speed planetary gear set 32. For example, the high-speed sun gear 311 is coaxially fixedly connected to the rotor assembly, meshes with the high-speed planetary gear 312, meshes with the first ring gear 331, and the high-speed planetary carrier 313 is rotatably connected to the high-speed planetary gear 312. The low-speed sun gear 321 is coaxially fixedly connected to the high-speed planetary carrier 313, rotatably connected to the low-speed planetary gear 322, and meshes with the second ring gear 332. The low-speed planetary carrier 323 is rotatably connected to the low-speed planetary gear 322, and the low-speed planetary carrier 323 serves as an output component. When the motor assembly 20 is working, it transmits power sequentially to the high-speed sun gear 311, high-speed planetary gear 312, high-speed planetary carrier 313, low-speed sun gear 321, and low-speed planetary gear 322 through the rotor assembly, and finally transmits the power to the outside of the power unit assembly through the low-speed planetary carrier 323.

[0050] Furthermore, when the first gear ring 331 and the second gear ring 332 form a double gear ring 33, the first gear ring 331 and the second gear ring 332 are fixedly connected, thereby supporting the second gear ring 332 through the first gear ring 331. When assembled with the housing assembly 10, the second gear ring 332 is fixedly connected to the housing assembly 10. Along the axial direction of the power unit assembly, the first gear ring 331 is at least partially nested within the rotor assembly. This utilizes the internal space of the rotor assembly to accommodate a portion of the reduction gear assembly 30, causing the reduction gear assembly 30 and the motor assembly 20 to partially overlap in the axial direction, improving the compactness of the reduction gear assembly 30 and the motor assembly 20, and thus improving the compactness of the power unit assembly.

[0051] Please refer to the above. Figure 6 and Figure 7As shown, both the low-speed planetary gear set 32 ​​and the high-speed planetary gear set 31 include planet carriers and planetary gears. At least one planet carrier in both sets is rotatably connected to the corresponding planetary gear via a single cantilevered planetary shaft. For example, the low-speed planetary carrier 323 is rotatably connected to the low-speed planetary gear 322 via a first planetary shaft 324, and the high-speed planetary carrier 313 is rotatably connected to the high-speed planetary gear 312 via a second planetary shaft 314. The first planetary shaft 324 is a cantilevered planetary shaft, or the second planetary shaft 314 is a cantilevered planetary shaft, or both the first and second planetary shafts 324 are cantilevered planetary shafts. When using the cantilevered planetary shaft, the low-speed planetary gear 322 and / or the high-speed planetary gear 312 are provided with single-sided support, which further reduces the axial dimension of the reduction assembly, improves the compactness of the powertrain unit, and reduces the axial dimension of the powertrain assembly, thus facilitating its miniaturization. It should be understood that the aforementioned single cantilever planetary shaft refers to a planetary shaft with one end fixed (fixedly connected to the planet carrier), while the other end is suspended and has no direct connection to other components. When this structure is used, the planet carrier is located only on one side of the corresponding planetary gear.

[0052] When the planet carrier mates with the corresponding planetary gear, at least one portion of the planet carrier is embedded in the axial recessed region of the corresponding planetary gear. For example, the planetary gear has an axially recessed region, and during assembly, the portion of the planet carrier facing the planetary gear is embedded in the axial recessed region of the corresponding planetary gear. Specifically, only the low-speed planet carrier 323 may be embedded in the axial recessed region of the low-speed planetary gear 322, or only the high-speed planet carrier 313 may be embedded in the axial recessed region of the high-speed planetary gear 312, or both the high-speed planet carrier 313 and the low-speed planet carrier 323 may be embedded in the axial recessed regions of the corresponding high-speed planetary gear 312 and the low-speed planetary gear 322. It should be understood that when the planet carrier portion is embedded in the axial recessed region of the corresponding planetary gear, the two overlap only in the axial direction, but this does not affect their relative rotation. By employing the above method, the axial overlap of the two can further reduce the axial dimension of the reduction assembly, improving the compactness of the powertrain unit, and reducing the axial dimension of the powertrain assembly, which is beneficial for its miniaturization.

[0053] When the reduction assembly 30 is assembled with the housing assembly 10, the low-speed planetary carrier 323 is rotatably connected to the housing assembly 10 via the first bearing a, and the low-speed planetary carrier 323 is axially limited by the first bearing a. This allows it to withstand a greater load in the axial direction, thereby protecting the gear structure (low-speed planetary gear set 32 ​​and high-speed planetary gear set 31) inside the reduction assembly 30.

[0054] As described above, by hollowing out the middle end cover, some electronic components on the drive circuit board and the motor assembly can be axially overlapped. A double-gear ring is used as the gear ring of the two-stage planetary reducer, allowing the second gear ring to support the first gear ring and be inserted into the rotor assembly. This allows the motor assembly and the reduction assembly to overlap axially, improving the compactness of the power unit assembly and facilitating miniaturization. In other words, the internal space of the rotor assembly is utilized to insert the reduction assembly and the electronic components of the drive circuit board into this internal space, thereby improving the compactness of the internal components of the power unit assembly and facilitating its miniaturization.

[0055] Furthermore, the unilateral support of the planetary gears and the axial overlap between the planetary gears and the planetary carrier further enhance the compactness of the reduction assembly, which is beneficial for the miniaturization of the power unit assembly. In addition, the axial restraint of the first bearing by the low-speed planetary carrier allows it to withstand greater axial loads, improving the safety of the gear assembly inside the reduction assembly.

[0056] In an optional embodiment, the double gear ring 33 provided in this application can be manufactured in different ways. For example, the first gear ring 331 and the second gear ring 332 can be manufactured by welding or integral molding. When welding is used, laser welding technology can be used for precision machining, which not only strictly meets the machining process standards of precision transmission, but also significantly shortens the axial dimension, further improving the compactness of the overall structure, while enhancing the structural strength of the gear ring to adapt to the high torque output requirements.

[0057] In an alternative embodiment, the high-speed planetary gear set 31 is embedded within the rotor assembly along the axial direction of the power unit assembly. Embedding the high-speed planetary gear set 31 within the rotor assembly optimizes the power transmission path and effectively reduces the axial space required.

[0058] Continue to refer to Figure 2 and Figure 3 As shown, the rotor assembly provided in this embodiment includes a rotor 22 and a rotor support 23. The rotor 22 is mounted on the rotor support 23, and the rotor support 23 is rotatably connected to the middle end cover 14. When the rotor 22 rotates, it can synchronously drive the rotor support 23 to rotate.

[0059] The rotor support 23 has a recessed receiving groove at one end facing the reduction gear 30, and the first gear ring 331 is at least partially embedded in the receiving groove. Thus, the first gear ring 331 is accommodated by the receiving groove inside the rotor support 23. It should be understood that when the first gear ring 331 is located in the receiving groove, there is a gap between the rotor support 23 and the first gear ring 331 to ensure that the rotor support 23 can rotate relative to the second gear ring 332, thus ensuring power transmission.

[0060] In an optional embodiment, the rotor support 23 provided in this application is inserted into the rotor 22 from the end of the rotor 22 facing the reduction assembly 30, and the end of the rotor support 23 near the reduction assembly 30 is provided with a protruding edge, so as to abut against the rotor 22 through the protruding edge to achieve axial positioning of the rotor support 23. This ensures that the receiving groove opened in the rotor support 23 is located at the end of the rotor assembly near the reduction assembly 30, facilitating the insertion of the first gear ring 331.

[0061] In an alternative embodiment, the stator 21 and rotor assembly provided in this application are substantially flush with the ends near the reduction gear 30, so that the structure between the motor assembly 20 and the reduction gear 30 is more compact.

[0062] In an optional embodiment, the housing assembly 10 provided in this application is configured in a sealed manner to improve its waterproof performance. For example, both the front cover 12 and the rear cover 13 are sealed to the outer casing 11. When the front cover 12 and the rear cover 13 are fitted to the outer casing 11, they are sealed by the first sealing element 1 and the second sealing element 2, respectively. When the front cover 12 and the rear cover 13 are fixedly connected by threaded connectors (bolts or screws), they are sealed by the sealing elements to ensure the airtightness of the power unit assembly.

[0063] In one alternative arrangement, the second gear ring 332 is fixedly connected to the housing 11. In this arrangement, the second gear ring 332 is positioned between the stator 21 and the front end cover 12. This arrangement ensures the compactness of the power unit assembly while allowing the second gear ring 332 to have a larger diameter, thus enabling more flexible design of the reduction ratio of the low-speed planetary gear set 32. It should be understood that there is a gap between the second gear ring 332 and the stator 21 in the axial direction of the power unit assembly to ensure that there is no interference between the rotor support 23 and the second gear ring 332.

[0064] Furthermore, the low-speed planetary carrier 323 is rotatably connected to the front cover 12 and protrudes outside the front cover 12 for easy connection with the joint components. The low-speed planetary carrier 323 and the front cover 12 are sealed together, for example, by a third seal 3. It should be understood that the seal between the low-speed planetary carrier 323 and the front cover 12 is a dynamic seal, such as through an oil seal or other dynamic sealing method.

[0065] In an alternative embodiment, the front cover 12 provided in this application is integrally inserted into the housing 11 and radially fixed to the housing 11 via a threaded connector, thereby further reducing the axial dimension of the power unit assembly. Furthermore, this connection method also reduces the risk of interference between the threaded connector and the shutdown component connected to the low-speed planetary carrier 323.

[0066] In an alternative embodiment, the cavity inside the housing 11 can be a stepped cavity to facilitate axial positioning of the stator 21 and the second gear ring 332 during assembly, thereby ensuring accuracy during assembly.

[0067] In an alternative embodiment, the front cover 12 can abut against the second gear ring 332 to fix the second gear ring 332 at both ends in the axial direction of the power unit assembly, ensuring the axial stability of the second gear ring 332. This, in turn, ensures the axial stability of the reduction gear assembly 30.

[0068] In an optional embodiment, the low-speed planetary carrier 323 provided in this application is rotatably connected to the front end cover 12 and the low-speed sun gear 321 via bearings, thereby improving the stability of the low-speed planetary carrier 323 during rotation through the support of the bearings. For example, the low-speed planetary carrier 323 is rotatably connected to the front end cover 12 via a first bearing a, and to the low-speed sun gear 321 via a second bearing b. Thus, through the cooperation of the first bearing a and the second bearing b, the low-speed planetary carrier 323 is supported on both its inner and outer sides in the radial direction, improving its stability. Additionally, the end of the low-speed sun gear 321 furthest from the high-speed planetary carrier 313 is supported by the second bearing b, which also improves the stability of the low-speed sun gear 321 during rotation.

[0069] The first bearing a mentioned above can be a crossed roller bearing. This crossed roller bearing has the advantages of compact structure, high rigidity, high rotational accuracy, and the ability to withstand three-dimensional loads simultaneously, thereby ensuring the stability of the low-speed planetary carrier 323 when transmitting power, and thus improving the stability of the power unit assembly.

[0070] Please refer to the above. Figure 5 As shown, in a specific feasible implementation, the low-speed planetary carrier 323 provided in this application embodiment includes a planetary carrier body 3231 and a pressure plate 3232. The pressure plate 3232 is stacked with the planetary carrier body 3231 and is fixedly connected to the planetary carrier body 3231. During assembly, the first bearing a is nested on the planetary carrier body 3231, and the planetary carrier body 3231 is provided with a boss. The boss abuts against one end of the first bearing a, while the pressure plate 3232 abuts against the other end of the first bearing a. Thus, in the axial direction, the first bearing a is axially limited by the cooperation between the boss and the pressure plate 3232, ensuring the stability of the first bearing a. At the same time, when subjected to axial impact, the impact can be transmitted to the first bearing a through the cooperation between the pressure plate 3232 and the boss, and finally borne by the front end cover of the power unit assembly, thereby reducing the impact of axial impact on the gear assembly inside the reducer and improving the safety of the reducer.

[0071] Continue to refer to Figure 6 and Figure 7 In the specific configuration, the pressure plate 3232 is located on the side of the planetary carrier body 3231 facing the low-speed planetary gear set 32, and the side of the planetary carrier body 3231 facing away from the pressure plate 3232 is fixedly connected to the second joint component. In addition, a plurality of first planetary shafts 324 are fixedly connected to the pressure plate 3232 to support the first planetary shafts 324.

[0072] like Figure 8 As shown, in an optional embodiment, the pressure plate 3232 includes multiple support rings 3232c. In a specific configuration, the support rings 3232c are mounted on the planetary carrier body 321, such as by threaded fasteners (bolts or screws). When engaging with a bearing, the multiple support rings 3232c abut against the boss, thereby engaging with the boss to axially limit the position of the first bearing a.

[0073] The support ring 3232c is fixedly connected to the first planetary axis 324 to support the first planetary axis 324, and each support ring 3232c is fixedly connected to each first planetary axis 324 in a one-to-one correspondence, so as to support the first planetary axis 324 on one side to form a single cantilever planetary axis.

[0074] In one specific implementation, the pressure plate 3232 further includes multiple limiting protrusions 3232b, which are arranged alternately with multiple support rings 3232c. Each limiting protrusion 3232b is fixed to the planetary carrier body 3231 via a threaded connection, and each limiting protrusion 3232b abuts against the first bearing a. This increases the contact area with the first bearing a, improving the stability of the first bearing a.

[0075] When this structure is adopted, the limiting protrusion 3232b is directly threaded through the threaded connector and fixedly connected to the planetary carrier body 3231, thereby improving the stability of the connection between the pressure plate 3232 and the planetary carrier body 3231.

[0076] When specifically arranging multiple limiting protrusions 3232b and multiple support rings 3232c, they are arranged alternately. This reasonable arrangement of the limiting protrusions 3232b and support rings 3232c makes the connection between the pressure plate 3232 and the planetary carrier body 32321 more stable, and also facilitates the support of the low-speed planetary gear 322.

[0077] In one specific implementation, the pressure plate 3232 may further include an annular body 3232a located between the support ring 3232c and the planetary carrier body 321; the limiting protrusions 3232b and the support ring 3232c are both fixedly connected to the annular body 3232a. Furthermore, the multiple limiting protrusions 3232b and the support ring 3232c partially protrude outwards from the circumferential surface of the annular body 3232a and are used to abut against the first bearing a.

[0078] Multiple support rings 3232c and multiple limiting protrusions 3232b are located on the side of the annular body 3232a away from the planetary carrier body 3231. In a specific configuration, each support ring 3232c and each limiting protrusion 3232b partially protrudes outward from the circumferential surface of the annular body 3232a. When engaging with the first bearing a, the portions of the support rings 3232c and the limiting protrusions 3232b protruding outward from the circumferential surface of the annular body 3232a abut against the bearing. This allows the support rings 3232c and the protrusions to limit the first bearing a on both sides, thereby increasing the contact area with the first bearing a and improving its stability.

[0079] In an alternative embodiment, the support ring 3223 is partially embedded into the low-speed planetary gear 322. This reduces the impact of the thickness of the support ring 3223 on the axial dimension of the reducer, further improving the compactness of the reducer's internal components.

[0080] In an optional embodiment, the aforementioned plurality of limiting protrusions 3232b and / or support rings 3232c are integrally formed with the annular body 3232a. For example, the plurality of limiting protrusions 3232b and the annular body 3232a are integrally formed, or the plurality of support rings 3232c and the annular body 3232a are a single structure, or the plurality of limiting protrusions 3232b and the plurality of support rings 3232c and the annular body 3232a are integrally formed. When using the above integral structure, it can be integrally manufactured, thereby enhancing the connection strength between the two components. Of course, when using a non-integral structure, the connection can be achieved by welding. For example, the limiting protrusions 3232b or the support rings 3232c are fixedly connected to the annular body 3232a by welding.

[0081] In one optional design, the number of limiting protrusions 3232b and support rings 3232c is at least four, thereby enhancing the connection strength between the pressure plate 3232 and the planetary carrier body 3231 and ensuring its stability under axial impact. In one example, the number of limiting protrusions 3232b is four, and correspondingly, the number of support rings 3232c is also four, to correspond to the number of low-speed planetary gears 322. Of course, in addition to the numbers in the example above, other numbers can be used, such as five or six limiting protrusions 3232b and support rings 3232c, etc., which can be set according to actual needs.

[0082] In an optional embodiment, when both the first planetary shaft 324 and the second planetary shaft 314 are cantilevered planetary shafts, the cantilever ends of both the first planetary shaft 324 and the second planetary shaft 314 are axially limited by limiting members to the corresponding low-speed planetary gear 322 and high-speed planetary gear 312. For example, the limiting member can be a snap ring, a boss, or other form of axial limiting member to ensure the axial stability of the low-speed planetary gear 322 and the high-speed planetary gear 312 during rotation and reduce the risk of axial movement.

[0083] Continue to refer to Figure 2 and Figure 3 As shown, in an optional embodiment, the high-speed planetary carrier 313 and the high-speed sun gear 311 provided in this application are rotatably connected via a third bearing c. This third bearing c improves the stability of the high-speed sun gear 311 and the high-speed planetary carrier 313 during rotation. Furthermore, with the cooperation of the first bearing a, the second bearing b, and the third bearing c, stable support can be formed for the two planetary carriers and the two sun gears, thereby ensuring the stability of power transmission.

[0084] In one optional embodiment, the high-speed planetary carrier 313 provided in this application is provided with a second planetary shaft 314, and the high-speed planetary gear 312 is rotatably connected to the second planetary shaft 324; the second planetary shaft 314 and the high-speed planetary carrier 313 are an integral structure. When adopting this structure, the axial dimension layout can be further optimized while ensuring that the structural strength meets the standards, so that the overall volume of the module is significantly reduced compared with the traditional module, highlighting the advantage of compactness, while improving transmission efficiency and structural reliability, and helping to achieve the goal of high power density output.

[0085] In an optional embodiment, the low-speed planetary gear 322 provided in this application is rotatably connected to the first planetary shaft 324 via needle rollers. This reduces friction between the low-speed planetary carrier 323 and the low-speed planetary gear 322 during rotation, thereby improving the stability of power output.

[0086] Continue to refer to Figure 9 , Figure 10 and Figure 11 The hollow structure 141 on the middle end cover can be a notch 1412 or a through hole 1411. When arranging the drive circuit board 80, the electronic devices 81 on the drive circuit board 80 can be inserted into the hollow structure 141 and extend from the second cavity to the first cavity, thereby utilizing the internal space of the rotor assembly to accommodate part of the electronic devices 81.

[0087] For example, the plurality of electronic devices 81 include a horizontal capacitor 811 and a vertical capacitor 812, wherein the hollow structure 141 includes through holes 1411 that correspond one-to-one with the horizontal capacitor 811 and the vertical capacitor 812. This allows the larger capacitors to be extended into the first cavity for convenient arrangement.

[0088] For example, the middle end cover 14 has a recessed area that is recessed into the outer shell. This recessed area can increase the space of the second cavity, making it easier to arrange the electronic components 81 on the drive circuit board 80. Some smaller electronic components 81 can be arranged in the second cavity. For larger electronic components 81, they can be extended into the first cavity through the aforementioned hollow structure 141, thereby improving the structural compactness of the entire power unit assembly.

[0089] During assembly, the rotor support 23 is rotatably connected to the middle end cover 14. Additionally, a rotor gear 40 is coaxially fixed on the rotor support 23, and a counting gear 60 meshing with the rotor gear 40 is provided on the middle end cover 14. Both the rotor gear 40 and the counting gear 60 are located within the aforementioned concave area to facilitate their arrangement.

[0090] Meanwhile, an encoder magnet 50 is installed on the rotor support 23, and an encoder that cooperates with the encoder magnet 50 is also installed on the drive circuit board 80. When the above scheme is adopted, the encoder magnet 50 and the counting gear 60 can rotate synchronously with the rotor 22. The rotor gear 40 and the counting gear 60 adopt a 1-tooth difference design to accurately detect the position parameters at the output end and improve the position detection accuracy. The encoder senses the position change of the encoder magnet 50 and accurately converts the motion parameters such as motor speed and angle into electrical signals, thereby realizing closed-loop precise control of the load position. At the same time, with the design concept of dual-encoder detection (encoder and counting gear 60), the feedback delay and error in the control system are effectively reduced, further improving the overall system response speed and stability, and adapting to the requirements of high-precision transmission control.

[0091] In one alternative embodiment, the stator is provided with a plurality of conductive wires 211, and the edge of the middle end cover 14 is provided with a notch for passing through the conductive wires, so as to facilitate the guiding of the conductive wires 211 connected to the stator 21 to the outside of the housing assembly 10, thereby facilitating wiring.

[0092] In an optional embodiment, the middle cover 14 and the outer shell 11 provided in this application embodiment are also sealed together. This results in a sealed connection between the front cover 12, the middle cover 14, the rear cover 13, and the outer shell 11, with the front cover 12 and the low-speed planetary carrier 323 using a dynamic oil seal. Furthermore, during sealing, it adheres to the IP67 protection standard (designed according to IEC 60529 and GB / T 4208 standards), achieving complete dustproof protection and preventing water ingress after immersion in 1 meter of water for 30 minutes. This ensures stable operation of the power unit assembly under harsh conditions such as humidity and dust, effectively preventing lubricant leakage and the intrusion of external dust and moisture, thus guaranteeing the operational safety and service life of internal precision components.

[0093] In a specific example, the sealing gasket (first seal 1) is used for static sealing of the end faces of the rear cover and the outer shell 11, and the middle end cover 14 and the outer shell 11. The O-ring (second seal 2) is used for sealing between the front end cover 12 and the outer shell 11. This O-ring can be made of fluororubber, with a compression rate controlled between 15% and 30%, and is used for radial sealing of key components such as bearings and shafts. The oil seal (third seal 3) is assembled at the output shaft of the front end cover 12 to achieve dynamic sealing, balancing sealing performance and movement flexibility. In addition, the connector 70 provided on the rear end cover 13 is an IP67 waterproof connector, thus forming a complete sealing protection system. In addition to the sealing in the above example, the power unit assembly provided in this application embodiment can also be equipped with a waterproof and breathable membrane as needed to balance the air pressure inside and outside the cavity, avoid sealing failure caused by thermal expansion and contraction, further improve protection reliability and module service life, and adapt to the needs of outdoor and harsh industrial scenarios.

[0094] In an alternative design, the front cover 12, rear cover 13, and middle cover 14 are fastened to the outer shell 11 with high-strength bolts to form a high-strength rigid whole, which can effectively resist the vibration and impact generated during high power density operation.

[0095] The front cover 12 and the rear cover can be equipped with flange structures to allow the power unit assembly to be directly and precisely connected to the joint components, enabling rapid installation and positioning of the module, improving assembly efficiency, and facilitating subsequent maintenance and repair, thus adapting to the needs of large-scale assembly.

[0096] As can be seen from the above description, the overall design of the power unit assembly provided in this application fully takes into account high power density, compact layout and IP67 protection performance, and achieves all-round optimization of power, precision, protection and assembly convenience. It can be adapted to the application needs of humanoid robots in all scenarios such as wrist, forearm, hip, knee and ankle joints. At the same time, it takes into account the lightweight design concept, effectively reduces the energy consumption of the whole machine, improves the battery life, and helps the intelligent device to upgrade to lightweight, miniaturized and high-performance.

[0097] This application embodiment also provides a joint module, which includes a first joint component, a second joint component, and a power unit assembly as described in any of the above embodiments; wherein the first joint component and the second joint component are rotatably connected via the power unit assembly, and the housing assembly 10 is fixedly connected to the first joint component; the low-speed planetary carrier 323 is fixedly connected to the second joint component. See details. Figures 1-11 The relevant description in the document.

[0098] In the above technical solution, the hollowed-out middle end cover allows some electronic components on the drive circuit board to partially overlap with the motor assembly axially. A double-gear ring is used as the gear ring of the two-stage planetary reducer, allowing the second gear ring to support the first gear ring and be inserted into the rotor assembly. This partial axial overlap between the motor assembly and the reduction assembly improves the compactness of the power unit assembly and facilitates miniaturization. Furthermore, a single cantilever planetary shaft supports the planetary gears, allowing for support on one side and further reducing the axial dimension of the reduction assembly, thereby reducing the axial dimension of the power unit assembly. The planet carrier of the low-speed planetary gear set improves impact resistance by axially limiting the first bearing, thus protecting the reduction assembly.

[0099] This application also provides a legged robot, which includes a first joint component, a second joint component, and a power unit assembly as described in any one of the above embodiments; wherein the first joint component and the second joint component are rotatably connected through the power unit assembly. See details. Figures 1-11 The relevant description in the document.

[0100] In the above technical solution, the hollowed-out middle end cover allows some electronic components on the drive circuit board to partially overlap with the motor assembly axially. A double-gear ring is used as the gear ring of the two-stage planetary reducer, allowing the second gear ring to support the first gear ring and be inserted into the rotor assembly. This partial axial overlap between the motor assembly and the reduction assembly improves the compactness of the power unit assembly and facilitates miniaturization. Furthermore, a single cantilever planetary shaft supports the planetary gears, allowing for support on one side and further reducing the axial dimension of the reduction assembly, thereby reducing the axial dimension of the power unit assembly. The planet carrier of the low-speed planetary gear set improves impact resistance by axially limiting the first bearing, thus protecting the reduction assembly.

[0101] In one specific feasible implementation, the legged robot is a bipedal robot or a quadrupedal robot.

[0102] The embodiments described above are some, but not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0103] Furthermore, the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] Finally, it should be noted that the above embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A power unit assembly for use in a legged robot, characterized in that, It includes a housing assembly, a motor assembly and a reduction gear assembly located within the housing assembly; wherein, The housing assembly includes an outer shell with openings at both ends, a front cover, a middle cover, and a rear cover; wherein the front cover and the rear cover respectively cover the openings at both ends of the outer shell, the middle cover is located inside the outer shell and divides the space inside the outer shell into a first cavity and a second cavity; a driving circuit board is disposed in the second cavity, and the middle cover has a hollow structure; multiple electronic devices are disposed on the driving circuit board, and some of the electronic devices pass through the hollow structure and are inserted into the first cavity; The motor assembly includes a stator fixed in the first cavity and a rotor assembly rotatably connected to the middle end cover. The deceleration assembly includes a double gear ring fixed in the first cavity, a high-speed planetary gear set meshing with the first gear ring of the double gear ring, and a low-speed planetary gear set meshing with the second gear ring of the double gear ring, wherein the high-speed planetary gear set is drive-connected to the low-speed planetary gear set, and the high-speed planetary gear set is drive-connected to the rotor assembly. in, Both the low-speed planetary gear set and the high-speed planetary gear set include a planet carrier and planetary gears, and at least one planet carrier in the low-speed planetary gear set and the high-speed planetary gear set is rotatably connected to the corresponding planetary gear through a single cantilevered planetary shaft; and at least one planet carrier is partially embedded in the axial concave region of the corresponding planetary gear. The second gear ring is fixedly connected to the housing assembly; The diameter of the first gear ring is smaller than the diameter of the second gear ring; Along the axial direction of the power unit assembly, the first gear ring is at least partially nested within the rotor assembly; The planet carrier of the low-speed planetary gear set is rotatably connected to the housing assembly via a first bearing, and the planet carrier of the low-speed planetary gear set is axially limited by the first bearing.

2. The power unit assembly according to claim 1, characterized in that, The rotor assembly includes a rotor support rotatably connected to the middle end cover, and a rotor disposed on the rotor support; The rotor support has a recessed receiving groove at one end facing the deceleration assembly; the first gear ring is at least partially embedded in the receiving groove.

3. The power unit assembly according to claim 2, characterized in that, The front cover and the rear cover are respectively sealed to the outer shell; The second gear ring is located between the stator and the front end cover, and is fixedly connected to the outer casing; The planet carrier of the low-speed planetary gear set is a low-speed planetary carrier. The low-speed planetary carrier is rotatably connected to the front end cover through the first bearing, and the low-speed planetary carrier is rotatably connected to the low-speed sun gear through the second bearing.

4. The power unit assembly according to claim 3, characterized in that, The low-speed planetary carrier includes a planetary carrier body and a pressure plate connected to the planetary carrier body; The first bearing is nested in the planetary carrier body, and the planetary carrier body is provided with a boss; the boss abuts against one end of the first bearing. The pressure plate abuts against the other end of the first bearing.

5. The power unit assembly according to claim 4, characterized in that, The pressure plate includes multiple support rings, which are mounted on the planetary carrier body, and each support ring is fixedly connected to a first planetary shaft. The support ring abuts the first bearing against the boss.

6. The power unit assembly according to claim 5, characterized in that, The pressure plate also includes multiple limiting protrusions, which are arranged alternately with multiple support rings; Each of the limiting protrusions is fixed to the planetary carrier body by a threaded connection; and each of the limiting protrusions abuts against the first bearing.

7. The power unit assembly according to claim 5, characterized in that, An annular body is provided between the support ring and the planetary carrier body; the limiting protrusion and the support ring are both fixedly connected to the annular body. The plurality of limiting protrusions and the plurality of supporting ring portions protrude outward from the circumferential surface of the annular body and are used to abut against the first bearing.

8. The power unit assembly according to claim 5, characterized in that, The planetary gears of the low-speed planetary gear set are low-speed planetary gears; the support ring is partially embedded in the axial concave region of the low-speed planetary gear.

9. The power unit assembly according to claim 7, characterized in that, There are at least four limiting protrusions and four supporting rings, and the limiting protrusions and / or the supporting rings are integrally formed with the annular body.

10. The power unit assembly according to claim 1, characterized in that, The first bearing is a crossed roller bearing.

11. The power unit assembly according to claim 2, characterized in that, The planet carrier of the high-speed planetary gear set is a high-speed planetary carrier; The high-speed planetary carrier and the high-speed sun gear are rotatably connected via a third bearing.

12. The power unit assembly according to any one of claims 2 to 11, characterized in that, The hollow structure is a notch or through hole opened in the middle end cap.

13. The power unit assembly according to claim 12, characterized in that, The middle end cap has a recessed area that is recessed towards the inside of the outer casing; A rotor gear is coaxially fixed on the rotor support, and a counting gear that meshes with the rotor gear is provided on the middle end cover; both the rotor gear and the counting gear are located in the concave area. The rotor support is provided with an encoder magnet, and the drive circuit board is also provided with an encoder that cooperates with the encoder magnet.

14. The power unit assembly according to claim 12, characterized in that, The stator is provided with a plurality of conductive wires; the edge of the middle end cover is provided with a notch for passing through the conductive wires.

15. The power unit assembly according to claim 12, characterized in that, The plurality of electronic devices include horizontal capacitors and vertical capacitors, wherein the hollow structure includes through holes that correspond one-to-one with the horizontal capacitors and the vertical capacitors.

16. A legged robot, characterized in that, Includes a first joint component, a second joint component, and a power unit assembly as described in any one of claims 1 to 15; wherein, The first joint component and the second joint component are rotatably connected through the power unit assembly.

17. The legged robot according to claim 16, characterized in that, The legged robot is either a bipedal robot or a quadrupedal robot.

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