A dual power joint module for a robot dog joint

Abstract

The application discloses a double-power joint module for a robot dog joint and relates to the technical field of robots.The joint module comprises a shell, an inner rotor, an outer rotor, a composite stator, a speed reduction transmission assembly and a driving circuit board, wherein the inner rotor is sleeved on a support frame fixedly connected with the composite stator, the inner rotor and the outer rotor are located on the two sides of the composite stator and are magnetically coupled with the composite stator, a magnetic isolation material is arranged in the middle of the composite stator to isolate the magnetic field interference, two independent control circuits are arranged in the driving circuit board and are electrically connected with the inner rotor and the outer rotor respectively, and independent driving and accurate control of double power sources are realized.The inner and outer double-rotor composite stator structure is adopted, two sets of independent power systems are integrated in a compact space, the electromagnetic coupling interference is effectively avoided by combining the magnetic isolation design, and the output redundancy, the dynamic response speed and the control flexibility of the joint module are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically a dual-powered joint module for robot dog joints. Background Technology

[0002] Currently, the leg drive system of high-performance quadruped robots generally adopts an independent configuration of single joint and single module in series. In this configuration, the thigh swing joint and the lower leg flexion joint are each independently configured with a complete set of power components. The two components are arranged in sequence along the longitudinal direction of the leg, and force and signal transmission are realized through rigid connectors and cross-joint cables.

[0003] However, each joint module in this traditional design requires an independent housing, bearing support, and electrical interface, resulting in a large number of parts for each leg and complex connection links. The intermediate connector between the two modules and the excessively long force transmission path further increase the ineffective mass, causing the overall rotational inertia of the leg to remain high. This limits the motion bandwidth and trajectory tracking accuracy of the robot dog in high-dynamic conditions such as running and jumping, while also taking up valuable space for the onboard battery and computing unit.

[0004] Therefore, in view of the problems existing in the prior art, there is an urgent need for a dual-power joint module that can realize two independent controlled output shafts in a single mechanical unit, thereby improving the output redundancy and dynamic response speed of the joint module. Summary of the Invention

[0005] The purpose of this invention is to provide a dual-power joint module technical solution for robot dog joints, so as to solve the problems raised in the prior art.

[0006] To achieve the above objectives, the present invention provides a dual-powered joint module for robot dog joints, comprising: The housing contains an inner rotor, an outer rotor, and a composite stator, with the inner and outer rotors respectively located on the inner and outer sides of the composite stator. The inner rotor is mounted on a support frame, which is fixedly connected to the composite stator. The composite stator is magnetically coupled with the inner and outer rotors, and a magnetic shielding material is provided in the middle to isolate the magnetic field interference between the inner and outer rotors during operation. The speed reduction transmission assembly is located at one end of the housing and is connected to the inner rotor and the outer rotor for transmission. The drive circuit board is located inside the housing and has two control circuits. The two control circuits are electrically connected to the inner rotor and the outer rotor respectively, and are used to independently control the rotation of the inner rotor and the outer rotor.

[0007] By integrating the inner rotor, outer rotor, and composite stator into the same housing and using magnetic shielding materials to isolate internal and external magnetic field interference, the dual power sources can work independently and in parallel in a very small space. This not only significantly improves the power density and output redundancy of the joint module, but also avoids the control problems caused by the coupling of the two motors, providing a power foundation for the robot dog joint that combines high explosive power and high reliability.

[0008] The speed reduction transmission assembly includes a planetary reducer and a harmonic reducer, which are respectively connected to the inner rotor and the outer rotor for transmission.

[0009] The module employs planetary reducers and harmonic reducers connected to the inner and outer rotors respectively, allowing the same module to simultaneously possess the high torque output of a planetary reducer and the high precision transmission of a harmonic reducer. It can flexibly switch or coordinate outputs according to working conditions, meeting the dual needs of the robot dog for explosive movements such as running and jumping as well as fine gait adjustment.

[0010] The housing is also equipped with a brake mechanism, which includes an electromagnet, a first elastic magnet, and a second elastic magnet. The first elastic magnet and the second elastic magnet are respectively fixed on both sides of the electromagnet. When the electromagnet is de-energized, the first elastic magnet and the second elastic magnet are tightly attached to the inner rotor and the outer rotor, respectively, to brake the inner rotor and the outer rotor.

[0011] Adding a brake mechanism allows the elastic magnets on both sides to press the inner and outer rotors respectively when the electromagnet is de-energized, achieving synchronous braking from dual power sources. This not only improves the safety and load holding capacity when the joint stops, but also simplifies the structure and saves axial space because it eliminates the need for two additional independent brakes.

[0012] The inner rotor and the outer rotor are respectively equipped with a first encoder and a second encoder. The magnetic sensor of the first encoder is located inside the support frame, and the magnetic sensor of the second encoder is located on the drive circuit board, which is used to control the inner rotor and the outer rotor.

[0013] The first and second encoders enable precise closed-loop detection of the rotational speed and position of the dual rotors. The sensor layout makes full use of the existing space inside the module, avoiding the need for additional structures, which helps to improve control accuracy and dynamic response performance.

[0014] A first bearing is provided between the support frame and the inner rotor, and the inner ring and outer ring of the first bearing are fixedly engaged with the support frame and the inner rotor, respectively.

[0015] The first bearing keeps the support frame and the inner rotor coaxial and allows them to rotate freely relative to each other. It also ensures the coaxiality and smooth rotation of the support frame and the inner rotor when they rotate at high speed, reduces eccentric vibration and friction loss, thereby improving the stability of module operation and extending service life.

[0016] A second bearing is provided between the planetary reducer and the outer rotor, and the inner and outer rings of the second bearing are fixedly fitted to the planetary reducer and the outer rotor, respectively.

[0017] The second bearing keeps the planetary reducer and the outer rotor coaxial and allows them to rotate freely relative to each other. At the same time, it provides stable radial and axial support for the outer rotor, effectively bearing the load generated by high-speed rotation and preventing the outer rotor from swaying or rubbing against the stator due to uneven force.

[0018] A third bearing is provided between the planetary reducer and the harmonic reducer, and the inner and outer rings of the third bearing are fixedly fitted to the planetary reducer and the harmonic reducer, respectively.

[0019] The third bearing keeps the planetary reducer and harmonic reducer coaxial and allows them to rotate freely relative to each other, ensuring the coaxiality and fitting accuracy of the two reducers when rotating at high speeds. This effectively avoids eccentric vibration, gear wear, and reduced transmission efficiency caused by installation errors or deformation due to stress.

[0020] The housing is composed of a top cover, an upper housing, and a main housing. The outer surface of the main housing is provided with a spiral groove to increase the heat dissipation area and reduce the overall weight.

[0021] The housing adopts a separate enclosed structure consisting of a top cover, an upper housing, and a main housing, which facilitates assembly and maintenance. At the same time, the outer surface of the main housing is provided with a spiral groove, which significantly increases the heat dissipation area and reduces the weight while ensuring structural strength. This is of great significance for the lightweight design of the robot dog and for thermal management during long-term high-load operation.

[0022] The bottom of the housing is also equipped with a dustproof and heat dissipation cover to protect the internal structure and effectively conduct heat to the outside.

[0023] A dustproof and heat-dissipating bottom cover is added to the bottom of the housing. This not only prevents external dust and particles from entering the module to protect the precision components, but also uses the bottom cover as an auxiliary heat dissipation path to effectively conduct internal heat to the external environment, forming a convection heat dissipation channel, which further improves the thermal reliability of the whole machine.

[0024] The top cover has two transparent cylinders for extending the indicator lights on the drive circuit board to the outside of the module to observe the working status.

[0025] A transparent cylinder is set on the top cover as a light guide to transmit the status of the signal lights on the internal drive circuit board to the outside of the module without loss. This allows debugging personnel or users to observe the module's working status and fault indications intuitively and in real time, facilitating quick troubleshooting and improving the convenience of use and maintenance.

[0026] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention integrates two independent power sources within the same module by mounting the inner and outer rotors on both sides of the composite stator and combining them with planetary reducers and harmonic reducers for separate transmission. This allows for coordinated output to achieve high torque and high explosive force to meet the needs of the robot dog for violent actions such as jumping and running. In the event of a single power unit failure, the other unit can take over the work independently, significantly improving the operational reliability and fault tolerance of the joint module. 2. This invention uses dual encoder magnetic sensors, located inside the support frame and on the drive circuit board, to achieve independent closed-loop control of the rotation of the inner and outer rotors, ensuring precise adjustment of joint angles and speeds. It is also equipped with a power-off self-locking brake mechanism, in which the elastic magnet tightly contacts the rotor in the event of power failure, achieving immediate braking and effectively preventing the robot dog from accidentally falling or the joints from reversing, thus ensuring operational safety. 3. This invention integrates core components such as drive circuit board, encoder, bearing and brake mechanism into the housing, resulting in a compact structure and short axial dimension. The outer surface of the main housing is provided with a spiral groove, which increases the heat dissipation area and achieves weight reduction. Together with the bottom dustproof heat dissipation cover, it forms a convection heat dissipation channel. The transparent cylinder of the top cover can lead out the signal light, which is convenient for real-time observation of the status. It takes into account both the miniaturization of the module and the thermal management efficiency. Attached Figure Description

[0027] Figure 1 This is an exploded view of a dual-powered joint module for a robot dog according to the present invention. Figure 2 This is a cross-sectional view of a dual-powered joint module for a robot dog joint according to the present invention. Figure 3 This is a schematic diagram of the structure of a dual-powered joint module for a robot dog joint according to the present invention.

[0028] Labels in the diagram: 1. Upper housing; 2. Main housing; 3. Electromagnet; 4. Harmonic reducer; 5. First elastic magnet; 6. Heat sink fins; 7. Planetary reducer; 8. Dustproof and heat dissipation bottom cover; 9. First encoder; 10. Support frame; 11. Outer rotor; 12. Composite stator; 13. Inner rotor; 14. Second encoder; 15. Top cover; 16. Second elastic magnet; 17. First bearing; 18. Second bearing; 19. Third bearing; 20. Transparent cylinder; 21. Drive circuit board. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example: The present invention provides a dual-power joint module for robot dog joints. The module has an overall cylindrical structure, is compact, and is suitable for driving the thigh and lower leg joints of a quadruped robot.

[0031] like Figure 1 As shown, the housing is formed by the top cover 15, the upper housing 1 and the main housing 2. The main housing 2 is a cylindrical structure with a hollow interior, used to house the motor assembly, control assembly and transmission assembly.

[0032] The upper shell 1 is fixedly connected to one end of the main shell 2, and the top cover 15 is fixed to the end of the upper shell 1 away from the main shell 2. Together, the three form a closed containment space.

[0033] The outer surface of the main housing 2 is provided with several spiral grooves, which can increase the contact area between the housing and the outside air while ensuring the structural strength of the main housing 2, which is conducive to the dissipation of internal heat. On the other hand, it can reduce the overall weight of the module and reduce the inertia of the robot dog's legs when rotating.

[0034] The bottom of the main housing 2 is also provided with a dustproof and heat dissipation bottom cover 8. The bottom cover is adapted to the bottom opening of the main housing 2. It can not only block external dust and particles from entering the module to protect the precision components, but also utilize the thermal conductivity of the bottom cover itself to effectively conduct internal heat to the external environment.

[0035] Inside the housing, the motor assembly, control assembly, and speed reduction transmission assembly are arranged sequentially along its axial direction.

[0036] The motor assembly is located in the upper middle part of the housing and includes an inner rotor 13, an outer rotor 11 and a composite stator 12. The control assembly is electrically connected to the inner rotor 13 and the outer rotor 11 and includes a drive circuit board 21, a first encoder 9 and a second encoder 14. The speed reduction transmission assembly is located at the bottom of the housing and includes a planetary reducer 7 and a harmonic reducer 4. All components are coaxially arranged with respect to the central axis of the housing to ensure the smoothness of power transmission.

[0037] Specifically, the composite stator 12 is fixedly installed inside the main housing 2. The composite stator 12 is in the shape of a ring. The inner stator is arranged on the inner radial side and the outer stator is arranged on the outer radial side. Both the inner and outer stator parts are made of traditional silicon steel sheets stacked together, and corresponding stator windings are wound on them.

[0038] The inner and outer stator sections are fixedly connected in the radial middle by a high-performance magnetic shielding material, which is used to isolate the magnetic field generated by the inner and outer stator sections during operation, ensuring that the two sets of magnetic circuits are independent of each other and avoiding electromagnetic coupling effects from interfering with control accuracy.

[0039] The composite stator 12 is provided with several bosses. These bosses are located on the axial end face of the composite stator 12 and are evenly distributed along the circumference. The bosses are provided with threaded holes. The composite stator 12 is fixed to the upper housing 1 by screws through these threaded holes.

[0040] The support frame 10 is fixedly installed on the radial inner side of the composite stator 12, and its axis coincides with the axis of the composite stator 12.

[0041] Permanent magnets are embedded on the outer circumferential surface of the inner rotor 13. These permanent magnets are arranged alternately along the circumferential direction and are positioned opposite to the inner stator winding of the composite stator 12 to form the magnetic circuit of the inner motor.

[0042] The outer rotor 11 is located on the radial outer side of the composite stator 12. Permanent magnets are also embedded on the inner circumferential surface of the outer rotor 11. These permanent magnets are arranged alternately along the circumferential direction and are opposite to the outer stator winding of the composite stator 12 to form the magnetic circuit of the outer motor.

[0043] The inner rotor 13 is sleeved on the outer circumferential surface of the support frame 10 and is cylindrical. A first bearing 17 is provided between its inner wall and the outer wall of the support frame 10. The first bearing 17 is a deep groove ball bearing. The inner ring and outer ring of the bearing are fixedly engaged with the support frame 10 and the inner rotor 13, respectively, so that the support frame 10 and the inner rotor 13 remain coaxial and can rotate freely relative to each other.

[0044] A second bearing 18 is provided between the planetary reducer 7 and the outer rotor 11. The second bearing 18 is a deep groove ball bearing. The inner ring and outer ring of the bearing are fixedly fitted with the planetary reducer 7 and the outer rotor 11, respectively, so that the planetary reducer 7 and the outer rotor 11 remain coaxial and can rotate freely relative to each other.

[0045] A third bearing 19 is provided between the planetary reducer 7 and the harmonic reducer 4. The third bearing 19 is a crossed roller bearing. The inner and outer rings of the bearing are fixedly fitted with the planetary reducer 7 and the harmonic reducer 4, respectively, so as to keep the planetary reducer 7 and the harmonic reducer 4 coaxial and able to rotate freely relative to each other.

[0046] The drive circuit assembly is located in the cavity formed by the upper housing 1 and the top cover 15. Specifically, it is an integrated circuit board. The integrated circuit board is fixed to the upper housing 1 by screws. Its installation position is opposite to the boss of the composite stator 12, which facilitates electrical connection.

[0047] The drive circuit assembly integrates two independent control circuits for the power source, namely the first control circuit and the second control circuit. The first control circuit is electrically connected to the stator winding of the inner rotor 13 and is used to control the rotation of the inner rotor 13.

[0048] The second control circuit is electrically connected to the stator winding of the outer rotor 11 and is used to control the rotation of the outer rotor 11. The two control circuits are independent of each other and can perform closed-loop control on the inner rotor 13 and the outer rotor 11 respectively.

[0049] The top cover 15 has two transparent cylinders 20 made of acrylic. The transparent cylinders 20 are installed through the top cover 15, with the lower end close to the indicator light on the drive circuit assembly and the upper end exposed outside the top cover 15.

[0050] The light emitted by the indicator lights on the drive circuit assembly is conducted to the outside of the module through the transparent cylinder 20, allowing the debugging personnel or users to intuitively and in real time observe the working status and fault indication of the module, which facilitates quick troubleshooting and improves the convenience of use and maintenance.

[0051] In order to achieve accurate detection of the rotational state of the inner rotor 13 and the outer rotor 11, this embodiment is equipped with a first encoder 9 and a second encoder 14. Both encoders have a resolution of 20 bits, which can accurately sense the input position of the module, thereby achieving accurate control of the module.

[0052] Specifically, the first encoder 9 is mounted on the inner rotor 13 to detect the rotational speed and position of the inner rotor 13, while the magnetic sensor of the first encoder 9 is mounted inside the support frame 10 to output the position signal of the inner rotor 13 by sensing changes in the magnetic field.

[0053] The second encoder 14 is mounted on the outer rotor 11 and is used to detect the rotational speed and position of the outer rotor 11. The magnetic sensor of the second encoder 14 is directly mounted on the drive circuit assembly and outputs the position signal of the outer rotor 11 by sensing changes in the magnetic field.

[0054] The signals from the two encoders are fed back to the corresponding control circuits on the drive circuit assembly, enabling precise closed-loop control of the two motors. The use of high-resolution encoders ensures accurate adjustment of joint angles and speeds, providing a guarantee for the high-precision motion control of the robot dog.

[0055] The speed reduction transmission assembly is located at the lower end of the main housing 2, and mainly includes a planetary reducer 7 and a harmonic reducer 4. The planetary reducer 7 and the harmonic reducer 4 are arranged sequentially along the axial direction of the housing, and are all coaxial with the central axis of the housing.

[0056] The planetary reducer 7 is a small multi-stage planetary reducer 7, which is installed inside the support frame 10. The housing of the planetary reducer 7 is fixed to the support frame 10 by screws.

[0057] The input end of the planetary reducer 7 is fixed to the inner rotor 13 through a D-hole. Specifically, the lower end of the inner rotor 13 extends into the support frame 10, and its end is provided with a D-shaped shaft section. The input end of the planetary reducer 7 is provided with a corresponding D-shaped hole. The two work together to transmit torque, so that the power input of the inner rotor 13 to the planetary reducer 7 can be realized.

[0058] The output shaft of the planetary reducer 7 extends axially, passes through the center hole of the harmonic reducer 4, and extends to the outside of the module.

[0059] A heat dissipation fan 6 is fixedly installed on the output shaft of the planetary reducer 7. The heat dissipation fan 6 is located in the internal space of the main housing 2. When the output shaft rotates with the planetary reducer 7, the heat dissipation fan 6 rotates synchronously, directly providing forced air cooling to the inside of the module, further improving the heat dissipation performance of the module.

[0060] The harmonic reducer 4 is located below the planetary reducer 7 and is fixed to the other end of the main housing 2 by screws. The input end of the harmonic reducer 4 is connected to the outer rotor 11. Specifically, the lower end of the outer rotor 11 extends to the wave generator of the harmonic reducer 4. The rotational motion of the outer rotor 11 is input to the harmonic reducer 4 through a key or D-hole connection.

[0061] The output end of the harmonic reducer 4 is fixedly connected to a bottom cover, which is fixed relative to the output end of the harmonic reducer 4.

[0062] Through the above connection, the power of the inner rotor 13 is reduced and increased in torque by the planetary reducer 7 and then output from the output shaft, while the power of the outer rotor 11 is reduced and increased in torque by the harmonic reducer 4 and then output from the bottom cover.

[0063] Among them, the planetary reducer 7 has a large torque carrying capacity and high impact resistance, making it suitable for providing explosive force to the robot dog's thigh. The harmonic reducer 4 has the characteristics of high precision, zero backlash and low transmission backlash, making it suitable for providing precise force control to the robot dog's lower leg. The two reducers output coaxially in the same module and do not interfere with each other.

[0064] This embodiment also includes a special composite brake mechanism inside the housing. The brake mechanism includes an electromagnet 3, a first elastic magnet 5, and a second elastic magnet 16. The electromagnet 3 is fixedly installed on the support frame 10 and is located on one side of the axial direction of the composite stator 12.

[0065] The first elastic magnet 5 is located on the side of the electromagnet 3 near the inner rotor 13, and is used to control the braking of the inner rotor 13.

[0066] The second elastic magnet 16 is disposed on the side of the electromagnet 3 near the outer rotor 11, and is used to control the braking of the outer rotor 11.

[0067] Both elastic magnets are ring-shaped with a wave-shaped contact surface to increase the frictional torque when in contact with the rotor.

[0068] Under normal circumstances, when the electromagnet 3 is not energized, the first elastic magnet 5 and the second elastic magnet 16 are in a relaxed state. In the relaxed state, the first elastic magnet 5 is in contact with the inner rotor 13, and the second elastic magnet 16 is in contact with the outer rotor 11. Both the inner rotor 13 and the outer rotor 11 are fixed and cannot rotate, thus achieving mechanical braking.

[0069] When the electromagnet 3 is energized, it generates electromagnetic attraction, which attracts the first elastic magnet 5 and the second elastic magnet 16 towards the electromagnet 3, causing them to separate from the inner rotor 13 and the outer rotor 11 respectively. At this time, both the inner rotor 13 and the outer rotor 11 can rotate freely, and the module works normally.

[0070] When the power is suddenly cut off, the electromagnet 3 loses its power and the electromagnetic attraction disappears. The first elastic magnet 5 and the second elastic magnet 16 return to a relaxed state under the action of their own elastic restoring force, and re-engage tightly with the inner rotor 13 and the outer rotor 11, thus completing the braking.

[0071] This brake mechanism can achieve synchronous braking from dual power sources in the event of power failure, which greatly increases the safety of the equipment in case of emergencies during operation and effectively prevents the robot dog from accidentally falling or its joints from turning backward.

[0072] With the above structure, the present invention effectively solves the problem that the control of the thigh and lower leg of the robot dog in the prior art requires two joint modules, which greatly saves installation space and overall weight, and improves the integration and motion performance of the leg structure.

[0073] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A dual-powered joint module for robot dog joints, characterized in that, include: The housing has an inner rotor (13), an outer rotor (11) and a composite stator (12) inside, with the inner rotor (13) and the outer rotor (11) respectively located on the inner and outer sides of the composite stator (12); The inner rotor (13) is sleeved on the support frame (10), and the support frame (10) is fixedly connected to the composite stator (12); The composite stator (12) is magnetically coupled with the inner rotor (13) and the outer rotor (11), and the middle part is provided with magnetic shielding material to isolate the magnetic field interference between the inner rotor (13) and the outer rotor (11) during operation; The speed reduction transmission assembly is located at one end of the housing and is connected to the inner rotor (13) and the outer rotor (11) for transmission. The drive circuit board (21) is located inside the housing and has two control circuits. The two control circuits are electrically connected to the inner rotor (13) and the outer rotor (11) respectively, and are used to independently control the rotation of the inner rotor (13) and the outer rotor (11).

2. The dual-powered joint module for a robot dog joint according to claim 1, characterized in that, The speed reduction transmission assembly includes a planetary reducer (7) and a harmonic reducer (4), which are respectively connected to the inner rotor (13) and the outer rotor (11).

3. A dual-powered joint module for a robot dog joint according to claim 1, characterized in that, The housing is also equipped with a brake mechanism, which includes an electromagnet (3), a first elastic magnet (5) and a second elastic magnet (16). The first elastic magnet (5) and the second elastic magnet (16) are fixed on both sides of the electromagnet (3). When the electromagnet (3) is de-energized, the first elastic magnet (5) and the second elastic magnet (16) are tightly attached to the inner rotor (13) and the outer rotor (11) respectively, and are used to brake the inner rotor (13) and the outer rotor (11).

4. A dual-powered joint module for a robot dog joint according to claim 1, characterized in that, The inner rotor (13) and the outer rotor (11) are respectively provided with a first encoder (9) and a second encoder (14). The magnetic sensor of the first encoder (9) is located inside the support frame (10), and the magnetic sensor of the second encoder (14) is located on the drive circuit board (21) for controlling the inner rotor (13) and the outer rotor (11).

5. A dual-powered joint module for a robot dog joint according to claim 1, characterized in that, A first bearing (17) is provided between the support frame (10) and the inner rotor (13), and the inner ring and outer ring of the first bearing (17) are fixedly engaged with the support frame (10) and the inner rotor (13) respectively.

6. A dual-powered joint module for a robot dog joint according to claim 2, characterized in that, A second bearing (18) is provided between the planetary reducer (7) and the outer rotor (11), and the inner and outer rings of the second bearing (18) are fixedly fitted to the planetary reducer (7) and the outer rotor (11), respectively.

7. A dual-powered joint module for a robot dog joint according to claim 2, characterized in that, A third bearing (19) is provided between the planetary reducer (7) and the harmonic reducer (4). The inner and outer rings of the third bearing (19) are fixedly fitted to the planetary reducer (7) and the harmonic reducer (4), respectively.

8. A dual-powered joint module for a robot dog joint according to claim 1, characterized in that, The housing is formed by the top cover (15), the upper housing (1) and the main housing (2). The outer surface of the main housing (2) is provided with a spiral groove to increase the heat dissipation area and reduce the overall weight.

9. A dual-powered joint module for a robot dog joint according to claim 1, characterized in that, The bottom of the housing is also provided with a dustproof and heat dissipation cover (8) to protect the internal structure and effectively conduct heat to the outside.

10. A dual-powered joint module for a robot dog joint according to claim 8, characterized in that, The top cover (15) is provided with a transparent cylinder (20) for extending the indicator lights on the drive circuit board (21) to the outside of the module to observe the working status.

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