Leg device of foot-type robot and foot-type robot

Abstract

The utility model discloses a leg device of a foot type robot and the foot type robot. The leg device of the foot type robot comprises a robot leg and further comprises a driving motor arranged in the robot leg, the driving motor comprises a shell, a power cavity formed in the shell and a power assembly arranged in the power cavity, and a first containing cavity is formed in the end face of the tail of the shell; a motor controller electrically connected with the power assembly is arranged in the first containing cavity, and cooling fins are arranged on the motor controller and connected with the shell in a heat conduction mode. The utility model further discloses the foot type robot which adopts the leg device of the foot type robot. The motor controller has the advantage of solving the problem that the motor controller for installing the motor in the leg of the humanoid robot is easy to overheat. The cooling fins are connected with the shell in a heat conduction mode, heat generated by the motor controller can be rapidly transmitted to the shell and then dissipated to the surrounding environment through the shell, faults caused by overheating of the motor controller are avoided, and stable operation of the motor controller is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent manufacturing technical field, concretely relates to foot formula robot leg device and foot formula robot. BACKGROUND

[0002] Foot formula robots such as humanoid robots have human-like structures, similar appearance and size to humans, which makes them well adapted to human living and working environments. For example, in a home environment, they can use furniture and appliances like humans, easily move between rooms, go up stairs, sit on chairs, or open a refrigerator to take out or put in items.

[0003] Existing humanoid robots each leg contains three motors, respectively, the thigh motor and knee joint motor arranged on the upper end of the thigh, and the calf motor arranged at the hinge part of the calf and the thigh. For example, the patent for utility model with publication number CN118810959A discloses a kind of biped humanoid robot, and its leg structure is similar to most robots currently. In the above-mentioned existing patent: the thigh motor is used to drive the thigh to rotate relative to the hip bone, and the rotation axis of the thigh coincides with the output shaft axis of the thigh motor. The rotation of the thigh relative to the hip bone can drive the calf to move. A cavity is arranged in the thigh, and a connecting rod mechanism is arranged in the cavity. The knee joint motor is used to drive the connecting rod mechanism to move, so as to drive the calf to rotate relative to the thigh through the connecting rod mechanism. In the above-mentioned structure, the three motors are all arranged in the form of a disc, which will cause the motors to be concentrated on the hip bone, making the hip bone have a huge size. Moreover, due to the shape of the disc motor being a flat disc, there is not enough space in the motor for the controller to be assembled, so the controller circuit board is arranged in the space surrounded by the middle part of the stator, and the heat dissipation of the circuit board will be affected. Moreover, due to the limited space, the size of the circuit board will also be affected, and more electronic components cannot be arranged, which will eventually result in insufficient output voltage and current, and thus the motor power cannot be increased. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing foot formula robot leg device and foot formula robot, which can effectively solve the problem of easy overheating of the motor controller of the motor installed in the leg of the existing foot formula robot.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical scheme:

[0006] The foot formula robot leg device comprises a robot leg, a driving motor arranged in the robot leg, a shell, a power cavity arranged in the shell, and a power assembly arranged in the power cavity. A first accommodating cavity is opened on the end face of the tail part of the shell. A motor controller electrically connected with the power assembly is arranged in the first accommodating cavity. Cooling fins are arranged on the motor controller and are in heat conduction connection with the shell.

[0007] In the leg device of the robot, the side wall of the first accommodating cavity is provided with a fixing groove, and the heat sink is arranged in the fixing groove in the axial direction of the power assembly.

[0008] In the leg device of the robot, the heat sink is in close contact with the inner side wall of the fixing groove, and the heat of the heat sink is transmitted to the fixing groove.

[0009] In the leg device of the robot, the fixing groove is a stepped groove, the stepped groove includes a plurality of groove bodies with decreasing widths in the axial direction from the opening of the first accommodating cavity, the motor controller includes at least two circuit boards provided with heat sinks, the circuit boards are arranged in parallel in the axial direction of the power assembly, the heat sinks on the circuit boards at different positions extend into the fixing groove with a width matched with the width of the fixing groove at the corresponding position, and the relative positions of the circuit boards in the axial direction are fixed.

[0010] In the leg device of the robot, the fixing groove has at least two and is uniformly distributed along the peripheral wall of the first accommodating cavity.

[0011] In the leg device of the robot, the motor controller includes a strong-electricity circuit board assembly and a weak-electricity circuit board arranged in layers along the rotation axis of the power assembly, and the heat sink is connected to the shell on the strong-electricity circuit board assembly.

[0012] In the leg device of the robot, the strong-electricity circuit board assembly includes a first circuit board and a second circuit board, the first circuit board is used for controlling the voltage and current size input to the power assembly, the second circuit board is used for reducing voltage fluctuation during operation of the driving motor, and the heat sink and the second circuit board are respectively fixed to the two opposite end surfaces of the first circuit board.

[0013] In the leg device of the robot, the first circuit board includes a PCB substrate with opposite first and second end surfaces, the PCB substrate is provided with a first component group, the first component group includes a plurality of MOS tubes, the heights of the components in the first component group except the MOS tubes are lower than the height of the MOS tubes protruding from the first end surface, and all the MOS tubes share a heat sink.

[0014] In the leg device of the robot, the first component group further includes a current-carrying copper block protruding from the first end surface, and the second circuit board includes a copper substrate attached to the second end surface for heat dissipation of the MOS tubes and the current-carrying copper block.

[0015] In the leg device of the robot, the strong-electricity circuit board assembly and the weak-electricity circuit board are electrically connected and have a first heat dissipation channel therebetween.

[0016] The utility model discloses still foot formula robot, adopts any scheme described above foot formula robot leg device.

[0017] Compared with the prior art, the utility model has the advantages of:

[0018] The motor controller is provided with heat dissipation fins in heat transfer connection with the shell, solving the problem of easy overheating of the motor controller for installing the motor in the leg of the current foot formula robot. The heat dissipation fins are in heat transfer connection with the shell, which can quickly transfer the heat generated by the motor controller to the shell, and then dissipate to the surrounding environment through the shell, avoiding the malfunction of the motor controller due to overheating, and ensuring its stable operation. Effective heat dissipation can reduce the failure rate of the motor controller, reduce the problems such as abnormal movement of the robot leg caused by the failure of the control device, thereby improving the reliability of the overall foot formula robot leg device, and ensuring that the robot can continuously and stably complete the task in various working scenarios. The motor controller is arranged in the first accommodating cavity at the tail of the driving motor shell, which fully utilizes the space inside the driving motor, making the structure of the entire robot leg device more compact. This layout avoids the additional space for installing the motor controller in the robot leg, reduces the volume and weight of the leg device, and is beneficial to improving the motion flexibility and energy utilization efficiency of the foot formula robot. The motor controller and the power assembly are electrically connected and arranged in the same shell, shortening the electrical connection line between them. The shorter line can reduce resistance loss, reduce signal transmission interference, improve the stability and reliability of the electrical connection between the motor controller and the power assembly, and ensure that the driving motor can accurately and efficiently operate.

[0019] Further, the side wall of the first accommodating cavity is provided with a fixing groove, and the heat dissipation fins are arranged in the fixing groove in the axial direction of the power assembly. By opening the fixing groove on the side wall of the first accommodating cavity, the contact area between the heat dissipation fins and the fixing groove is greatly increased. The larger contact area can more efficiently transfer the heat of the heat dissipation fins to the fixing groove, and then to the shell through the fixing groove, and finally to the surrounding environment, thereby enhancing the heat dissipation performance and effectively ensuring the stable operation of the motor controller. The design of arranging the heat dissipation fins in the fixing groove in the axial direction of the power assembly provides a clear guide for the installation of the heat dissipation fins. During installation, the installer can more conveniently and accurately install the heat dissipation fins to the specified position, reducing the installation difficulty, improving the installation efficiency, reducing the heat dissipation problems caused by improper installation, and helping to improve the overall assembly quality of the foot formula robot leg device.

[0020] Further, the heat dissipation fins are in close contact with the inner side wall of the fixing groove, and heat of the heat dissipation fins is transmitted to the fixing groove. The heat dissipation fins are in close contact with the inner side wall of the fixing groove, which can greatly optimize the heat transmission process. Heat can be directly and efficiently conducted from the heat dissipation fins to the fixing groove, and then transmitted to the shell for dissipation. This close-fitting design reduces the thermal resistance in the heat transmission process, and the heat dissipation efficiency is significantly improved compared to the case where there is a gap between the heat dissipation fins and the fixing groove. Stable heat dissipation effect enables the motor controller to work within a suitable temperature range, avoiding performance degradation or failure due to overheating, thereby ensuring stable operation of the leg device of the foot-type robot.

[0021] Further, the fixing groove is a stepped groove, and along the axial direction of the first accommodating cavity, the stepped groove includes groove bodies with widths decreasing in sections. The motor controller includes at least two circuit boards provided with heat dissipation fins, and the circuit boards are arranged in parallel along the axial direction of the power assembly. The widths of the heat dissipation fins on the circuit boards at different positions extend into the fixing groove, and the widths of the fixing groove at the corresponding positions are adapted to the widths of the heat dissipation fins, so as to fix the relative positions of the circuit boards along the axial direction. The fixing groove is designed as a stepped groove, and the widths of the heat dissipation fins on the circuit boards at different positions extend into the fixing groove, and the widths of the fixing groove at the corresponding positions are adapted to the widths of the heat dissipation fins. This design can accurately define the relative positions of the circuit boards along the axial direction, so that gaps are formed between adjacent circuit boards along the axial direction of the power assembly, thereby forming heat dissipation channels between the adjacent two circuit boards to reduce heat accumulation between the adjacent circuit boards.

[0022] Further, the fixing groove has at least two and is uniformly distributed along the peripheral wall of the first accommodating cavity. The plurality of uniformly distributed fixing grooves provide better support and fixation for the heat dissipation fins. During the movement of the foot-type robot, the legs are subjected to various vibrations and external forces. The uniformly distributed fixing grooves can effectively constrain the heat dissipation fins in different directions, preventing the heat dissipation fins from shifting or loosening due to vibrations, enhancing the stability of the connection structure between the heat dissipation fins, the motor controller, and the entire drive motor, and ensuring the reliability of the heat dissipation system.

[0023] Further, the motor controller includes a strong electric circuit board assembly and a weak electric circuit board arranged in layers along the rotation axis of the power assembly, and the heat dissipation fins are arranged on the strong electric circuit board assembly and connected to the shell. This layout enables a large amount of heat generated by the strong electric circuit board assembly to be directly transmitted to the shell through the heat dissipation fins and then dissipated. Since the strong electric circuit board assembly generates more heat during operation, by specially arranging heat dissipation fins for it and directly connecting the heat dissipation fins to the shell, the heat dissipation path is optimized, the heat dissipation efficiency is improved, the strong electric circuit board assembly is ensured to work stably at a suitable temperature, and the overall performance of the motor controller is ensured.

[0024] Further, the strong electric circuit board assembly includes a first circuit board and a second circuit board, the first circuit board is used to control the voltage and current size input to the power assembly, and the second circuit board is used to reduce voltage fluctuation during driving motor operation, and the heat sink and the second circuit board are respectively fixed on the opposite two end surfaces of the first circuit board. The voltage, current control and voltage fluctuation suppression functions are respectively borne by different circuit boards, so that each circuit board focuses on a specific function, improving the accuracy and stability of function implementation. The first circuit board can more accurately adjust the voltage and current according to the motor operation requirements, and the second circuit board is specially used to process the voltage fluctuation problem, avoiding the introduction of new fluctuation factors when adjusting the voltage and current due to mixed functions, thereby improving the smoothness of motor operation.

[0025] Further, the first circuit board includes a PCB substrate with opposite first and second end surfaces, the PCB substrate is provided with a first component group, the first component group includes a plurality of MOS tubes, and the height of the components in the first component group except the MOS tubes is lower than the height of the MOS tubes protruding from the first end surface. All MOS tubes share a heat sink. It is helpful to form a more regular layout structure on the circuit board, avoiding the problem of space waste or mutual interference caused by uneven component height, making the space utilization of the circuit board more reasonable, and the plurality of MOS tubes in the first component group share a heat sink. This design can concentrate on MOS tube heat dissipation. Since MOS tubes usually generate a lot of heat during operation, sharing a heat sink can increase the heat dissipation area and enhance the heat dissipation effect, effectively reducing the temperature of the MOS tube, ensuring its operation within an appropriate temperature range, reducing performance degradation or failure caused by overheating, and improving the stability and reliability of the entire device, thereby ensuring the continuous and stable operation of the leg motor control of the foot robot.

[0026] Further, the first component group further includes a current-carrying copper block protruding from the first end surface, and the second circuit board includes a copper substrate attached to the second end surface for heat dissipation of the MOS tube and the current-carrying copper block. The first circuit board is provided with a current-carrying copper block, which enhances the current transmission capacity, meets the large current working requirement, and improves the motor operation efficiency. The second circuit board adopts a copper substrate, which is attached to the second end surface of the first circuit board to efficiently dissipate heat from the MOS tube and the current-carrying copper block, reduce component temperature, reduce heat loss, prolong component service life, and improve motor controller reliability.

[0027] Further, the strong current circuit board assembly and the weak current circuit board are electrically connected and a first heat dissipation channel is left between the two. The strong current circuit board and the weak current circuit board are electrically connected and the first heat dissipation channel is arranged, so that signal transmission is guaranteed, mutual interference of the strong current and the weak current is avoided, and motor control accuracy is ensured. The first heat dissipation channel strengthens heat dissipation, reduces the temperature of the circuit board, improves the stability of the motor controller, reduces the occurrence of faults, and improves the overall performance of the leg device of the foot-type robot.

[0028] The foot-type robot has good movement performance and can be stably operated for a long time due to the motor controller having good heat dissipation effect. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is an exploded view of the controller in the utility model;

[0030] Figure 2 It is a three-dimensional view of the strong current circuit board assembly in the utility model Figure 1 ;

[0031] Figure 3 It is a three-dimensional view of the strong current circuit board assembly in the utility model Figure 2 ;

[0032] Figure 4 It is a three-dimensional view of the weak current circuit board assembly in the utility model Figure 1 ;

[0033] Figure 2 It is a three-dimensional view of the weak current circuit board assembly in the utility model Figure 6 ;

[0034] Figure 7 It is a structural schematic view of two strong current circuit board assemblies and one weak current circuit board assembly combined in the utility model;

[0035] Figure 8 It is a structural schematic view of the driving motor in the utility model;

[0036] Figure 9 It is a structural schematic view when the first accommodating cavity and the end cover are separated in the utility model;

[0037] Figure 10 It is a structural schematic view of the first accommodating cavity in the utility model;

[0038] Figure 11 It is a structural schematic view of the fin and the first accommodating cavity in cooperation in the utility model;

[0039] Figure 12 It is a sectional view of the driving motor in the utility model;

[0040] Figure 13The structural schematic view of the leg part device of the foot-type robot is shown in the utility model.

[0041] Figures 1 to 6 The sectional view of the first accommodating cavity in the utility model is shown.

[0042] The reference signs are:

[0043] The drive motor 100, the shell 110, the power cavity 111, the first accommodating cavity 112, the fixed column 113, the wire harness channel 114, the fixed groove 115, the power assembly 120, the rotating shaft 121, the gear 122, the end cover 130, the second accommodating cavity 131, the wiring gap 132, the motor controller 200, the strong current control assembly 210, the strong current circuit board assembly 211, the first circuit board 2111, the first end surface 21111, the second end surface 21112, the MOS tube 21113, the current-carrying copper block 21114, the MOS tube driver 21115, the first power chip 21116, the second element group 21117, the second circuit board 2112, the avoiding hole 21121, the capacitor 21122, the heat dissipation fin 212, the weak current circuit board assembly 220, the rotating speed sensor 221, the weak current circuit board 222, the isolation power conversion module 223, the MCU chip 224, the digital isolation chip 225, the electric connection pin 226, the electric connection seat 227, the voltage signal pin 228, the first heat dissipation channel 230, the second heat dissipation channel 231, the support column 240, the robot leg part 1000. Specific implementation

[0044] The leg part device of the foot-type robot comprises a robot leg part 1000, further comprises a drive motor 100 arranged in the robot leg part 1000, the drive motor 100 comprises a shell 110, a power cavity 111 arranged in the shell 110 and a power assembly 120 arranged in the power cavity 111, a first accommodating cavity 112 is formed on the end surface of the tail part of the shell 110, a motor controller 200 electrically connected with the power assembly 120 is arranged in the first accommodating cavity 112, and a heat dissipation fin is arranged on the motor controller 200 and is in heat conduction connection with the shell 110.

[0045] The heat dissipation fin is in heat conduction connection with the shell 110, and heat generated by the motor controller 200 can be quickly transferred to the shell 110, and then dissipated to the surrounding environment through the shell 110, so that the motor controller 200 is prevented from malfunctioning due to overheating, and stable operation of the motor controller 200 is ensured. Effective heat dissipation can reduce the failure rate of the motor controller 200, reduce the problem of abnormal movement of the robot leg 1000 caused by the failure of the control device, and thus improve the reliability of the overall foot robot leg 1000 device and ensure that the robot can continuously and stably complete tasks in various working scenarios. The motor controller 200 is arranged in the first accommodating cavity 112 at the tail of the driving motor 100 shell 110, and the space inside the driving motor 100 is fully utilized, so that the structure of the entire robot leg 1000 device is more compact. This layout avoids the need to additionally provide space in the robot leg 1000 to install the motor controller 200, reduces the volume and weight of the leg device, and is beneficial to improving the motion flexibility and energy utilization efficiency of the foot robot. The motor controller 200 and the power assembly 120 are electrically connected and arranged in the same shell 110, and the electrical connection line between the two is shortened. The shorter line can reduce resistance loss, reduce signal transmission interference, improve the stability and reliability of the electrical connection between the motor controller 200 and the power assembly 120, and ensure that the driving motor 100 can accurately and efficiently operate.

[0046] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the drawings. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0047] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0048] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0049] In the utility model, unless otherwise specifically defined and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection or communication with each other; it can be directly connected, or indirectly connected through intermediate medium, it can be the communication or interaction relationship between two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0050] Embodiment one:

[0051] Reference Figure 1 For the embodiment one of the utility model, the motor controller of the legged robot includes weak current circuit board assembly 220 and strong current circuit board assembly 211, and the weak current circuit board assembly 220 and the strong current circuit board assembly 211 are electrically connected. The strong current circuit board assembly 211 and the weak current circuit board assembly 220 are arranged separately, which can effectively avoid the interference of strong current to weak current signal, prevent the weak current signal from malfunctioning or data transmission error and other problems. For example, in the motor control of the robot leg 1000, if the weak current signal is disturbed, it may cause motor control command error, affect the motion stability and accuracy of the robot. Separate arrangement can also reduce the safety risk caused by strong current failure. If the strong current part has short circuit and other problems, since it is isolated from the weak current circuit board assembly 220, the influence on the weak current part can be reduced, and damage to the control core (such as MCU chip and other weak current elements) can be avoided, so as to protect the safety of the whole control device and prevent the fault from further expanding.

[0052] Separate design of the circuit board can enable engineers to optimize the design according to the characteristics of strong current and weak current respectively. The strong current circuit board can focus on the layout and heat dissipation design of high-power elements to meet the power supply demand of motor and other high-power loads; the weak current circuit board assembly 220 can focus on signal processing and control logic implementation, and adopt more delicate wiring and element selection to ensure the accuracy and stability of the signal. And the strong current circuit board and the weak current circuit board assembly 220 can be made into modules, and the number of strong current circuit boards or different types of weak current circuit board assemblies 220 can be freely combined according to different power requirements, reducing the difficulty of redesign.

[0053] The separate circuit board layout helps to reduce electromagnetic compatibility issues. The electromagnetic field generated by strong electricity does not directly affect the performance of weak electricity circuits, making the signal transmission of weak electricity parts more reliable and improving the anti-interference ability of the entire control system. For example, during signal transmission, the attenuation and distortion of weak electricity signals are reduced, ensuring the quality of control signals and enabling the motor to operate more accurately according to instructions, improving the precision and smoothness of the robot leg 1000 movement. After strong electricity and weak electricity are separated, the electrical performance of each can be better optimized. The strong electricity circuit board can be optimized for high-voltage and high-current transmission, using thicker wires and appropriate power components; the weak electricity circuit board assembly 220 can be optimized for low-voltage and low-current signal processing, such as using high-precision resistors, capacitors, and other components, thereby improving the overall performance of the entire control device.

[0054] The strong electricity circuit board assembly 211 and the weak electricity circuit board assembly 220 are arranged in a stacked manner and a first heat dissipation channel 230 is provided between them. The stacked layout of the strong electricity circuit board assembly 211 and the weak electricity circuit board assembly 220 greatly saves the space inside the robot leg 1000. In the limited space of the leg, this compact structure can avoid the waste of space caused by the scattered arrangement of circuit boards, enabling the control device to better adapt to the structure of the leg and leaving more installation space for the motor and other components, which is conducive to the miniaturization and lightweight design of the robot leg 1000. Compared with other possible layout methods, such as arranging the circuit boards side by side, the stacked structure reduces the space occupation in the horizontal direction, making the internal layout of the leg more regular and facilitating wiring and overall structure optimization. If the motor is a long strip structure, the long strip structure characteristics of the motor can be more fully utilized.

[0055] The first heat dissipation channel 230 specially provided between the strong electricity circuit board assembly 211 and the weak electricity circuit board assembly 220 provides an effective way for heat dissipation. During motor operation, the strong electricity circuit board assembly 211 generates a large amount of heat, which may affect the performance and lifespan of electronic components if not dissipated in time. The first heat dissipation channel 230 can guide the flow of hot air, enhancing the convective heat dissipation effect and preventing heat accumulation near the circuit board assembly. The design of the support column 240 fixing the height of the first heat dissipation channel 230 ensures the stability and smoothness of the first heat dissipation channel 230. It ensures that hot air can flow smoothly through the channel, avoiding the reduction of heat dissipation efficiency due to channel deformation or blockage, thereby improving the reliability and stability of the entire control device and helping the motor to operate continuously and efficiently in a suitable temperature environment.

[0056] The structure of the strong electricity circuit board and the weak electricity circuit board assembly 220 is specifically illustrated as follows, including but not limited to the following listed ways:

[0057] The strong current circuit board assembly 211 includes a first circuit board 2111 and a second circuit board 2112. The first circuit board 2111 is used to control the voltage and current size input to the motor, and the second circuit board 2112 is used to reduce voltage fluctuation during motor operation. The first circuit board 2111 focuses on controlling the voltage and current of the motor, which can more accurately adjust the power supply according to the operating requirements of the robot leg 1000 motor, ensuring that the motor receives stable and suitable power input, improving the efficiency and stability of the motor operation. The second circuit board 2112 processes voltage fluctuations during motor operation, which can effectively reduce the interference of voltage fluctuations on the motor and the entire control system, reduce the risk of equipment failure, prolong the service life of the equipment, and improve the reliability and accuracy of the robot leg 1000 movement. When a functional module has a problem, the first circuit board 2111 or the second circuit board 2112 can be detected, repaired or replaced, without the need for large-scale troubleshooting and processing of the entire strong current circuit board assembly 211, reducing maintenance costs and difficulty. When upgrading technology, if there is a new voltage and current control algorithm or better voltage fluctuation suppression technology, it can be improved and optimized on the corresponding circuit board without affecting the normal work of other parts, improving the scalability of the system.

[0058] Further, the first circuit board 2111 includes a PCB substrate, a first component group, and a second component group 21117. The PCB substrate includes a first end surface 21111 and a second end surface 21112. For ease of introduction, the first end surface 21111 is referred to as the front surface, and the second end surface 21112 is referred to as the back surface. Figure 6For example, the perspective of the weak current circuit board assembly 220, the end face of the PCB substrate facing up, that is, away from the weak current circuit board assembly 220, is the first end face 21111, and the end face of the PCB substrate facing down, that is, close to the weak current circuit board assembly 220, is the second end face 21112. The first component group is arranged on the first end face 21111 of the PCB substrate, and the second component group 21117 is arranged on the second end face 21112. By arranging the first component group on the first end face 21111 of the PCB substrate and the second component group 21117 on the second end face 21112, a three-dimensional layout of components on the circuit board is achieved, effectively utilizing the double-sided space of the PCB substrate, greatly increasing the number of components that can be accommodated compared to single-sided layout, and providing the possibility of realizing more complex circuit functions. At the same time, this double-sided layout naturally forms a functional partition, and the components on different end faces can respectively undertake different sub-functions or process different types of signals, reducing mutual interference between components and making the circuit work more stable and reliable. For example, components related to power processing can be placed on one side, while control signal processing components are placed on the other side, so that the power circuit and the control circuit are relatively independent, reducing the influence of electromagnetic interference on the control signal and improving the control accuracy. From the perspective of heat dissipation, double-sided layout disperses the distribution of components, avoiding the problem of local overheating caused by excessive concentration of components on a single side. Heat can be more evenly dissipated to the surrounding environment, helping to maintain the normal working temperature of the components and improve the reliability and service life of the components. In terms of maintenance, when a component needs to be replaced or debugged due to failure, double-sided layout allows maintenance personnel to more clearly identify and operate related components, reducing maintenance difficulty, reducing the risk of damage to other components caused by maintenance operations, and improving the maintainability of the equipment.

[0059] Since the robot leg 1000 motor is limited by space, it itself grows into a strip shape, and the heat dissipation space is limited. In this embodiment, the layout of the entire motor controller 200 is considered from the perspective of heat dissipation.

[0060] Further, the first component group includes multiple groups of MOS tubes 21113, each group of MOS tubes 21113 has two MOS tubes, because of the three-phase electricity, so in this embodiment, the first component group includes three groups of MOS tubes 21113, the components in the first component group except the MOS tubes 21113 are all lower than the height of the first end surface 21111 of the MOS tubes 21113, and all the MOS tubes 21113 share a heat sink 212. The above arrangement of the first component group, compared with the previous structure, in order to avoid the heat sink 212 from colliding with the components higher than the MOS tubes 21113, it is necessary to attach a heat sink 212 to each MOS tube 21113, which will greatly increase the mounting time, and the total heat dissipation area is reduced. While using the scheme in this embodiment, the heat sink 212 does not need to avoid the components of the first component group, and the heat sink 212 can cover the entire first end surface 21111, expanding the heat dissipation area and improving the heat dissipation efficiency, ensuring that the MOS tubes work within the appropriate temperature range, thereby stabilizing their electrical performance and ensuring the accuracy and reliability of motor control. At the same time, during production, this relatively regular layout helps to simplify the assembly process and reduce production costs.

[0061] The second circuit board 2112 includes a copper substrate, and the copper substrate is provided with a capacitor 21122 to reduce bus voltage fluctuation. The copper substrate has excellent heat dissipation performance to dissipate heat. The first component group includes multiple groups of MOS tubes 21113 and current-carrying copper blocks 21114 protruding from the first end surface 21111. The current-carrying copper blocks 21114 can improve the current-carrying capacity, increase the voltage and current that the PCB can bear, and improve the heat dissipation capacity. The copper substrate is attached to the second end surface 21112 for heat dissipation of the MOS tubes 21113 and the current-carrying copper blocks 21114. The design of the current-carrying copper blocks 21114 and the copper substrate of the second circuit board 2112 achieves a good fit in structure. The copper substrate not only serves for heat dissipation, but also plays a certain auxiliary role in mechanical support and electrical connection. This structure design makes the connection between the first circuit board 2111 and the second circuit board 2112 more compact and stable, which helps to improve the integration of the entire strong current circuit board assembly 211, reduces the problems that may be caused by loose connection or poor contact between circuit boards, and improves the reliability and shock resistance of the system, providing protection for the stable operation of the robot leg 1000 in a complex motion environment.

[0062] Further, in order to allow the heat dissipated by the MOS tubes 21113 and the current-carrying copper blocks 21114 to be transferred to the copper substrate, the copper substrate needs to be closely attached to the second end surface 21112, which requires that the area of the second end surface 21112 covered by the copper substrate cannot be provided with the second element group 21117. Therefore, the second element group 21117 avoids the projection area of all MOS tubes 21113 and current-carrying copper blocks 21114 on the second end surface 21112, and the copper substrate is provided with a clearance hole 21121 that avoids the second element group 21117. The copper substrate at least covers the projection area of all MOS tubes 21113 and current-carrying copper blocks 21114 on the second end surface 21112. Through the above structural design, the requirement of the copper substrate closely attached to the second end surface 21112 to guide heat is met, and the arrangement of the second element group 21117 on the second end surface 21112 is not affected.

[0063] For the first circuit board 2111 and the second circuit board 2112, as they bear different functions, their respective requirements are also different. The number of conductive layers of the second circuit board 2112 is greater than that of the first circuit board 2111, and the second circuit board 2112 bears key functions such as reducing motor operating voltage fluctuation. It needs to handle relatively complex circuit connection and signal transmission, and more conductive layers can provide more abundant wiring space and path selection, making the circuit design more flexible, which can better layout various electronic elements and connection lines, effectively avoid line crossing and interference, thereby improving the stability and reliability of the circuit, and ensuring the accuracy of the motor control process. The width of the wire layer on the second circuit board 2112 is smaller than that on the first circuit board 2111. The first circuit board 2111 controls the input voltage and current size of the motor, and has large power, so wider wire layers are beneficial to reduce line loss and heat generation; the second circuit board 2112 needs to layout more complex circuits, but the space is limited, and smaller wire layer width can realize more dense wiring on the limited circuit board area, increase the integration of the circuit, thereby more effectively utilizing the circuit board space, helping to reduce the size of the entire control device, meeting the design requirement of robot parts miniaturization, so that it can be more conveniently installed in the limited space of the leg.

[0064] The strong current circuit board assembly 211 includes, in addition to the plurality of MOS tubes 21113, a MOS tube driver 21115 corresponding to each group of MOS tubes 21113 and a first power supply chip 21116, each MOS tube driver 21115 controls the switching of a group of MOS tubes 21113, and the first power supply chip 21116 converts the power supply voltage into the working voltage required by the MOS tube driver 21115 and the weak current circuit board assembly 220. The strong current part and the weak current part are electrically isolated and voltage adapted by the first power supply chip 21116. This effectively prevents the interference and damage that the strong current may cause to the weak current circuit, avoids the loss of control of the weak current system due to the failure of the strong current, ensures the safety of the robot control system, reduces the risk of electrical accidents, and protects the sensitive electronic components inside the robot and the stable operation of the entire system.

[0065] On the basis of the above-mentioned embodiments, the weak current circuit board assembly 220 includes a weak current circuit board 222 and an isolation power conversion module 223 that electrically isolates the weak current circuit board 222 from the strong current circuit board assembly 211. The isolation power conversion module 223 is electrically connected to the first power chip 21116 to convert the voltage provided by the first power chip 21116 into the operating voltage required by the weak current circuit board 222. The first power chip 21116 will implement a 48V to 12V voltage conversion and output the 12V voltage to all MOS tube drivers 21115, while also outputting to the isolation power conversion module 223. The isolation power conversion module 223 converts the 12V voltage to a 5V voltage to power other electrical components of the weak current circuit board assembly 220, ensuring that the weak current circuit board assembly 220 obtains an appropriate stable power supply. This effectively avoids problems such as performance degradation, damage, or system failure that may be caused by voltage mismatch, provides a reliable working voltage environment for key components such as MCU chips in the weak current area, and ensures the stable operation of the weak current part, thereby improving the stability and reliability of the entire motor controller 200. By making the reference ground the same as the weak current area PCB, electrical isolation is achieved, greatly reducing the electromagnetic interference of the strong current area on the weak current area. The voltage fluctuations, current changes, and other interference factors of the strong current part are effectively blocked, preventing signal distortion, misoperation, and other abnormal conditions caused by interference signals entering the weak current area, and improving the anti-interference ability of the system. At the same time, electrical isolation significantly enhances the safety of the system, reducing the risk of safety accidents caused by strong current faults affecting the weak current part, providing a strong guarantee for the safe operation of the legged robot. This design clearly divides the strong current and weak current areas, which has obvious advantages in system maintenance and upgrading. When a problem occurs, technicians can quickly locate the fault area in the strong current or weak current part, and then carry out targeted repair or replacement of the module without the need for large-scale troubleshooting and disassembly of the entire system. This not only improves the efficiency of fault location and repair, reduces maintenance costs, but also facilitates the expansion or upgrading of system functions without affecting the overall architecture, enhancing the flexibility and scalability of the system.

[0066] The weak current circuit board assembly 220 includes the weak current circuit board 222 and the isolation power conversion module 223 for electrically isolating the weak current circuit board 222 from the strong current circuit board assembly 211. The weak current circuit board 222 further includes an MCU chip 224, which is powered by a 5V-to-3.3V power chip on the weak current circuit board 222. The strong current circuit board assembly 211 includes multiple groups of MOS tubes 21113, MOS tube drivers 21115 corresponding to each group of MOS tubes 21113, and digital isolation chips 21118 corresponding to the multiple MOS tube drivers 21115. The MCU chip 224 establishes signal interaction with the MOS tube drivers 21115 through the digital isolation chips 21118. The MOS tube is essentially a switching element, and the MOS tube driver controls the on-off of the MOS tube. By controlling the switching between the multiple groups of MOS tubes, the motor operates normally. The MCU chip establishes signal interaction with the MOS tube driver through the digital isolation chip 21118, so that the MCU chip can send signals to the MOS tube driver to control the on-off of the MOS tube, avoiding the MCU chip misjudging the switching signal of the MOS tube due to the inconsistent reference ground of the weak current circuit board assembly and the strong current circuit board assembly.

[0067] Due to the physical isolation between the weak current circuit board assembly 220 and the strong current circuit board assembly 211, the reference grounds of the two are different, and the voltage converted by the first power chip 21116 cannot directly power the weak current elements on the weak current circuit board assembly 211. The isolation power conversion module 223 can achieve electrical isolation between the strong current area and the weak current area, effectively preventing strong current interference with weak current signals. The voltage converted by the isolation power conversion module has the same reference ground as the weak current circuit board, so it can power the weak current elements on the weak current circuit board and ensure stable operation of the MCU chip and other elements in the weak current part. At the same time, the digital isolation chip 21118 is used to establish signal interaction between the MCU chip and the MOS tube driver, ensuring accurate signal transmission while further enhancing the isolation effect between strong and weak currents, improving the reliability and anti-interference ability of the system. The multiple groups of MOS tubes and drivers in the strong current part are responsible for driving and controlling the motor, while the MCU chip in the weak current part can accurately control the strong current part through the digital isolation chip 21118. This structure enables the strong and weak current parts to work closely together, and the MCU chip can accurately control the MOS tube driver according to the movement needs of the robot, thereby achieving precise control of the motor and improving the accuracy and flexibility of the robot leg 1000 movement. The functions and connection methods of the strong and weak current parts are clearly defined and modularly designed, facilitating system assembly, debugging, and maintenance. Once a module fails, it can be quickly determined whether it is a strong or weak current module problem, and targeted repair or replacement can be performed, reducing maintenance difficulty and cost and improving the maintainability and usability of the entire motor controller 200.

[0068] An isolation analog-to-digital converter chip 225 is also provided on the low-voltage circuit board 222. The isolation analog-to-digital converter chip 225 has two interfaces, one of which is connected to the 5V voltage converted from the isolation power conversion module 223, and the other is connected to the 12V to 5V voltage on the high-voltage circuit board assembly 211.

[0069] Based on the above embodiments, for the electrical connection between the high-voltage circuit board assembly 211 and the low-voltage circuit board assembly 220, this embodiment employs an electrical connection pin 226 on one of them and an electrical connection socket 227 that mates with the electrical connection pin 226 on the other. Specifically, the electrical connection pin 226 is provided on the low-voltage circuit board assembly 220, and the electrical connection socket 227 is provided on the high-voltage circuit board assembly 211, which is closest to the low-voltage circuit board assembly 220. Figures 7 to 12 As shown, if there are multiple sets of high-voltage circuit board assemblies 211, adjacent high-voltage circuit board assemblies 211 are also interconnected via electrical connection pins 226 and electrical connection sockets 227. This design of the electrical connection pins 226 and their mating electrical connection sockets 227 simplifies and facilitates the connection between them. During assembly, electrical connections can be achieved quickly and accurately, improving production efficiency and reducing assembly difficulty and time costs. When maintenance, inspection, or replacement of the high-voltage or low-voltage circuit board assembly 220 is required, this connection method facilitates disassembly and reinstallation. Technicians can easily separate or connect two circuit board assemblies without causing excessive interference or damage to other parts, which improves equipment maintainability and component replaceability, and reduces the difficulty of maintenance and upgrades.

[0070] Furthermore, the electrical connection pin 226 includes voltage signal pins 228 that transmit different voltage signals from the high-voltage circuit board assembly 211 to the low-voltage circuit board assembly 220 for detection. There are three sets of voltage signal pins 228, transmitting 48V, 12V, and 5V voltages respectively. By setting the voltage signal pins 228 to transmit different voltage signals from the high-voltage circuit board assembly 211 to the low-voltage circuit board assembly 220 for detection, effective monitoring of the voltage in the high-voltage section is achieved. This helps to promptly detect voltage anomalies in the high-voltage circuit, such as overvoltage and undervoltage, allowing for early adjustments or repairs, preventing equipment failures caused by voltage problems, and improving the safety and reliability of the entire device.

[0071] In addition to the above-mentioned technical solutions, a CAN chip and / or a 485 communication chip can also be installed on the low-voltage circuit board 222 of the low-voltage circuit board assembly 220 to facilitate communication connection between the user and the low-voltage circuit board assembly 220 as needed. A FLESH chip can also be installed on the low-voltage circuit board 222 for data storage after power failure.

[0072] The application also discloses a foot-type robot which adopts the driving motor provided with the motor controller, and ensures that the foot-type robot has good motion performance.

[0073] Embodiment two

[0074] As Figure 8 Embodiment two of the application is a foot-type robot which adopts the motor controller of embodiment one, and includes a robot leg 1000 and a driving motor 100 arranged in the robot leg 1000, wherein the driving motor 100 adopts the motor controller 200 of the technical solution of embodiment one.

[0075] The driving motor 100 includes a shell 110 provided with a power cavity 111 and a power assembly 120 arranged in the power cavity 111, the entire shell 110 is in a cylindrical shape, the power cavity 111 is located in the middle of the shell 110, the power assembly 120 includes a stator and a rotor arranged in the power cavity 111, and the driving shaft of the rotor extends out of the top of the shell 110 and is connected with a bevel gear set 122, the entire driving motor 100 is arranged along the length direction of the robot leg 1000, and the space of the robot leg 1000 is fully utilized.

[0076] A first accommodating cavity 112 is arranged at the tail of the shell 110, the opening of the first accommodating cavity 112 is located on the end face of the tail of the shell 110, the motor controller 200 is fixed in the first accommodating cavity 112, and the motor controller 200 is electrically connected with the power assembly 120 to realize the control of the power assembly 120. The motor controller 200 includes a strong current control assembly 210 and a weak current circuit board assembly 220 which are arranged in a stacked manner along the rotation axis direction of the power assembly 120, the strong current control assembly 210 and the weak current circuit board assembly 220 are electrically connected and a first heat dissipation channel 230 is left between the two, so that the space in the length direction of the robot leg 1000 can be fully utilized, enough space can be left for the driving motor 100, the motor controller 200 is arranged in the first accommodating cavity 112 at the tail of the shell 110, and the operation of the power assembly 120 and the output of power will not be affected. The first heat dissipation channel 230 is left between the strong current control assembly 210 and the weak current circuit board assembly 220, so that the heat generated during the operation of the motor can be dissipated in time. Effective heat dissipation can avoid circuit failure and component damage caused by high temperature, improve the stability and service life of the motor and the control device, and ensure the reliability of the robot leg 1000 device during long-time operation.

[0077] The strong current control assembly 210 includes at least one group of strong current circuit board assemblies 211, and the number of groups of strong current circuit board assemblies 211 is determined according to the demand of the power assembly 120, so that the strong current circuit board assemblies 211 can be arranged in a modular manner, and power adjustment and matching are facilitated. The structures of the strong current circuit board assemblies 211 and the weak current circuit board assembly 220 can refer to the solutions of embodiment one.

[0078] A detachable end cover 130 is provided at the tail of the shell 110 to close the first accommodating cavity 112. The depth of the first accommodating cavity 112 can be set to just accommodate a set of strong current circuit board assemblies 211 and a set of weak current circuit board assemblies 220. When at least two sets of strong current circuit board assemblies 211 are provided, the strong current circuit board assemblies 211 are still stacked along the rotation axis of the power assembly 120. At this time, the entire motor controller 200 will protrude partially from the first accommodating cavity 112. A second accommodating cavity 131 for accommodating the strong current control assembly 210 protruding from the first accommodating cavity 112 can be provided on the end cover 130, that is, replace an end cover 130 with a second accommodating cavity 131. In this way, even if different numbers of strong current circuit board assemblies 211 are used, the shell 110 does not need to be replaced, and as long as the matching end cover 130 is replaced, the protection requirements of the motor controller 200 can be met.

[0079] Further, a wiring gap 132 is opened on the end cover 130 to allow the second accommodating cavity 131 to communicate with the outside, providing convenience for the internal wiring connection of the robot leg 1000 device. The wire harness such as electric wire and cable can be more regular and orderly out of the second accommodating cavity 131 to connect with other equipment outside, avoiding the messy entanglement of the wire harness at the end cover 130, facilitating installation and later maintenance, and also reducing the risk of wear, short circuit and other problems caused by messy wiring. The design of the wiring gap 132 meets the wiring demand while allowing the end cover 130 to better cooperate with the shell 110, maintaining the relatively closed space environment of the second accommodating cavity 131. This helps to protect the strong current control assembly 210 in the accommodating cavity from external dust, moisture and other impurities, reduces damage to the strong current control assembly 210 caused by external environmental factors, and prolongs the service life of the device.

[0080] As shown in Figure 9 , Figure 9 , a wire harness passage 114 is provided in the first accommodating cavity 112 to communicate with the power cavity 111, and the motor controller 200 is electrically connected with the power assembly 120 through the wire harness passage 114. This design allows the connection line to be arranged in an orderly manner, avoiding messy entanglement of the line inside the device. The clear and standardized wiring structure facilitates installation and maintenance, and the staff can more conveniently check, replace and operate the line, reducing the difficulty and cost of maintenance. Moreover, the wire harness passage 114 is located inside the shell 110, avoiding the exposure of the connection wire harness of the motor controller 200 and the power assembly 120. The wire harness passage 114 provides a relatively stable and safe space for the wire harness, which can prevent the wire harness from being squeezed, rubbed and damaged during the movement of the robot leg 1000. This reduces the risk of circuit failure caused by damage to the wire harness, ensuring the stability and reliability of the electrical signal transmission between the motor controller 200 and the power assembly 120, and thus improving the working stability of the entire leg device.

[0081] Further, the cross section of the motor controller 200 is adapted to the cross section of the first accommodating cavity 112, in the embodiment, the cross section of the first accommodating cavity 112 is circular, so the cross section of the motor controller 200 is also circular, that is, the strong current circuit board assembly 211 and the weak current circuit board assembly 220 are both circular, of course, in order to facilitate wiring and component arrangement, the strong current circuit board assembly 211 and the weak current circuit board assembly 220 can also be substantially circular in cross section, such as the strong current circuit board assembly 211 in the embodiment, which is a large semicircular arc in cross section, but it also needs to be adapted to the cross section shape of the first accommodating cavity 112 as much as possible, so as to ensure that the motor controller 200 can be tightly installed in the first accommodating cavity 112, improve the space utilization, avoid internal line connection loosening caused by device shaking or displacement, ensure the stability of the electrical connection between the motor controller 200 and the power assembly 120, and further ensure the reliability of the entire leg device operation. The side wall of the first accommodating cavity 112 is provided with a groove, and the groove penetrates into the power cavity 111 to form the wire harness passage 114. Compared with a simple communication structure, this groove type design further standardizes the wire harness routing, enables the wire harness to be orderly arranged along the groove, reduces the mutual interference between the wire harnesses, improves the stability of electrical signal transmission, and also facilitates the inspection and management of the wire harness during installation and maintenance.

[0082] On the basis of the above embodiment, in order to ensure that the first heat dissipation passage 230 is left between the strong current control assembly 210 and the weak current circuit board assembly 220, a support column 240 can be arranged between the strong current control assembly 210 and the weak current circuit board assembly 220; or a support column 240 can be arranged in the first accommodating cavity 112, and a through slot for avoiding the support column 240 is opened on the weak current circuit board assembly 220, and the strong current control assembly 210 abuts against the top end of the support column 240, so as to achieve the purpose of separating the strong current control assembly 210 and the weak current circuit board assembly 220 by the first heat dissipation passage 230. When the strong current control assembly 210 contains at least two groups of strong current circuit board assemblies 211, the support column 240 can also be arranged between the adjacent strong current circuit board assemblies 211 or the support column 240 with different cross sections arranged on the first accommodating cavity 112 is used to achieve the spacing arrangement, so that the second heat dissipation passage 231 is formed between the adjacent strong current circuit board assemblies 211, and enough heat dissipation space is ensured between the adjacent strong current circuit board assemblies 211.

[0083] Although the low-power circuit board assembly 220 generates less heat, it still generates heat during operation and needs some heat dissipation. Therefore, a heat dissipation space is also provided between the low-power circuit board 222 and the bottom surface of the first accommodating cavity 112. Specifically, the end surface of the first accommodating cavity 112 close to the power cavity 111, i.e., the bottom surface of the first accommodating cavity 112 is provided with a fixed column 113, and the motor controller 200 is fixed on the fixed column 113, which can not only ensure the stable connection of the motor controller 200 and the shell 110, but also provide the lowest low-power circuit board assembly 220 with a heat dissipation space. The fixed column 113 can be provided with at least two to ensure that the motor controller 200 can be stably fixed on the shell 110.

[0084] On the basis of the above embodiment, the power assembly 120 is provided with a rotating shaft 121 extending into the first accommodating cavity 112, which rotates coaxially with the output shaft of the motor. The low-power circuit board 222 is provided with a rotating speed sensor 221 for detecting the rotating speed of the rotating shaft 121. By providing the rotating speed sensor 221 on the low-power circuit board assembly 220, the rotating speed information of the rotating shaft 121 in the power assembly 120 can be obtained in real time. These information can be fed back to the control system of the robot, so that the system can adjust the operating state of the driving motor 100 in time according to the rotating speed data, such as adjusting the output power and torque of the motor. In this way, the movement speed and force of the robot leg 1000 can be precisely controlled, so as to realize more accurate and natural and smooth movements, and perform better in complex movement scenes such as walking, running and climbing.

[0085] Further, a gear 122 can be provided on the rotating shaft 121 in the first accommodating cavity 112, and the rotating speed sensor 221 is a Hall sensor for detecting the rotating speed of the gear 122. During the rotation of the gear 122, the magnetic field change between the teeth of the gear 122 will be accurately captured by the Hall sensor, and then converted into an electrical signal output. This detection method can provide high-precision rotating speed measurement results, and compared with other detection methods, it can more accurately reflect the actual rotating speed of the rotating shaft 121, and provide more accurate data support for the movement control of the robot leg 1000, to ensure the accuracy of the robot movement.

[0086] By providing a first receiving cavity 112 at the tail of the housing 110 to house the motor controller 200, the spatial advantage of the drive motor 100 located within the robot leg 1000 in the longitudinal direction is fully utilized. Given the limited space in the robot leg 1000, the high-voltage control component 210 and the low-voltage circuit board component 220 of the motor controller 200 are stacked along the rotation axis of the power component 120, making full use of the space in the longitudinal direction of the drive motor 100. This layout avoids the dispersed arrangement of components in the horizontal or other directions, making the entire drive motor 100 structure more compact. Taking the example of a legged robot walking in narrow passages, the compact leg structure reduces the risk of collisions and improves the robot's maneuverability.

[0087] Other content not described in this embodiment can be found in Embodiment 1.

[0088] Example 3

[0089] like Figure 10 , Figure 13 , ​ The following is an embodiment of the present invention, which adds a heat dissipation structure to the motor controller 200 based on embodiments one and / or two.

[0090] The motor controller 200 generates a significant amount of heat during operation. If this heat cannot be dissipated promptly, the device temperature will continue to rise. Excessive temperature can severely impact the performance of electronic components, such as causing changes in their resistance, leading to alterations in circuit parameters and affecting control accuracy. It can also significantly shorten the lifespan of components, increasing the probability of malfunctions. The motor controller 200 is equipped with a heat sink 212, which is thermally connected to the housing 110. This heat sink quickly transfers the heat generated by the motor controller 200 to the housing 110, and then dissipates it into the surrounding environment, effectively reducing the device temperature, maintaining the normal operating environment for electronic components, and ensuring the stable operation of the motor controller 200. A stably operating motor controller 200 can precisely control the operation of the drive motor 100. For example, it can precisely adjust parameters such as motor speed and torque, making the leg movements of the legged robot smoother and more natural, with better accuracy and coordination. In complex motion scenarios, such as walking, running, and jumping, it can quickly respond to commands, improving the legged robot's motion performance and work efficiency.

[0091] By integrating the heat sink 212 with the motor controller 200 and directly connecting it to the housing 110 for thermal conductivity, a large additional space for heat dissipation is eliminated in the robot leg 1000, saving valuable internal space. This design makes the entire leg device more compact, allowing more functional modules to be integrated within a limited space, improving space utilization, and also helping to reduce the weight of the leg device, thereby improving the energy efficiency and mobility of the legged robot.

[0092] Further, the side wall of the first accommodating cavity 112 is provided with a fixing groove 115 extending from the opening of the first accommodating cavity 112 along the rotation axis 121 of the driving motor 100 to the bottom of the fixing groove 115. The fixing groove 115 cannot be annularly arranged along the side wall of the first accommodating cavity 112, and a partition is needed in the middle, that is, in the circumferential direction of the first accommodating cavity 112, the fixing groove 115 can be an arc or multiple arc segments arranged at intervals. In this way, the motor controller 200 can also be limited in the circumferential direction of the first accommodating cavity 112. The cooling fin 212 extends towards the side wall of the first accommodating cavity 112. The part of the cooling fin 212 extending beyond the driving assembly is arranged in the fixing groove 115 in the axial direction of the power assembly 120. In this way, the motor controller 200 can be conveniently installed in the first accommodating cavity 112 in the axial direction of the power assembly 120. The fixing groove 115 guides the installation of the motor controller 200. During installation, the installer can more conveniently and accurately install the cooling fin 212 to the specified position, reducing the installation difficulty, improving the installation efficiency, reducing the heat dissipation problem caused by improper installation, and helping to improve the overall assembly quality of the robot leg 1000 device.

[0093] Further, the side wall of the cooling fin 212 is in close contact with the inner side wall of the fixing groove 115, and the heat of the cooling fin 212 is transferred to the fixing groove 115. The close contact can be achieved by increasing the roughness of the side wall of the cooling fin 212 and the inner side wall of the fixing groove 115, or by adding thermal conductive silicone grease between the side wall of the cooling fin 212 and the inner side wall of the fixing groove 115 to eliminate the gap therebetween, so that the heat of the cooling fin 212 can be quickly transferred to the fixing groove 115 and dissipated through the shell 110. This close-fitting design reduces the thermal resistance in the heat transfer process, and the heat dissipation efficiency is significantly improved compared to the case where there is a gap between the cooling fin 212 and the fixing groove 115. Stable heat dissipation effect can make the motor controller 200 work in an appropriate temperature range, avoid performance degradation or failure due to overheating, and thus ensure stable operation of the robot leg 1000 device.

[0094] On the basis of the above-mentioned embodiments, the motor controller 200 comprises at least two circuit boards provided with the heat sinks 212, for example, the motor controller 200 comprises two groups of strong current circuit board assemblies 211, each of which is provided with the heat sink 212, at this time, it is necessary to separate the two groups of strong current circuit board assemblies 211 to ensure that their heat can be dissipated, and to achieve the separation of the two groups of strong current circuit boards, in addition to the support column 240, the fixed groove 115 can also be used, the fixed groove 115 is arranged as a stepped groove, from the opening of the first accommodating cavity 112 along the axial direction, the stepped groove comprises a plurality of groove bodies with decreasing widths, so that the upper heat sink 212 can abut on the step, thereby pulling away from the distance of the lower heat sink 212, and the separation of the two groups of strong current circuit board assemblies 211 is achieved. Of course, when there are multiple groups of strong current circuit board assemblies 211, the number of steps of the fixed groove 115 can also be increased accordingly.

[0095] A good heat dissipation design can reduce the failure of the motor controller 200 caused by overheating, reduce the maintenance frequency and maintenance cost. At the same time, since the electronic components work at an appropriate temperature, their aging speed is slowed down, the service life of the motor controller 200 and the entire leg device is prolonged, the trouble and cost of frequent replacement of parts are reduced, and the reliability and economy of the foot robot are improved.

[0096] Other contents not described in the present embodiment can be referred to Embodiment One or Embodiment Two.

[0097] The above only describes specific embodiments of the present application, but the technical features of the present application are not limited to this, any person skilled in the art in the field of the present application, the changes or modifications made are covered in the patent scope of the present application.

Claims

1. A leg apparatus of a foot-type robot comprising a robot leg, characterized by, The robot leg further comprises a driving motor arranged in the robot leg, the driving motor comprising a housing, a power cavity arranged in the housing, and a power assembly arranged in the power cavity, a first accommodating cavity is formed in an end surface of a tail portion of the housing, and a motor controller electrically connected to the power assembly is arranged in the first accommodating cavity, and a heat sink is arranged on the motor controller and is in thermal contact with the housing.

2. The leg unit of the foot -type robot according to claim 1, wherein A fixing groove is formed in a side wall of the first accommodating cavity, and the heat sink is arranged in the fixing groove in an axial direction of the power assembly.

3. The leg unit of the foot -type robot according to claim 2, wherein The heat sink is in close contact with an inner side wall of the fixing groove, and heat of the heat sink is transferred to the fixing groove.

4. The leg unit of the foot -type robot according to Claim 2, wherein The fixing groove is a stepped groove, and the stepped groove comprises a plurality of groove bodies with decreasing widths in the axial direction from an opening of the first accommodating cavity, the motor controller comprises at least two circuit boards provided with the heat sink, the circuit boards are arranged in parallel in the axial direction of the power assembly, the heat sink on the circuit board at different positions extends into the fixing groove with a width adapted to a width of the fixing groove at the corresponding position, and the relative position of the circuit board in the axial direction is fixed.

5. The leg unit of the foot -type robot according to any one of claims 2 to 4, wherein The fixing groove has at least two and is uniformly distributed along a peripheral wall of the first accommodating cavity.

6. The footed robotic leg apparatus of claim 1, wherein, The motor controller comprises a strong-electricity circuit board assembly and a weak-electricity circuit board arranged in a stacked manner along a rotation axis of the power assembly, and the heat sink is arranged on the strong-electricity circuit board assembly and is connected to the housing.

7. The leg unit of the foot -type robot according to claim 6, wherein The strong-electricity circuit board assembly comprises a first circuit board and a second circuit board, the first circuit board is used for controlling voltage and current input to the power assembly, and the second circuit board is used for reducing voltage fluctuation during operation of the driving motor, and the heat sink and the second circuit board are respectively fixed to two opposite end surfaces of the first circuit board.

8. The leg unit of the foot -type robot according to claim 7, wherein The first circuit board comprises a PCB substrate with opposite first and second end surfaces, the PCB substrate is provided with a first component group, the first component group comprises a plurality of MOS tubes, and the height of components in the first component group except the MOS tubes is lower than the height of the MOS tubes protruding from the first end surface, and all the MOS tubes share one heat sink.

9. The footed robotic leg apparatus of claim 8, wherein, The first component group further comprises a current-carrying copper block protruding from the first end surface, the second circuit board comprises a copper substrate, and the copper substrate is attached to the second end surface for heat dissipation of the MOS tubes and the current-carrying copper block.

10. The footed robotic leg apparatus of claim 6, wherein, The strong-electricity circuit board assembly and the weak-electricity circuit board are electrically connected and have a first heat dissipation channel therebetween.

11. A robot having legs, characterised in that, The foot-type robot leg device is used.

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