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 a driving motor arranged in the robot leg, the driving motor comprises a shell internally provided with a power cavity and a power assembly arranged in the power cavity, a first containing cavity is formed in the end face of the tail of the shell, and a motor controller electrically connected with the power assembly is arranged in the first containing cavity; the motor controller comprises a strong current control assembly and a weak current circuit board assembly which are stacked along the rotation axis of the power assembly and electrically connected, and a heat dissipation channel is reserved between the strong current control assembly and the weak current circuit board assembly. The utility model further discloses the foot type robot which adopts the leg device of the foot type robot. The leg device of the humanoid robot has the advantages that the overall structure of the leg device of the robot is more compact, the space utilization rate of the legs of the humanoid robot can be improved, all parts can be reasonably arranged in the limited leg space, and the situation that the flexibility and reliability of leg movement are affected by too many external cables and scattered control equipment is avoided.

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 at the hinge part of the calf and thigh. For example, the patent for utility model with publication number CN118810959A discloses a kind of biped humanoid robot, its leg structure is similar to most robots at present. In the above existing patent: thigh motor is used to drive thigh relative to pelvis to make rotating action, the rotation axis of thigh coincides with the output shaft axis of thigh motor. The rotation of thigh relative to pelvis can drive the calf movement. Thigh is provided with cavity, connecting rod mechanism is arranged in cavity, knee joint motor is used to drive connecting rod mechanism action, to drive the calf rotation relative to thigh by connecting rod mechanism. In the above structure, three motors are all arranged as disc, which will cause that motors are concentrated in the position of pelvis, so that the pelvis is huge in size, and because the shape of disc motor is round and flat, the controller has no enough space to assemble in the motor, so the controller circuit board is arranged in the space surrounded by the middle part of stator, and the heat dissipation of circuit board will be affected. And limited by space, the size of circuit board will also be affected, and more electronic components cannot be arranged, which will eventually lead to insufficient output voltage and current, and further make the motor power unable to increase. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing foot formula robot leg device and foot formula robot, which can solve the problem of huge pelvis of existing foot formula robot and limited motor power due to poor heat dissipation of controller.

[0005] To solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The foot-type robot leg device comprises a robot leg, a driving motor arranged in the robot leg, a housing with a power cavity, a power assembly arranged in the power cavity, a first accommodating cavity opened on the end face of the tail of the housing, a motor controller arranged in the first accommodating cavity and electrically connected with the power assembly, the motor controller comprising a strong current control assembly and a weak current circuit board assembly arranged along the rotation axis of the power assembly, and the strong current control assembly and the weak current circuit board assembly are electrically connected and a first heat dissipation channel is left between them.

[0007] In the foot-type robot leg device, the strong current control assembly comprises at least one group of strong current circuit board assemblies arranged according to the power supply requirement of the power assembly.

[0008] In the foot-type robot leg device, there are at least two groups of strong current circuit board assemblies, all the strong current circuit board assemblies are arranged in parallel and stacked along the rotation axis of the power assembly.

[0009] In the foot-type robot leg device, the strong current control assembly partially protrudes from the first accommodating cavity, the tail of the housing is provided with a detachable end cover, and the end cover is provided with a second accommodating cavity for accommodating the strong current control assembly protruding from the first accommodating cavity.

[0010] In the foot-type robot leg device, the end cover is provided with a wiring gap for the second accommodating cavity to communicate with the outside.

[0011] In the foot-type robot leg device, the adjacent strong current circuit board assemblies are arranged with a second heat dissipation channel formed therebetween.

[0012] In the foot-type robot leg device, the power assembly is provided with a rotating shaft extending into the first accommodating cavity, and the weak current circuit board assembly is provided with a rotating speed sensor for detecting the rotating speed of the rotating shaft.

[0013] In the foot-type robot leg device, the rotating shaft in the first accommodating cavity is provided with a gear, and the rotating speed sensor is a Hall sensor for detecting the rotating speed of the gear.

[0014] In the foot-type robot leg device, the first accommodating cavity is provided with a fixing column on the end face close to the power cavity side, and the motor controller is fixed on the fixing column.

[0015] In the foot-type robot leg device, the first accommodating cavity is provided with a wire harness channel communicating with the power cavity, so that the motor controller is electrically connected with the power assembly.

[0016] In the above foot-type robot leg device, the cross section of the motor controller is adapted to the cross section of the first accommodating cavity, a groove is arranged on the side wall of the first accommodating cavity and penetrates into the power cavity to form the wire harness channel.

[0017] The utility model discloses a foot-type robot leg device, and the foot-type robot leg device is characterized by any one of the above solutions.

[0018] Compared with the prior art, the utility model has the advantages that:

[0019] The first accommodating cavity in the tail of the shell is provided with a motor controller, which realizes the high integration of the driving and control functions inside the leg device, avoids the problem of a huge pelvic bone position, reduces the complexity of external wiring and equipment connection, makes the overall structure of the robot leg device more compact, helps to improve the space utilization rate of the foot-type robot leg, facilitates the reasonable layout of each component in the limited leg space, and avoids the influence of too many external cables and scattered control equipment on the flexibility and reliability of leg movement. The motor controller includes a strong current control component and a weak current circuit board component which are stacked along the rotation axis of the power assembly. This layout mode makes the control signal and the power transmission path relatively concentrated and reasonable. The strong current control component is responsible for processing the power supply and other strong current related functions of the power assembly, and the weak current circuit board component can perform weak current operations such as signal processing and logic control. The two components are closely matched and electrically connected, can quickly respond to changes in the operating state of the power assembly and timely adjust the control strategy, improve the control accuracy and dynamic performance of the driving motor, and thus enhance the accuracy and smoothness of the robot leg movement, improve the overall motion performance of the robot, and fully utilize the space in the length direction of the motor. The separation of the strong current control component and the weak current circuit board component also reduces the requirement for the radial space of the motor. A first heat dissipation channel is left between the strong current control component and the weak current circuit board component. During the operation of the driving motor, the electronic components on the strong current control component and the weak current circuit board component will generate heat. The existence of the first heat dissipation channel provides an effective way for heat dissipation, helps to reduce the working temperature of the electronic components, prevents performance degradation, shortens the service life, and even causes problems such as failure due to overheating, improves the stability and reliability of the motor controller, ensures the stable operation of the robot leg device for a long time, and reduces the maintenance cost and downtime caused by equipment failure.

[0020] Further, the strong current control component includes at least one group of strong current circuit board components arranged according to the power supply requirements of the power assembly. The number of strong current circuit board components is arranged according to the power supply requirements, realizing the modular design of the strong current circuit board components. For the power assembly requiring higher voltage or current, the number of strong current circuit board components can be increased to ensure that the power assembly obtains stable and suitable power supply, thereby improving the universality and adaptability of the entire leg device in different application scenarios.

[0021] Further, the strong current circuit board assembly has at least two groups, all of which are connected in parallel and stacked along the rotation axis of the power assembly. Since the strong current circuit board assembly is stacked along the axis, they can be closely arranged at one end of the power assembly, making full use of the space that would otherwise be idle in the axial direction.

[0022] Further, the strong current control assembly partially protrudes from the first accommodating cavity, and the tail of the shell is provided with a detachable end cover, and the end cover is provided with a second accommodating cavity for accommodating the strong current control assembly protruding from the first accommodating cavity. Since the strong current control assembly partially protrudes from the first accommodating cavity, by setting the end cover with different depth second accommodating cavities, the actual number of strong current control assemblies can be accurately adapted. This not only ensures that the end cover is tightly installed, effectively protecting the strong current control assembly from external environmental interference such as dust, moisture and impact, etc., but also avoids the problem of internal space waste or unstable component installation caused by unreasonable space reservation, making the internal structure of the robot leg device more compact and reasonable, and improving the space utilization.

[0023] Further, the end cover is provided with a wiring gap for the second accommodating cavity to communicate with the outside. The wiring gap on the end cover provides a convenient channel for the wire harness connection between the motor controller and external equipment. During installation and wiring, technicians can more conveniently arrange and organize the wire harness connected to the motor controller through the gap, avoiding wire harness entanglement or compression in the narrow accommodating cavity, ensuring the neatness and safety of the wire harness connection, reducing the wiring difficulty and error probability, and improving the assembly efficiency.

[0024] Further, the strong current circuit board assemblies are spaced apart from each other and form second heat dissipation channels therebetween. The strong current circuit board assemblies are spaced apart from each other to form second heat dissipation channels, and the heat generated by the electronic components on the strong current circuit board assemblies can be quickly dissipated through these second heat dissipation channels during the operation of the driving motor. Compared with the case without spacing, the heat does not accumulate between the components, effectively reducing the working temperature of the electronic components, ensuring the performance stability of the strong current control assembly, reducing the problems of electronic component damage, circuit failure, etc. caused by overheating, thereby improving the reliability and service life of the entire motor controller and ensuring the continuous and stable operation of the robot leg device.

[0025] Further, the power assembly is provided with a rotating shaft extending into the first accommodating cavity, and the low-voltage circuit board assembly is provided with a rotating speed sensor for detecting the rotating speed of the rotating shaft. By providing the low-voltage circuit board assembly with a rotating speed sensor for detecting the rotating speed of the rotating shaft, the rotating speed of the rotating shaft of the power assembly can be monitored in real time. This provides key feedback information for the motor controller, so that the control unit can accurately adjust the output power and operating state of the driving motor according to the difference between the actual rotating speed and the preset rotating speed, thereby achieving precise control of the speed and force of the robot leg movement. For example, when the robot performs a fine action task, such as crossing obstacles or adjusting balance, accurate rotating speed monitoring and control can ensure the accuracy and stability of the leg movement, and improve the overall motion performance and task execution capability of the robot.

[0026] Further, the rotating shaft located in the first accommodating cavity is provided with a gear, and the rotating speed sensor is a Hall sensor for detecting the rotating speed of the gear. The Hall sensor is used to detect the rotating speed of the gear on the rotating shaft in the first accommodating cavity, and the Hall sensor has the characteristics of high precision and high sensitivity. It can accurately perceive the rotating speed change of the gear and provide very accurate rotating speed feedback information for the motor controller. In the control of the robot leg movement, such high-precision detection results help to achieve more fine motion adjustment, such as in complex walking gait planning or precise position control, which can make the robot leg movement more stable and accurate, and improve the overall motion precision and coordination of the robot.

[0027] Further, the first accommodating cavity is provided with a fixing column on the end face near the power cavity, and the motor controller is fixed on the fixing column. By fixing the motor controller with the fixing column, displacement of the motor controller due to vibration and shaking during operation of the robot leg device can be effectively avoided. When the robot moves, the leg will be subjected to various forces, resulting in vibration and shaking. If the motor controller is not installed stably, it may cause internal circuit connection to be loose and electronic components to be damaged, thereby affecting control precision and system stability. The fixing column provides reliable support and positioning, ensuring that the motor controller always remains in the correct position and maintains good working condition.

[0028] Further, the first accommodating cavity is provided with a wire harness passage communicating with the power cavity, so that the motor controller is electrically connected with the power assembly. The wire harness passage provides a special path for the electrical connection between the motor controller and the power assembly, avoiding random arrangement of the wire harness inside the device and reducing the risk of damage to the wire harness due to compression and friction, ensuring the stability and reliability of power transmission and signal transmission. Stable electrical connection is crucial for the normal operation of the robot leg device, which can ensure that the power assembly receives control signals in time and accurately, and the motor controller obtains operating feedback information of the power assembly, thereby achieving precise control of the robot leg movement.

[0029] Further, the cross section of the motor controller is matched with the cross section of the first accommodating cavity, and a groove is arranged on the side wall of the first accommodating cavity and penetrates into the power cavity to form the wire harness channel. The cross section of the motor controller is matched with the cross section of the first accommodating cavity, and a groove is arranged on the side wall of the first accommodating cavity and penetrates into the power cavity to form the wire harness channel.

[0030] The foot-type robot has the driving motor arranged on the robot leg, avoids the enlargement of the pelvic bone part, is more in line with the structure of a human body or other animals, and has the redesigned motor controller to meet the power requirement of the driving motor, so that the foot-type robot has better running performance and keeps long-term stable running. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is an exploded view of the motor controller in the utility model;

[0032] Figure 2 It is a three-dimensional view of the strong-current circuit board assembly in the utility model Figure 1 ;

[0033] Figure 3 It is a three-dimensional view of the strong-current circuit board assembly in the utility model Figure 2 ;

[0034] Figure 4 It is a three-dimensional view of the weak-current circuit board assembly in the utility model Figure 1 ;

[0035] Figure 2 It is a three-dimensional view of the weak-current circuit board assembly in the utility model Figure 6 ;

[0036] Figure 7 It is a structural schematic view of the combination of the two strong-current circuit board assemblies and the weak-current circuit board assembly in the utility model;

[0037] Figure 8The utility model discloses a drive motor's structure schematic drawing is adopted in the utility model,

[0038] Figure 9 The utility model discloses a first accommodating cavity and end cover's structure schematic drawing is adopted when separating,

[0039] Figure 10 The utility model discloses a first accommodating cavity's structure schematic drawing is adopted,

[0040] Figure 11 The utility model discloses a fin and first accommodating cavity's structure schematic drawing is adopted in cooperation,

[0041] Figure 12 The utility model discloses a drive motor's sectional view,

[0042] Figure 13 The utility model discloses a foot formula robot leg part device's structure schematic drawing is adopted,

[0043] Figures 1 to 6 The utility model discloses a first accommodating cavity's sectional view is adopted.

[0044] The figure mark is:

[0045] Drive motor 100, shell 110, power cavity 111, first accommodating cavity 112, fixed column 113, wire harness channel 114, fixed groove 115, power assembly 120, rotating shaft 121, gear 122, end cover 130, second accommodating cavity 131, wiring gap 132, motor controller 200, strong electric control assembly 210, strong electric circuit board assembly 211, first circuit board 2111, first end surface 21111, second end surface 21112, MOS tube 21113, current-carrying copper block 21114, MOS tube driver 21115, first power chip 21116, second element group 21117, digital isolation chip 21118, second circuit board 2112, avoiding hole 21121, electric capacity 21122, fin 212, weak electric circuit board assembly 220, rotating speed sensor 221, weak electric circuit board 222, isolation power conversion module 223, MCU chip 224, isolation analog-digital conversion chip 225, electric connection pin 226, electric connection seat 227, voltage signal pin 228, first radiating channel 230, second radiating channel 231, support column 240, robot leg 1000. DETAILED DESCRIPTION

[0046] The foot type robot leg device comprises a robot leg 1000, and further comprises a driving motor 100 arranged in the robot leg 1000, wherein the driving motor 100 comprises a shell 110 provided with a power cavity 111 and a power assembly 120 arranged in the power cavity 111, a first accommodating cavity 112 is formed in an end face of a tail portion of the shell 110, and a motor controller 200 electrically connected with the power assembly 120 is arranged in the first accommodating cavity 112, wherein the motor controller 200 comprises a strong current control assembly 210 and a weak current circuit board assembly 220 which are arranged in a stacking mode along a rotation axis of the power assembly 120, and 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 arranged between the strong current control assembly 210 and the weak current circuit board assembly 220.

[0047] The motor controller 200 is arranged in the first accommodating cavity 112 of the tail portion of the shell 110, thereby realizing high integration of driving and control functions in the leg device, reducing complexity of external wiring and equipment connection, making the overall structure of the robot leg device more compact, and helping to improve space utilization of the foot type robot leg, facilitating reasonable layout of various components in limited leg space, and avoiding influence of excessive external cables and scattered control equipment on flexibility and reliability of leg movement. The motor controller 200 comprises the strong current control assembly 210 and the weak current circuit board assembly 220 which are arranged in a stacking mode along the rotation axis of the power assembly, and this layout mode makes control signals and power transmission paths relatively concentrated and reasonable, the strong current control assembly 210 is responsible for processing power supply and other strong current related functions of the power assembly, and the weak current circuit board assembly 220 can perform weak current operations such as signal processing and logic control, the two assemblies are closely matched and electrically connected, can quickly respond to changes in the running state of the power assembly and timely adjust control strategies, improve control precision and dynamic performance of the driving motor, and further enhance accuracy and fluency of robot leg movement, improve overall motion performance of the robot, and fully utilize the length direction space of the motor, and separate arrangement of the strong current control assembly 210 and the weak current circuit board assembly 220 also reduces requirements on the radial space of the motor. The first heat dissipation channel 230 is arranged between the strong current control assembly 210 and the weak current circuit board assembly 220, during operation of the driving motor, electronic elements on the strong current control assembly 210 and the weak current circuit board assembly 220 generate heat, the first heat dissipation channel 230 provides an effective way for heat dissipation, helps to reduce the working temperature of the electronic elements, prevents performance degradation, service life shortening and even failure of the electronic elements due to overheating, improves stability and reliability of the motor controller 200, guarantees long-term stable operation of the robot leg device, reduces maintenance cost and downtime caused by equipment failure.

[0048] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0049] In the description of the utility model, it is understood that the orientation or positional relationship 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 is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as a limitation on the utility model.

[0050] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0051] In the utility model, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, 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 an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited.

[0052] Embodiment one:

[0053] Referring to Figure 1 For the embodiment one of the utility model, the motor controller of the legged robot includes a weak current circuit board assembly 220 and a strong current circuit board assembly 211, and the weak current circuit board assembly 220 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 on weak current signal, prevent the weak current signal from malfunctioning or data transmission error and the like. For example, in the motor control of the robot leg 1000, if the weak current signal is interfered, it may cause the motor control instruction error, and 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 a short circuit problem, 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 the like) can be avoided, so as to protect the safety of the entire control device and prevent the fault from further expanding.

[0054] Separating the circuit boards allows engineers to optimize the design for the characteristics of strong and weak electricity respectively. The strong electricity circuit board can focus on the layout and heat dissipation design of high-power components to meet the power supply requirements of high-power loads such as motors; the weak electricity circuit board assembly 220 can focus on signal processing and control logic implementation, using more delicate wiring and component selection to ensure signal accuracy and stability. And the strong electricity circuit board and weak electricity circuit board assembly 220 can be made modular, allowing for free combination of the number of strong electricity circuit boards or matching different types of weak electricity circuit board assemblies 220 according to different power requirements, reducing the difficulty of redesign.

[0055] The separated circuit board layout helps to reduce electromagnetic compatibility problems. The electromagnetic field generated by strong electricity does not directly affect the performance of weak electricity circuits, making signal transmission in the weak electricity part 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 allowing the motor to operate more accurately according to instructions, improving the precision and smoothness of the robot leg 1000 movement. After separating strong and weak electricity, 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.

[0056] 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 the two. 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 space waste caused by scattered circuit board arrangement, allowing the control device to better adapt to the structure shape of the leg, leaving more installation space for the motor and other components, which is conducive to the miniaturization and lightweight design of the robot leg 1000. Compared to 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, facilitating wiring and overall structure optimization. If the motor is a long strip structure, the stacked structure can make more full use of the structural characteristics of the long strip motor.

[0057] The first heat dissipation channel 230 specially arranged between the strong current circuit board assembly 211 and the weak current circuit board assembly 220 provides an effective way for heat dissipation. During the operation of the motor, the strong current circuit board assembly 211 will generate a large amount of heat, which may affect the performance and service life of the electronic components if not dissipated in time. The first heat dissipation channel 230 can guide the flow of hot air, enhance the air convection cooling effect, and prevent 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 run continuously and efficiently in a suitable temperature environment.

[0058] The structure of the strong current circuit board and the weak current circuit board assembly 220 is specifically illustrated as follows, including but not limited to the following listed ways:

[0059] 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 the operation of the motor. 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 operation requirements of the robot leg 1000 motor, ensuring that the motor obtains stable and adaptive power input, improving the operation efficiency and stability of the motor. The second circuit board 2112 processes the voltage fluctuation during the operation of the motor, which can effectively reduce the interference of voltage fluctuation 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 movement of the robot leg 1000. 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 cost 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.

[0060] 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 face 21111 and a second end face 21112, and the first component group includes a first voltage and current control module 21113 and a first voltage fluctuation suppression module 21114. 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.

[0061] 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.

[0062] 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 protruding 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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. Defining and modularizing the functions and connection methods of the strong and weak current parts facilitates 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.

[0070] The isolation analog-digital conversion chip 225 is further provided on the weak current circuit board 222, and has two interfaces, one of which is connected to the 5V voltage converted by the isolation power conversion module 223, and the other is connected to the 12V-5V voltage on the strong current circuit board assembly 211.

[0071] Based on the above embodiment, for the electrical connection of the strong current circuit board assembly 211 and the weak current circuit board assembly 220, the electrical connection pin 226 is arranged on one of them, and the electrical connection seat 227 matched with the electrical connection pin 226 is arranged on the other. Specifically, the electrical connection pin 226 is arranged on the weak current circuit board assembly 220, and the electrical connection seat 227 is arranged on the strong current circuit board assembly 211 closest to the weak current circuit board assembly 220. As shown in the figure, if there are multiple groups of strong current circuit board assemblies 211, the adjacent strong current circuit board assemblies 211 are also connected through the electrical connection pin 226 and the electrical connection seat 227. The electrical connection pin 226 and the electrical connection seat 227 matched therewith make the connection between them simple and convenient. In the assembly process, the electrical connection can be quickly and accurately realized, the production efficiency is improved, and the assembly difficulty and time cost are reduced. When the strong current or weak current circuit board assembly 220 needs to be maintained, detected or replaced, this connection mode is convenient for disassembly and reinstallation. The technician can conveniently separate or connect the two circuit board assemblies without causing excessive interference or damage to other parts, which is beneficial to improve the maintainability of the equipment and the replaceability of the components, and reduces the difficulty of maintenance and upgrading. Figures 7 to 12 Further, the electrical connection pin 226 includes the voltage signal pin 228 for transmitting different voltage signals on the strong current circuit board assembly 211 to the weak current circuit board assembly 220 for detection. The voltage signal pin 228 has three groups, respectively transmitting 48V, 12V and 5V voltage. The voltage signal pin 228 is arranged to transmit different voltage signals on the strong current circuit board assembly 211 to the weak current circuit board assembly 220 for detection, which realizes effective monitoring of the voltage of the strong current part. This helps to discover voltage abnormal conditions in the strong current circuit in a timely manner, such as overvoltage, undervoltage and other problems, so that measures can be taken early to adjust or repair, avoiding equipment failure caused by voltage problems, and improving the safety and reliability of the entire device.

[0072] In addition to the above technical solutions, a CAN chip and / or a 485 communication chip can also be arranged on the weak current circuit board 222 of the weak current circuit board assembly 220 to facilitate the user to realize the communication connection with the weak current circuit board assembly 220 according to the needs. A FLESH chip can also be arranged on the weak current circuit board 222 for data storage after power failure.

[0073]

[0074] ​The utility model discloses still disclose the foot formula robot, adopt the drive motor of installing above-mentioned motor controller, ensure that foot formula robot has good motion performance.

[0075] Embodiment two

[0076] As Figure 8 It is the embodiment two of the utility model, adopt the foot formula robot of embodiment one's motor controller, including robot leg 1000 and set up in the drive motor 100 of robot leg 1000, drive motor 100 adopts the motor controller 200 of embodiment one's technical scheme.

[0077] Drive motor 100 includes the casing 110 of setting power cavity 111 in and the power assembly 120 of setting in power cavity 111, whole casing 110 is cylindrical, and power cavity 111 is located in the middle part of casing 110, and the power assembly 120 includes the stator and the mover of setting in power cavity 111, and the driving shaft of mover stretches out and connects bevel gear 122 group in the top of casing 110, whole drive motor 100 is along the length direction of robot leg 1000 and sets up, fully utilizes the space of robot leg 1000.

[0078] The tail of casing 110 is equipped with the first accommodating cavity 112, and the opening of first accommodating cavity 112 is located on the end face of the tail of casing 110, and the motor controller 200 is fixed in first accommodating cavity 112, and the motor controller 200 is electrically connected with power assembly 120, to realize the control to power assembly 120.The motor controller 200 includes the strong electric control assembly 210 and weak electric circuit board assembly 220 of the layering setting along the rotation axis direction of power assembly 120, and the strong electric control assembly 210 and weak electric circuit board assembly 220 are electrically connected and leave the first heat dissipation channel 230 between them.This can fully utilize the space of the length direction of robot leg 1000, and leave enough setting space for drive motor 100, and the motor controller 200 is set in the first accommodating cavity 112 of the tail of casing 110, and will not affect the operation of power assembly 120 and the output of power.The first heat dissipation channel 230 is left between the strong electric control assembly 210 and weak electric circuit board assembly 220, and the heat generated when the motor operates can be dissipated in time.Effective heat dissipation can avoid the circuit failure and element damage caused by excessively high temperature, improve the stability and service life of motor and control device, ensure the reliability of robot leg 1000 device in the long-time operation process.

[0079] The strong current control assembly 210 includes at least one set of strong current circuit board assembly 211, and several sets of strong current circuit board assembly 211 are specifically arranged according to the requirements of the power assembly 120, so that the strong current circuit board assembly 211 can be modularly arranged to facilitate power adjustment and matching. The specific structure of the strong current circuit board assembly 211 and the weak current circuit board assembly 220 can refer to the scheme of embodiment one.

[0080] A detachable end cover 130 is arranged at the tail of the shell 110 to close the first accommodating cavity 112. The depth of the first accommodating cavity 112 can be arranged to just accommodate a set of strong current circuit board assembly 211 and a set of weak current circuit board assembly 220. When at least two sets of strong current circuit board assembly 211 are arranged, the strong current circuit board assembly 211 is still arranged in a stacked manner along the rotation axis of the power assembly 120. At this time, the entire motor controller 200 will protrude from the first accommodating cavity 112, and a second accommodating cavity 131 for accommodating the strong current control assembly 210 protruding from the first accommodating cavity 112 can be arranged on the end cover 130, that is, a end cover 130 with a second accommodating cavity 131 is replaced. In this way, even if different numbers of strong current circuit board assembly 211 are used, the shell 110 does not need to be replaced, and only the matching end cover 130 needs to be replaced to meet the protection requirements of the motor controller 200.

[0081] Further, the end cover 130 is provided with a wiring gap 132 for the second accommodating cavity 131 to communicate with the outside, which provides convenience for the internal wiring connection of the robot leg 1000 device, so that the wire harness such as wires and cables 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 requirements while allowing the end cover 130 to better cooperate with the shell 110 to maintain a relatively closed space environment for 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.

[0082] As Figure 9 , Figure 9As shown, the first accommodating cavity 112 is provided with a wire harness passage 114 in communication 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 can orderly arrange the connection lines and avoid the lines to be tangled in the device. The clear and standard wiring structure facilitates installation and maintenance, and the staff can more conveniently check, replace and other operations on the lines, thereby reducing the difficulty and cost of maintenance. Moreover, the wire harness passage 114 is located in the shell 110, avoiding the connection wire harness of the motor controller 200 and the power assembly 120 to be exposed. The wire harness passage 114 provides a relatively stable and safe space for the wire harness, which can prevent the wire harness from being damaged by extrusion and friction during the movement of the robot leg 1000. This reduces the risk of circuit failure caused by damage to the wire harness, ensures the stability and reliability of the electrical signal transmission between the motor controller 200 and the power assembly 120, and further improves the working stability of the entire leg device.

[0083] Further, the cross section of the motor controller 200 is adapted to the cross section of the first accommodating cavity 112. In this 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 generally circular in cross section, such as the strong current circuit board assembly 211 in this embodiment, which is a large semicircular arc. However, it is necessary to adapt 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 the internal line connection to be loose due to the shaking or displacement of the device, 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, so that the wire harness can be orderly arranged along the groove, reducing the mutual interference between the wire harnesses, improving the stability of the electrical signal transmission, and facilitating the inspection and management of the wire harness during installation and maintenance.

[0084] On the basis of the above-mentioned embodiments, in order to ensure that the first heat dissipation channel 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 the weak current circuit board assembly 220 is provided with a through slot that avoids the support column 240, 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 channel 230. When the strong current control assembly 210 includes 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 spaced arrangement, so that the second heat dissipation channel 231 is formed between the adjacent strong current circuit board assemblies 211, and sufficient heat dissipation space is ensured between the adjacent strong current circuit board assemblies 211.

[0085] Although the weak current circuit board assembly 220 has low heat generation, it will also generate heat during work, and the weak current circuit board assembly 220 also needs certain heat dissipation. Therefore, a heat dissipation space is also arranged between the weak current circuit board 222 and the bottom surface of the first accommodating cavity 112. Specifically, the end surface of the first accommodating cavity 112 close to the power cavity 111, that is, the bottom surface of the first accommodating cavity 112 is provided with a fixing column 113, and the motor controller 200 is fixed on the fixing column 113, which can not only ensure the stable connection between the motor controller 200 and the shell 110, but also provide heat dissipation space for the weak current circuit board assembly 220 located at the bottom. The fixing column 113 can be provided with at least two, so as to ensure that the motor controller 200 can be stably fixed on the shell 110.

[0086] On the basis of the above-mentioned embodiments, the power assembly 120 is provided with a rotating shaft 121 extending into the first accommodating cavity 112, the rotating shaft 121 rotates coaxially with the output shaft of the motor, and the weak current circuit board 222 is provided with a rotating speed sensor 221 for detecting the rotating speed of the rotating shaft 121. By arranging the rotating speed sensor 221 for detecting the rotating speed of the rotating shaft 121 on the weak current 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 accurately controlled, so that more accurate and more natural and smooth movements can be realized, and the robot can perform better in complex movement scenes such as walking, running and climbing.

[0087] Further, the rotating shaft 121 in the first accommodating cavity 112 can be provided with a gear 122, 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 can 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, provide more accurate data support for the motion control of the robot leg 1000, and ensure the accuracy of the robot action.

[0088] By arranging the motor controller 200 in the first accommodating cavity 112 at the tail of the shell 110, the space advantage of the driving motor 100 arranged in the robot leg 1000 in the length direction is fully utilized. In the case that the space of the robot leg 1000 is limited, the strong electric control component 210 and the weak electric circuit board component 220 of the motor controller 200 are arranged along the rotating axis of the power assembly 120 in a stacked manner, and the space of the driving motor 100 in the length direction is fully utilized. This layout avoids the dispersion arrangement of the components in the horizontal direction or other directions, so that the whole driving motor 100 structure is more compact. Taking the walking of the legged robot in a narrow channel as an example, the compact leg structure can reduce the risk of collision and improve the passability of the robot.

[0089] The other contents not described in the embodiment can refer to the embodiment one.

[0090] Embodiment three

[0091] As shown in Figure 10 , Figure 13 , ​ It is shown as embodiment three of the utility model on the basis of embodiment one and / or two, increase the heat dissipation structure of motor controller 200.

[0092] The motor controller 200 generates a large amount of heat during operation. If the heat cannot be dissipated in time, the temperature of the device will continue to rise. High temperature can seriously affect the performance of electronic components, such as changing the resistance value of electronic components, thereby changing the circuit parameters and affecting the control accuracy. It can also greatly shorten the service life of the components and increase the probability of failure. The motor controller 200 is provided with a cooling fin 212, which is in thermal contact with the shell 110. The cooling fin 212 can quickly transfer the heat generated by the motor controller 200 to the shell 110, and then dissipate it to the surrounding environment through the shell 110, effectively reducing the temperature of the device and maintaining the normal working environment of the electronic components, ensuring the stable operation of the motor controller 200. The motor controller 200 operating stably can accurately control the operation of the driving motor 100. For example, accurately adjusting the speed, torque and other parameters of the motor can make the leg movement of the leg robot more smooth and natural, and the accuracy and coordination of the movement better. In complex movement scenarios such as walking, running, jumping, etc., it can quickly respond to instructions and improve the movement performance and working efficiency of the leg robot.

[0093] The cooling fin 212 is integrated with the motor controller 200 and is in direct thermal contact with the shell 110. No additional large space is needed on the robot leg 1000 for cooling, saving valuable internal space. This design makes the structure of the entire leg device more compact, allowing more functional modules to be integrated in a limited space, improving space utilization, while also helping to reduce the weight of the leg device and improve the energy utilization efficiency and movement flexibility of the leg robot.

[0094] 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 arranged in a ring shape along the side wall of the first accommodating cavity 112, and a partition is needed in the middle. That is, along the circumference of the first accommodating cavity 112, the fixing groove 115 can be an arc or multiple arc-shaped intervals. In this way, the motor controller 200 can also be limited along the circumference of the first accommodating cavity 112. The cooling fin 212 extends towards the side wall of the first accommodating cavity 112 and the part of the cooling fin 212 extending beyond the driving assembly is arranged in the fixing groove 115 along the axial direction of the power assembly 120. In this way, the motor controller 200 can be easily installed in the first accommodating cavity 112 along 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.

[0095] Further, the side wall of the heat sink 212 is in close contact with the inner side wall of the fixing groove 115, and the heat of the heat sink 212 is transmitted to the fixing groove 115, which can be achieved by increasing the roughness of the side wall of the heat sink 212 and the inner side wall of the fixing groove 115, or by adding a heat-conducting silicone grease between the side wall of the heat sink 212 and the inner side wall of the fixing groove 115 to eliminate the gap therebetween, so that the heat of the heat sink 212 can be quickly transmitted 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 heat sink 212 and the fixing groove 115. Stable heat dissipation effect enables the motor controller 200 to work within an appropriate temperature range, avoiding performance degradation or failure due to overheating, thereby ensuring stable operation of the robot leg 1000 device.

[0096] On the basis of the above-mentioned embodiments, the motor controller 200 includes at least two circuit boards provided with heat sinks 212, such as the motor controller 200 including two groups of strong current circuit board assemblies 211, each group of strong current circuit board assembly 211 being provided with a 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. To achieve the separation of the two groups of strong current circuit board assemblies, in addition to the support column 240, the fixing groove 115 can also be used, and the fixing groove 115 is arranged as a stepped groove, which includes a plurality of groove bodies with decreasing widths along the axial direction from the opening of the first accommodating cavity 112. In this way, the upper heat sink 212 can be abutted on the step, thereby pulling away from the lower heat sink 212, and achieving the separation of the two groups of strong current circuit board assemblies 211. Of course, when there are multiple groups of strong current circuit board assemblies 211, the number of steps of the fixing groove 115 can also be increased accordingly.

[0097] 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, and the service life of the motor controller 200 and the entire leg device is prolonged, reducing the trouble and cost of frequent replacement of parts, and improving the reliability and economy of the foot robot.

[0098] Other contents not described in the present embodiment can be referred to Embodiment One or Embodiment Two.

[0099] The above only describes specific embodiments of the present application, but the technical features of the present application are not limited thereto, and any person skilled in the art in the field of the present application can make changes or modifications, which are covered by 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 with a power cavity and a power assembly arranged in the power cavity, a first accommodating cavity is formed in an end face of a tail portion of the housing, and a motor controller electrically connected to the power assembly is arranged in the first accommodating cavity, the motor controller comprises a strong current control assembly and a weak current circuit board assembly arranged along a rotation axis of the power assembly in a stacked manner, and the strong current control assembly and the weak current circuit board assembly are electrically connected and a first heat dissipation channel is formed between the strong current control assembly and the weak current circuit board assembly.

2. The leg unit of the foot -type robot according to claim 1, wherein The strong current control assembly comprises at least one group of strong current circuit board assemblies arranged according to power supply requirements of the power assembly.

3. The leg unit of the foot -type robot according to claim 2, wherein The strong current circuit board assembly comprises at least two groups of strong current circuit board assemblies, and all the strong current circuit board assemblies are arranged in a parallel manner and along the rotation axis of the power assembly in a stacked manner.

4. The leg unit of the foot -type robot according to claim 3, wherein The strong current control assembly partially protrudes from the first accommodating cavity, and a detachable end cover is arranged at the tail portion of the housing, and a second accommodating cavity for accommodating the strong current control assembly protruding from the first accommodating cavity is arranged in the end cover.

5. The footed robotic leg assembly of claim 4, wherein, A wiring gap is arranged on the end cover to allow the second accommodating cavity to communicate with the outside.

6. The leg unit of the foot robot according to claim 2, wherein The strong current circuit board assemblies are arranged in a spaced manner and form a second heat dissipation channel between the strong current circuit board assemblies.

7. The footed robotic leg apparatus of claim 1, wherein, The power assembly is provided with a rotating shaft extending into the first accommodating cavity, and a rotating speed sensor for detecting the rotating speed of the rotating shaft is arranged on the weak current circuit board assembly.

8. The leg unit of the foot -type robot according to claim 7, wherein A gear is arranged on the rotating shaft in the first accommodating cavity, and the rotating speed sensor is a Hall sensor for detecting the rotating speed of the gear.

9. The footed robotic leg apparatus of claim 1, wherein, A fixing column is arranged on an end face of the first accommodating cavity close to the power cavity, and the motor controller is fixed on the fixing column.

10. The footed robotic leg apparatus of claim 1, wherein, A wire harness channel is arranged in the first accommodating cavity to communicate with the power cavity, so that the motor controller is electrically connected to the power assembly.

11. The footed robotic leg apparatus of claim 10, wherein, The cross section of the motor controller is matched with the cross section of the first accommodating cavity, a groove is arranged on a side wall of the first accommodating cavity, and the groove penetrates into the power cavity to form the wire harness channel.

12. A robot having feet, characterised in that, The foot-type robot leg device is adopted. The foot-type robot leg device is adopted.

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