Joint deceleration structure of triplet quadruped robot and robot

Abstract

The utility model relates to a joint speed reduction structure of a triplet quadruped robot and the robot. The joint speed reduction structure of the triplet quadruped robot comprises a satellite speed reduction structure, a first planetary speed reduction structure and a second planetary speed reduction structure. Wherein the satellite speed reduction structure and the first planetary speed reduction structure are arranged side by side in the left-right direction, and the second planetary speed reduction structure is connected with the robot body, the satellite speed reduction structure and the first planetary speed reduction structure in the up-down direction. According to the joint speed reduction structure of the triplet quadruped robot, the planetary speed reducer and the satellite speed reducer are used for forming the joint speed reduction structure of the triplet quadruped robot, the advantages of a planetary mechanism and a satellite mechanism are exerted, power transmission of the joint speed reducer is more stable and efficient, the transmission efficiency is improved, and meanwhile larger output torque is provided.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a triplet four -legged robot joint reduction structure and robot. BACKGROUND

[0002] As a kind of multi-legged robot, quadruped robot shows strong adaptability and application prospect in multiple fields, including military, industry, rescue, education and other fields, with high research value and practical significance. Quadruped robot imitates the structure of four limbs and walking mode of animal four legs, and through highly complex mechanical structure and control algorithm, it has strong environmental adaptability, can walk stably and execute tasks in various complex terrains, and the structure of reduction joint is the most important.

[0003] The quadruped robot joint reducer used by existing robot has poor stability, which leads to poor robot moving stability, low work efficiency, and improving the transmission stability of quadruped robot joint reducer to improve the work efficiency of robot becomes a problem to be solved. INVENTION CONTENTS

[0004] The utility model aims at providing a triplet four -legged robot joint reduction structure and robot, to solve the problems of poor transmission stability and low transmission efficiency of traditional quadruped robot joint in the case of controlling the volume of joint reducer.

[0005] To solve the above technical problems, the utility model provides a triplet four -legged robot joint reduction structure, which comprises: satellite reduction structure, including first sun gear, large planet wheel, small planet wheel, satellite wheel and first outer gear ring;Among them, the large planet wheel is engaged with the first sun gear, the small planet wheel is coaxial with the large planet wheel one by one and engaged with the satellite wheel, and the satellite wheel is engaged with the first outer gear ring;First planetary reduction structure, including second sun gear, first planet wheel, second planet wheel and second outer gear ring;Among them, the first planet wheel is engaged with the second sun gear, the second planet wheel is coaxial with the first planet wheel one by one and engaged with the second outer gear ring;Second planetary reduction structure is the same as the first planetary reduction structure;Among them, satellite reduction structure and first planetary reduction structure are arranged side by side along left-right direction, and second planetary reduction structure connects robot body, satellite reduction structure and first planetary reduction structure along up-down direction.

[0006] Further, the number of large planet wheels is three;The number of satellite wheels is three, and the satellite wheels and the small planet wheels are arranged in a circumferential direction and engaged with each other.

[0007] Further, the number of first planet wheels is two to six;The outer diameter of the second planet wheel is smaller than that of the first planet wheel.

[0008] Further, the second planetary gear includes a first gear segment and a second gear segment arranged on two sides of the first planetary gear along an axial direction, and the second outer gear ring includes a first gear ring and a second gear ring corresponding to the first gear segment and the second gear segment.

[0009] Further, the second outer gear ring further includes a fixed segment for fixedly connecting outer edges of the first gear segment and the second gear segment.

[0010] Further, the triplet quadruped robot joint reduction structure further includes a motor structure including a motor output shaft, and the first sun gear, the second sun gear and the sun gear of the second planetary reduction structure are connected with the motor output shaft of the corresponding motor structure.

[0011] Further, the motor structure is arranged between the satellite reduction structure and the first planetary reduction structure, and the first sun gear is connected with the motor output shaft.

[0012] Further, the motor structure includes an electromagnetic induction device, and the first sun gear is provided with an induction magnetic head corresponding to the electromagnetic induction device.

[0013] Further, the triplet quadruped robot joint reduction structure further includes a cross roller bearing, a first box body, a second box body and a third box body; the first box body is used for mounting the satellite reduction structure; the second box body is used for mounting the first planetary reduction structure; the third box body is used for mounting the second planetary reduction structure; the output shaft of the satellite reduction structure is connected with the first box body through the cross roller bearing; the second box body and the first box body, and the second box body and the third box body are connected through cross roller bearings.

[0014] The utility model also provides a robot, including fuselage and triplet quadruped robot joint reduction structure of above-mentioned embodiment.

[0015] The embodiment of the utility model is implemented, and has the following beneficial effects:

[0016] 1. By using the planetary reduction machine and the satellite reduction machine structure, a triplet quadruped robot joint reduction structure is formed, the advantages of the planetary mechanism and the satellite mechanism are exerted, the joint reduction machine power transmission is more stable and efficient, the transmission efficiency is improved, and greater output torque is provided.

[0017] 2. The second outer gear ring of the planetary reduction machine adopts a special-shaped gear ring structure, the second outer gear ring forms a hollow structure along an axial direction for accommodating the first planetary gear, so that the second outer gear ring and the second planetary gear have two stress points along the axial direction, and the stability and overall transmission stability of the planetary reduction machine are improved.

[0018] 3. By setting the electromagnetic induction device, the structural volume is further reduced, and the transmission reliability is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 A cross-sectional structure schematic diagram of a triplet quadruped robot joint reduction structure is provided for an embodiment of the present disclosure.

[0021] Figure 2 A transmission principle schematic diagram of a satellite reduction structure is provided for an embodiment of the present disclosure.

[0022] Figure 3 A transmission principle schematic diagram of a first planetary reduction structure is provided for an embodiment of the present disclosure.

[0023] Figure 4 A transmission principle schematic diagram of a second planetary reduction structure is provided for an embodiment of the present disclosure.

[0024] Figure 5 An external structure schematic diagram of a triplet quadruped robot joint reduction structure is provided for an embodiment of the present disclosure.

[0025] REFERENCE SIGNS:

[0026] 10, triplet quadruped robot joint reduction structure; 11, satellite reduction structure; 111, first sun gear; 1111, induction magnetic head; 112, large planetary gear; 113, small planetary gear; 114, satellite gear; 115, first outer gear ring; 12, first planetary reduction structure; 121, second sun gear; 122, first planetary gear; 123, second planetary gear; 1231, first section gear; 1232, second section gear; 124, second outer gear ring; 1241, first section gear ring; 1242, second section gear ring; 1243, fixed section; 13, second planetary reduction structure; 14, motor structure; 141, motor output shaft; 142, electromagnetic induction device; 15, cross roller bearing; 16, first box body; 17, second box body; 18, third box body; 19, machine bushing. DETAILED DESCRIPTION

[0027] For the purpose of facilitating the understanding of the present application, a more comprehensive description will be made below with reference to the relevant drawings. The drawings show the preferred embodiments of the present application. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0028] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein only for the purpose of describing specific embodiments and is not intended to limit the present application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0030] The four-legged robot joint reducer used by the existing robot has poor stability, resulting in poor robot movement stability, low work efficiency, and the problem of continuously improving the transmission stability of the four-legged robot joint reducer to improve the work efficiency of the robot becomes urgent. The three-tetrad four-legged robot joint reduction structure provided in the embodiment of the present application uses a planetary reducer and a satellite reducer structure to form a three-tetrad four-legged robot joint reduction structure, which takes advantage of the planetary mechanism and the satellite mechanism to make the joint reducer power transmission more stable and efficient, improve the transmission efficiency, and provide greater output torque. The second outer gear ring of the planetary reducer adopts a heterogeneous gear ring structure, and the second outer gear ring forms a hollow structure along the axial direction for accommodating the first planetary gear, so that the second outer gear ring and the second planetary gear have two stress points along the axial direction, increasing the stability and overall transmission stability of the planetary reducer. By setting the electromagnetic induction device, the structure volume is further reduced, and the transmission reliability is improved.

[0031] In combination with Figures 1 to 5As shown, the triplet quadruped robot joint reduction structure 10 provided by the embodiments of the present disclosure comprises a satellite reduction structure 11, which comprises a first sun gear 111, a large planet gear 112, a small planet gear 113, a satellite gear 114 and a first outer gear 115. The large planet gear 112 is arranged around the first sun gear 111 and is externally meshed with the first sun gear 111. The small planet gear 113 is coaxial with the large planet gear 112 one-to-one and is externally meshed with the satellite gear 114. The small planet gear 113 is arranged on the left side of the large planet gear 112, so that the satellite gear 114 has a certain interval with the large planet gear 112 in the left-right direction, so as to prevent the satellite gear 114 from interfering with the large planet gear 112. The satellite gear 114 is internally meshed with the first outer gear 115 while being externally meshed with the small planet gear 113, that is, the satellite gear 114 is arranged between the small planet gear 113 and the first outer gear 115. The first sun gear 111 drives the large planet gear 112 to rotate, the large planet gear 112 is coaxial with the small planet gear 113, so that the small planet gear 113 rotates together with the large planet gear 112, the small planet gear 113 is meshed with the satellite gear 114, so as to drive the satellite gear 114 to rotate, and the satellite gear 114 is meshed with the first outer gear 115. The first planetary reduction structure 12 comprises a second sun gear 121, a first planet gear 122, a second planet gear 123 and a second outer gear 124. The first planet gear 122 is externally meshed with the second sun gear 121, and the second planet gear 123 is coaxial with the first planet gear 122 one-to-one and is internally meshed with the second outer gear 124. The second sun gear 121 drives the first planet gear 122 to rotate, the first planet gear 122 is coaxial with the second planet gear 123, so that the first planet gear 122 drives the second planet gear 123 to rotate, and the second planet gear 123 is meshed with the second inner gear. The second planetary reduction structure 13 is the same as the first planetary reduction structure 12. The satellite reduction structure 11 and the first planetary reduction structure 12 are arranged side by side along the left-right direction, and the second planetary reduction structure 13 connects the robot body and the satellite reduction structure 11 and the first planetary reduction structure 12 along the up-down direction. In assembly, the wheel shafts of the small planet gear 113 and the large planet gear 112 are installed through deep groove ball bearings. The deep groove ball bearings are respectively installed on the left side of the small planet gear 113 and the right side of the large planet gear 112, so as to jointly support the small planet gear 113 and the large planet gear 112.

[0032] In combination Figure 1 and Figure 2 As shown, in some embodiments, the number of large planet gears 112 is three. The three large planet gears 112 are evenly distributed around the first sun gear 111 in the circumferential direction, and the number of satellite gears 114 is three. The satellite gears 114 are arranged in the circumferential direction with an interval and are meshed with each other.

[0033] In combination Figure 1 , Figure 3 and Figure 4As shown in some embodiments, the first planetary gear 122 is two to six in number; the second planetary gear 123 has an outer diameter smaller than that of the first planetary gear 122. The double planetary gear formed by the first planetary gear 122 and the second planetary gear 123 is engaged with the second outer gear ring 124, which improves transmission flexibility and reduces the size of the transmission structure.

[0034] As shown in Figure 1 , Figure 3 and Figure 4 , in some embodiments, the second planetary gear 123 includes a first gear segment 1231 and a second gear segment 1232 arranged on both sides of the first planetary gear 122 along the axial direction, and the first gear segment 1231 and the second gear segment 1232 are symmetrically arranged on both sides of the first planetary gear 122. The second outer gear ring 124 includes a first gear ring 1241 and a second gear ring 1242 corresponding to the first gear segment 1231 and the second gear segment 1232, respectively. The second outer gear ring 124 is hollow in the left-right direction for accommodating the first planetary gear 122, and the opening of the hollow groove of the second outer gear ring 124 is opened radially inward so that the outer edge of the first planetary gear 122 is embedded in the hollow groove of the second outer gear ring 124 radially outward. The inner teeth of the second outer gear ring 124 are arranged at the end of the hollow groove wall, and the groove thickness of the hollow groove of the second outer gear ring 124 corresponds to the gear width of the first gear segment 1231 and the second gear segment 1232 of the second planetary gear 123.

[0035] As shown in Figure 1 , Figure 3 and Figure 4 , in some embodiments, the second outer gear ring 124 further includes a fixed segment 1243 for fixedly connecting the outer edges of the first gear ring 1241 and the second gear ring 1242 as a whole. The fixed segment 1243 is arranged at the outer edges of the first gear ring 1241 and the second gear ring 1242, connecting the first gear ring 1241 and the second gear ring 1242, and the fixed segment 1243 and the first gear ring 1241 and the second gear ring 1242 together form the second outer gear ring 124.

[0036] As shown in Figure 1 , in some embodiments, the triplet quadruped robot joint reduction structure 10 further includes a motor structure 14 including a motor output shaft 141, and the first sun gear 111, the second sun gear 121, and the sun gear of the second planetary reduction structure 13 are all connected to the motor output shaft 141 of the corresponding motor structure 14. The motor structure 14 connects the first sun gear 111, the second sun gear 121, and the sun gear of the second planetary reduction structure 13 to provide power for the satellite reduction structure 11, the first planetary reduction structure 12, and the second planetary reduction structure 13.

[0037] As shown in Figure 1As shown, in some embodiments, the motor structure 14 is arranged between the satellite reduction structure 11 and the first planetary reduction structure 12, and the first sun gear 111 is connected with the motor output shaft 141. The satellite reduction structure 11 and the first planetary reduction structure 12 are arranged in parallel in the left-right direction and are connected. The motor structure 14 is arranged between the satellite reduction structure 11 and the first planetary reduction structure 12, and is connected with the right end of the first sun gear 111 shaft to drive the first sun gear 111 to rotate. The first sun gear 111 is arranged at the left end of the first sun gear 111 shaft, so that the right end of the satellite reduction structure 11 is the input end, and the left end is the output end. The left end can rotate around the first sun gear 111 shaft to output.

[0038] In combination Figure 1 As shown, in some embodiments, the motor structure 14 includes an electromagnetic induction device 142, and the first sun gear 111 is provided with an induction magnetic head 1111 corresponding to the electromagnetic induction device 142. The motor structure 14 controls the lifting transmission reaction efficiency through the battery induction device. The hardware structure size and the transmission error are reduced.

[0039] In combination Figure 1 And Figure 5 As shown, in some embodiments, the triplet quadruped robot joint reduction structure 10 further includes a cross roller bearing 15, a first box body 16, a second box body 17 and a third box body 18. The first box body 16 is used for mounting the satellite reduction structure 11. The second box body 17 is used for mounting the first planetary reduction structure 12. The third box body 18 is used for mounting the second planetary reduction structure 13. The output shaft of the satellite reduction structure 11 is connected with the first box body 16 through the cross roller bearing 15. The left side of the cross roller bearing 15 is provided with a shoulder and an oil seal to seal the cross roller bearing 15 and the first box body 16. The right side of the cross roller bearing 15 is provided with a first outer gear ring 115. The second box body 17 and the first box body 16, and the second box body 17 and the third box body 18 are connected through the cross roller bearing 15. A machine bushing 19 is arranged between the first box body 16 and the second box body 17. The inner edge of the machine bushing 19 is matched with the first box body 16. The outer edge of the machine bushing 19 is matched with the inner ring of the cross roller bearing 15. The outer ring of the cross roller bearing 15 is matched with the second box body 17, so as to realize the connection of the first box body 16 and the second box body 17, and the first box body 16 can rotate relative to the second box body 17.

[0040] The utility model further provides a robot, including fuselage and triplet quadruped robot joint reduction structure 10 described in above-mentioned embodiment.

[0041] Exemplarily, the triplet quadruped robot joint reduction structure 10 provided by the embodiment of the present disclosure can be installed according to the following steps:

[0042] Step one: First install the cross roller bearing 15 on the output shaft of the satellite reduction structure 11 (the planet carrier of the satellite reduction structure 11) and fix it.

[0043] Step two: Install the large planet gear 112, small planet gear 113 and satellite gear 114.

[0044] Step three: Press-fit the cylindrical pin to the satellite gear 114.

[0045] Step four: Install the left outer end cover of the case.

[0046] Step five: Install the first outer gear 115.

[0047] Step six: Install the first sun gear 111.

[0048] Step seven: Install the electromagnetic induction device 142.

[0049] Step eight: Install the motor structure 14 of the planetary reduction structure.

[0050] Step nine: Install the cross roller bearing 15 structure.

[0051] Step ten: Install the second case 17.

[0052] Step eleven: Install the machine bushing 19.

[0053] Step twelve: Install the first planet gear 122 to the second outer gear 124 and press-fit.

[0054] Step thirteen: Install the second sun gear 121.

[0055] Step fourteen: Install the motor structure 14 of the first planetary reduction structure 12.

[0056] Step fifteen: Install the control board between the first case 16 and the second case 17, and then install the case fixing structure.

[0057] Step sixteen: Install the second planetary reduction structure 13.

[0058] For example, the working principle of the triplet four-legged robot joint reduction structure 10 provided by the embodiment of the present disclosure is shown as follows:

[0059] A three-unit quadruped robot joint is constructed using planetary and satellite reducer structures. This leverages the advantages of both mechanisms, resulting in smoother and more efficient power transmission. Increased transmission efficiency provides greater output torque, and the high meshing precision of gear transmission reduces transmission errors. The planetary reduction structure uses a double-linked planetary gear system (large planetary gear 112 and small planetary gear 113) shared by the satellite gear 114, shortening the transmission chain and reducing cumulative errors between different transmission chains. The sun gear of the second planetary reduction structure 13 has a hollow structure for easy wire threading. The second external gear ring 124 and the second planetary gear 123 are in two-stage contact, resulting in more balanced forces, greater stability during transmission, and increased structural strength.

[0060] The formula for calculating the speed ratio of satellite deceleration structure 11 is as follows:

[0061] i = Z 行大 / Z 太阳 ×Z 圈1 / Z 卫 +1; where Z 行大 Z represents the number of teeth on planetary gear 112. 太阳 Z represents the number of teeth on the first sun gear 111. 圈1 Z represents the number of teeth on the first external gear ring 115; 卫 This refers to the number of teeth on satellite wheel 114.

[0062] The speed ratio calculation formula for the first planetary deceleration structure 12 is as follows:

[0063] i = Z 行1 / Z 太阳2 ×Z 圈2 / Z 行2 +1; where Z 行1 Z represents the number of teeth on the first planetary gear 122. 太阳2 Z represents the number of teeth on the second sun gear 121. 圈2 Z represents the number of teeth on the second external gear ring 124. 行2 This refers to the number of teeth on the second planetary gear 123.

[0064] The speed ratio calculation method for the second planetary deceleration structure 13 is the same as that for the first planetary deceleration structure 12.

[0065] The above description and drawings suffice to fully enable one skilled in the art to practice the embodiments of the present disclosure. Other embodiments can include structural and other changes. The embodiments are merely representative of possible variations, and individual components and functions are optional unless specifically required, and the order of operations can be varied. Portions and features of some embodiments can be included in, or substituted for, portions and features of other embodiments. Also, the word "comprise" or variations such as "comprises" or "comprising" as used in this application are not used in a restrictive sense and are used to mean that the statement, or a part thereof, is included in the present disclosure, but not to the exclusion of other similar items that are also included in the present disclosure. Similarly, the use of the term "and / or" as used in this application is intended to represent that the listed items are either individually present or in combination. In addition, the term "comprise" and variations thereof as used in this application are intended to denote the presence of the stated feature, integer, step, operation, element, component, or group but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0066] The term "comprise" and variations thereof as used in this application are intended to denote the presence of stated features, integers, steps, operations, elements, components, or groups but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. In the description of embodiments, the word "comprising" and variations thereof is used to mean that the described feature, integer, step, operation, element, component or group is included, but not to the exclusion of other features, integers, steps, operations, elements, components or groups that can be added to the described feature, integer, step, operation, element, component or group. In the description of embodiments, the word "comprise" and variations thereof is used to mean that the described feature, integer, step, operation, element, component or group is included, but not to the exclusion of other features, integers, steps, operations, elements, components or groups that can be added to the described feature, integer, step, operation, element, component or group.

[0067] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the present application. Each technical feature of the above-described embodiments can be combined arbitrarily, and in order to make the description brief, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not contradict, they should be considered as the scope of the present application. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A joint deceleration structure for a triplet quadruped robot, characterized in that, include: The satellite deceleration structure (11) includes a first sun gear (111), a large planet gear (112), a small planet gear (113), a satellite gear (114), and a first external gear ring (115); wherein, the large planet gear (112) meshes externally with the first sun gear (111), the small planet gear (113) is coaxial with the large planet gear (112) and meshes externally with the satellite gear (114), and the satellite gear (114) meshes internally with the first external gear ring (115); The first planetary reduction structure (12) includes a second sun gear (121), a first planet gear (122), a second planet gear (123), and a second external gear ring (124); wherein the first planet gear (122) meshes externally with the second sun gear (121), and the second planet gear (123) is coaxial with the first planet gear (122) and meshes internally with the second external gear ring (124); The second planetary deceleration structure (13) is the same as the first planetary deceleration structure (12); Among them, the satellite deceleration structure (11) and the first planetary deceleration structure (12) are arranged side by side in the left-right direction, and the second planetary deceleration structure (13) connects the robot body with the satellite deceleration structure (11) and the first planetary deceleration structure (12) in the up-down direction.

2. The joint deceleration structure for a triplet quadruped robot according to claim 1, characterized in that, The number of the large planetary gears (112) is three; the number of the satellite gears (114) is three, and the satellite gears (114) and the small planetary gears (113) are arranged circumferentially at intervals and mesh in pairs.

3. The joint deceleration structure for a triplet quadruped robot according to claim 1, characterized in that, The number of the first planetary gears (122) is two to six; the outer diameter of the second planetary gear (123) is smaller than the outer diameter of the first planetary gear (122).

4. The joint deceleration structure for a triplet quadruped robot according to claim 1, characterized in that, The second planetary gear (123) includes a first gear (1231) and a second gear (1232) disposed on both sides of the first planetary gear (122) along the axial direction. The second external gear ring (124) includes a first gear ring (1241) and a second gear ring (1242) that mesh with the first gear (1231) and the second gear (1232) respectively.

5. The joint deceleration structure for a triplet quadruped robot according to claim 4, characterized in that, The second external gear ring (124) further includes a fixing section (1243), which is used to fix the outer edges of the first gear ring (1241) and the second gear ring (1242) into one piece.

6. The joint deceleration structure for a triplet quadruped robot according to claim 1, characterized in that, Also includes: The motor structure (14) includes a motor output shaft (141), and the sun gears of the first sun gear (111), the second sun gear (121) and the second planetary reduction structure (13) are all connected to the motor output shaft (141) of the corresponding motor structure (14).

7. The joint deceleration structure for a triplet quadruped robot according to claim 6, characterized in that, A motor structure (14) is provided between the satellite deceleration structure (11) and the first planetary deceleration structure (12), and the first sun gear (111) is connected to the output shaft (141) of the motor.

8. The joint deceleration structure for a triplet quadruped robot according to claim 7, characterized in that, The motor structure (14) includes an electromagnetic induction device (142), and the first sun gear (111) is provided with an induction magnetic head (1111) corresponding to the electromagnetic induction device (142).

9. The joint deceleration structure for a triplet quadruped robot according to claim 1, characterized in that, It also includes a crossed roller bearing (15), a first housing (16), a second housing (17), and a third housing (18); the first housing (16) is used to install the satellite deceleration structure (11); the second housing (17) is used to install the first planetary deceleration structure (12); and the third housing (18) is used to install the second planetary deceleration structure (13). The output shaft of the satellite deceleration structure (11) is connected to the first housing (16) via the cross roller bearing (15); the second housing (17) is connected to the first housing (16), and the second housing (17) is connected to the third housing (18) via the cross roller bearing (15).

10. A robot, characterized in that, It includes the body and the joint deceleration structure of the triple quadruped robot as described in any one of claims 1 to 9.

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