Angle measuring device for coaxial dual-driving wheel of robot foot

Abstract

An angle measuring device for coaxial double driving wheels of a robot foot comprises a leg support and a foot plate body, an ankle joint shaft is rotatably installed at the bottom of the leg support, the two driving wheels are installed on the ankle joint shaft, one driving wheel is rotatably connected with the ankle joint shaft, the other driving wheel is fixedly connected with the ankle joint shaft, and the foot plate body is fixedly connected with the foot plate body. The two driving wheels are fixedly connected with a front support arm and a rear support arm respectively; a quasi absolute type encoder A is mounted at the bottom of the leg support, and a radial magnet A aligned with the absolute type encoder A is arranged on the end face of the ankle joint shaft; the rear upper supporting arm or the front supporting arm is composed of two supporting arms, one supporting arm is connected with the driving wheel which is rotationally connected with the supporting arm, a rotating shell is arranged at the end of the other supporting arm, a radial magnet B is installed in the rotating shell, and an absolute encoder B aligned with the radial magnet B is installed at the bottom of the leg support. According to the utility model, the two coaxial driving wheels are adopted, so that the angle data of each driving wheel can be conveniently acquired in the foot for realizing natural gait walking.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of joint angle detection, and specifically relates to an angle measuring device of a robot foot coaxial double drive wheel. BACKGROUND

[0002] The gait walking mode of a robot has been a popular research project in the field of humanoid robots and is an important topic distinguishing humanoid robots from other robots. In the process of natural gait walking, the foot plate structure mainly needs to rotate forward and backward to adapt to the rhythm of the body weight center shift, and the foot plate structure also needs to have upward and downward elastic support to meet the torque of walking by kicking the ground. The human foot realizes this through the arch and toes. Currently, the robot realizes this through bending the knee joint to kick the leg. The walking mode of bending the knee can have the effect of elastic kicking the leg, and it is currently more convenient to realize stable walking. However, this walking mode has great limitations for processing complex road surfaces. The bent leg will form interference, and it is impossible to achieve more extreme human-like motion. Therefore, the natural gait walking mode of the robot walking upright is the focus of humanoid robot research institutions in recent years.

[0003] The research direction of the natural gait walking of the robot includes two modes: on the one hand, through the software level, the robot is forced to realize natural gait walking in the existing form through reinforcement learning or gait planning; on the other hand, through the design level of the robot body, the robot body structure is adaptively transformed to make the robot body structure have the condition of natural gait walking. For example, the patent document with the publication number CN210364125U discloses a biped robot bionic foot improving walking stability and gait naturalness. First, the heel rubber anti-skid pad lands, and the elastic deformation of the shape structure of the heel damping spring and the heel member plays a buffering role. Next, the toe rubber anti-skid pad lands. Since the thickness of the second bionic foot arch on the outside is smaller than the thickness of the first bionic foot arch on the inside, the bionic foot arch on the outside with smaller stiffness first produces elastic deformation. With the rising of the height of the inside foot arch support, the inside foot arch support also begins to be subjected to a larger force and produces upward displacement. The inside bionic foot arch begins to produce elastic deformation. At this time, the inside and outside bionic foot arches simultaneously play a buffering role. The variable stiffness range of the entire bionic foot arch becomes larger, and it can better complete the effective absorption of different impacts. Finally, the bionic foot approaches the step of "toe off the ground". At this time, the toe member rotates around the pin shaft, and the first spring tension effect returns to the original state.

[0004] Although the above scheme makes the robot foot more flexible by designing the robot body foot to have an arch and toes similar to human feet, so as to facilitate the robot to better realize natural gait walking, the robot foot design adopts passive elastic movement mode of spring, and the spring is easy to fatigue and fail in high-frequency walking movement, and the spring is also easy to jam and fail, which will cause unstable walking state, and the full passive control mode is not conducive to the linkage control with the software system to realize the standardized processing of complex road surface, and the front and rear footboard structure needs to be designed to rotate to adapt to the rhythm of body weight transfer, and the up and down elastic support force needs to be designed to meet the torque of walking, so at least two driving wheels are needed to realize, in order to realize the regularity of design, coaxial double driving wheels are usually needed, but it is extremely difficult to operate to collect the angle data of each driving wheel. SUMMARY

[0005] The utility model makes up for the deficiency of prior art, propose a kind of in the foot of adopting coaxial double driving wheels to facilitate realizing natural gait walking, simultaneously facilitate the angle data of each driving wheel of robot foot coaxial double driving wheel angle measuring device of gathering.

[0006] Specific technical solutions are as follows:

[0007] A kind of robot foot coaxial double driving wheel angle measuring device, including leg support structure and footboard structure, ankle joint shaft structure is rotatably installed in the bottom of the leg support structure, two driving wheel structures are installed on the ankle joint shaft structure, one of which is rotatably connected with ankle joint shaft structure or another driving wheel structure, another driving wheel structure is fixedly connected with ankle joint shaft structure, and two driving wheel structures are respectively fixedly connected with front support arm structure and rear support arm structure;

[0008] The rear support arm structure is rotatably connected by rear upper support arm structure and rear lower support arm structure, and the front support arm structure and the rear support arm structure are used to be movably connected with the footboard structure, and the movable connection position of the front support arm structure on the footboard structure is forward relative to the movable connection position of the rear support arm structure;

[0009] Quasi-absolute encoder A is installed on one side of the bottom of the leg support structure, and radial magnet A is arranged on the end face of the ankle joint shaft structure, and the radial magnet A is arranged in the quasi-absolute encoder A;

[0010] The rear upper arm structure or the front arm structure is composed of two support arms, one of which is fixedly connected with the side of the driving wheel structure connected with the rotation, and the other end of the other support arm is provided with a rotating shell which is rotatably installed on the other side of the bottom of the leg support structure, a radial magnet B is arranged in the rotating shell, and an absolute encoder B is installed on the other side of the bottom of the leg support structure, and the absolute encoder B is arranged in alignment with the radial magnet B.

[0011] As a preferred: two driving wheel structures are respectively front arm driving wheel and rear arm driving wheel, and the front arm driving wheel and the rear arm driving wheel are respectively drivingly connected with front arm driving device and rear arm driving device.

[0012] As a preferred: the front arm driving device and the rear arm driving device are motor module driving, and the front arm driving device and the front arm driving wheel are drivingly connected through a connecting rod or a tendon rope drive transmission pair; the rear arm driving device and the rear arm driving wheel are drivingly connected through a connecting rod or a tendon rope drive transmission pair.

[0013] As a preferred: the front arm driving device and the front arm driving wheel are drivingly connected through a tendon rope drive transmission pair, the output end of the front arm driving device is connected with a chain wheel or a synchronous belt wheel, the tendon rope drive transmission pair is composed of a chain or a synchronous belt and a non-elastic rope connected at both ends of the chain or the synchronous belt, the chain or the synchronous belt is matched with the chain wheel or the synchronous belt wheel, and the non-elastic rope is sleeved on the front arm driving wheel to form a rotary transmission system.

[0014] As a preferred: the main body length of the front arm structure, the rear upper arm structure and the rear lower arm structure is 50mm-100mm, and the main body length of the front arm structure is the same as that of the rear lower arm structure, or the main body length of the front arm structure is smaller than that of the rear lower arm structure.

[0015] As a preferred: the foot plate body structure is a narrow foot plate, and a circular arc-shaped ground contact rubber head is uniformly arranged at the bottom of the narrow foot plate.

[0016] As a preferred: the leg support structure includes a thigh support and a calf support, the thigh support is rotatably installed on the top of the calf support through a knee joint shaft, the bottom of the calf support is provided with a U-shaped mounting bracket, and the front arm structure and the rear arm structure are installed on the U-shaped mounting bracket through an ankle joint shaft structure.

[0017] As preferred: the ankle joint shaft structure comprises a first ankle joint half shaft and a second ankle joint half shaft, the first ankle joint half shaft and the second ankle joint half shaft are respectively rotatably connected with the two side portions of the U-shaped mounting frame through bearing structures, the front arm driving wheel is provided with a joint half shaft mounting hole in the center of each side portion, the first ankle joint half shaft and the second ankle joint half shaft are respectively installed in the joint half shaft mounting hole and are tightly fixed through screw structures, the front arm driving wheel is provided with a stepped sleeve portion on one side portion, and the rear arm driving wheel is rotatably installed in the stepped sleeve portion through a bearing structure.

[0018] As preferred: the front arm structure is a single-arm support structure, and the rear upper arm structure and the rear lower arm structure are both double-arm support frame structures.

[0019] As preferred: the rear upper arm structure comprises two upper support arms, the rear lower arm structure comprises two lower support arms, and the corresponding upper support arms and lower support arms are rotatably connected through bearing structures, the two lower support arms are both provided with a diagonal elbow portion, a cross rod is arranged at the inflection point of the two diagonal elbow portions and is connected with the two diagonal elbow portions, and the lower support arms are rotatably connected with the upper support arms through the diagonal elbow portions.

[0020] One of the upper support arms is fixedly connected with the side surface of the rear arm driving wheel, and the other upper support arm is provided with a rotating shell at the end portion, an annular boss is arranged on the outer side portion of the U-shaped mounting frame, the inner side edge of the rotating shell is rotatably installed on the annular boss through a bearing structure, and the absolute encoder B is installed on the side portion of the annular boss.

[0021] The utility model discloses a beneficial effect is: because in the process of natural gait walking mainly needs the footboard body structure to rotate forward and backward to adapt the rhythm of the shift of body gravity, and the footboard body structure needs to have the support of the up and down elastic to satisfy the torque of the walking of climbing, the foot of human body realizes through the arch and the toe, and the general robot realizes through the bending knee joint part, and the design realizes through the drive forward arm structure rotation footboard body structure downward pressure, in this process, the rear lower arm structure will rotate around the rear upper arm structure rotating joint and follow the rotation, and the rear upper arm structure will not rotate, the footboard body structure rotates forward and backward to adapt the rhythm of the shift of body gravity realizes through the rear upper arm structure rotation, and the rear upper arm structure rotation will drive the rear lower arm structure to push the footboard body structure one end and press down or lift, and the movable connection position of the front arm structure on the footboard body structure is earlier than the movable connection position of the rear arm structure, under the condition that the front arm structure is relatively immobile, namely, the footboard body structure rotates forward and backward and stands on the toes around the movable connection position of the front arm structure, of course, in the actual walking process, the climbing foot and the standing on the toes are realized in the synchronous cooperation, but the principle that the front arm structure rotation controls the climbing foot stroke and the rear upper arm structure rotation controls the standing on the toes stroke is identical, so the ankle joint shaft structure end part radial magnet A rotates relative to the absolute encoder A fixed installation of the leg support structure bottom, thereby realizing the real-time detection feedback of the rotation angle of the front arm structure, and the front arm drive device output accurate control feedback is convenient, then the rear upper arm structure passes through the mode of setting synchronous rotation's double arm support frame structure, one support arm is connected with the rear arm drive wheel side, receives the motion control, and the other support arm is rotatably connected with the leg support structure bottom, enhances the structural stability, and sets up radial magnet B in the rotatable casing of rotatable connection, realizes the real-time detection feedback of the rotation angle of the rear upper arm structure through the rotation of radial magnet B relative to absolute encoder B, and the rear arm drive device output accurate control feedback is convenient, so that the accurate rotation angle detection of two coaxial independent rotation parts is realized, and mutual interference is not had. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the side surface structure schematic diagram of the whole utility model.

[0023] Figure 2 It is the three-dimensional structure schematic diagram of the whole utility model.

[0024] Figure 3 It is the front side cross section schematic diagram of the whole utility model.

[0025] Figure 4 It is the schematic diagram of the whole utility model implementation.

[0026] Leg support structure 1; foot plate body structure 2; front support arm structure 3; rear support arm structure 4; ankle joint shaft structure 5;

[0027] Thigh support 11; calf support 12; U-shaped mounting bracket 13; annular boss 14; absolute encoder A 15; absolute encoder B 16;

[0028] Rear upper support arm structure 41; rear lower support arm structure 42;

[0029] Front support arm driving wheel 301; front support arm driving device 302;

[0030] Rear support arm driving wheel 401; rear support arm driving device 402;

[0031] First ankle joint half shaft 51; second ankle joint half shaft 52. DETAILED DESCRIPTION

[0032] The advantages and features of the present application will be more easily understood by those skilled in the art from the preferred embodiments of the present application described below in conjunction with the accompanying drawings, so as to make the scope of protection of the present application more clear and explicit.

[0033] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0034] In the description of the present application, it should also be noted that unless otherwise explicitly specified and limited, the terms "provided", "mounted", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected, it can be directly connected, or it can be connected through an intermediate medium, it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. EMBODIMENT

[0035] As Figure 1 , Figure 2 , Figure 3 And Figure 4The angle measuring device of the coaxial double-drive wheel of the robot foot is shown: a leg support structure 1 and a foot plate body structure 2 are provided, an ankle joint shaft structure 5 is rotatably installed at the bottom of the leg support structure 1, two drive wheel structures are installed on the ankle joint shaft structure 5, one of which is rotatably connected with the ankle joint shaft structure 5 or the other drive wheel structure, and the other drive wheel structure is fixedly connected with the ankle joint shaft structure 5, and the two drive wheel structures are respectively fixedly connected with a front arm structure 3 and a rear arm structure 4; and the two drive wheel structures are respectively a front arm drive wheel 301 and a rear arm drive wheel 401, and the front arm drive wheel 301 and the rear arm drive wheel 401 are respectively drivingly connected with a front arm driving device 302 and a rear arm driving device 402.

[0036] The front arm driving device 302 and the rear arm driving device 402 are motor module driven, and the front arm driving device 302 and the front arm drive wheel 301 are drivingly connected through a connecting rod or a tendon rope drive pair; the rear arm driving device 402 and the rear arm drive wheel 401 are drivingly connected through a connecting rod or a tendon rope drive pair. The front arm driving device 302 and the front arm drive wheel 301 are mainly drivingly connected through a tendon rope drive pair, the output end of the front arm driving device 302 is connected with a chain wheel or a synchronous belt wheel, the tendon rope drive pair is composed of a chain or a synchronous belt and a non-elastic rope connected at both ends of the chain or the synchronous belt, the chain or the synchronous belt is matched with the chain wheel or the synchronous belt wheel, and the non-elastic rope is sleeved on the front arm drive wheel 301 to form a rotary transmission system; the rear arm drive wheel 401 and the rear arm driving device 402 are arranged in the same way, so as to control the rotation of the front arm structure 3 and the rear arm structure 4 respectively.

[0037] The rear arm structure 4 is composed of a rear upper arm structure 41 and a rear lower arm structure 42, the front arm structure 3 and the rear arm structure 4 are used for active control connection with the foot plate body structure 2, and the active connection position of the front arm structure 3 on the foot plate body structure 2 is forward relative to the active connection position of the rear arm structure 4, the foot plate body structure 2 is a narrow foot plate, and the bottom of the narrow foot plate is uniformly provided with circular arc-shaped ground-touching rubber heads, which is beneficial to walking and facilitates the design of the appearance shell wrapping the foot plate body structure 2.

[0038] An absolute encoder A15 is installed on one side of the bottom of the leg support structure 1, and a radial magnet A is arranged on the end face of the ankle joint shaft structure 5 and is aligned with the absolute encoder A15; the rear upper support arm structure 41 or the front support arm structure 3 is composed of two support arms, one of which is fixedly connected with the side of the driving wheel structure connected in rotation, and the other end of the other support arm is provided with a rotating shell which is rotatably installed on the other side of the bottom of the leg support structure 1, and a radial magnet B is installed in the rotating shell, and an absolute encoder B16 is installed on the other side of the bottom of the leg support structure 1, and the absolute encoder B16 is arranged in alignment with the radial magnet B, so that the rotation angle of the two driving wheel structures is measured by the cooperation of the radial magnet A and the absolute encoder A15 and the cooperation of the absolute encoder B16 and the radial magnet B, and the rotation angle of the front support arm structure 3 and the rear support arm structure 4 is measured, so that more accurate real-time feedback is realized when the front support arm structure 3 and the rear support arm structure 4 are controlled.

[0039] The front support arm structure 3 is a single-arm support structure, and the rear upper support arm structure 41 and the rear lower support arm structure 42 are both double-arm support frame structures; specifically, the rear upper support arm structure 41 is composed of two upper support arms, and the rear lower support arm structure 42 is composed of two lower support arms, and the corresponding upper support arms and lower support arms are rotatably connected through bearing structures, the two lower support arms each have a diagonal elbow portion, and a cross bar is arranged at the elbow point of the two diagonal elbow portions and connects the two diagonal elbow portions, and the lower support arm is rotatably connected to the upper support arm through the diagonal elbow portion; one of the upper support arms is fixedly connected with the side of the rear support arm driving wheel 401, and the other end of the other upper support arm is provided with a rotating shell, and a ring-shaped boss 14 is arranged on one outer side of the U-shaped mounting bracket 13, the inner edge of the rotating shell is rotatably installed on the ring-shaped boss 14 through a bearing structure, and the absolute encoder B16 is installed on the side of the ring-shaped boss 14.

[0040] The main body length of the front support arm structure 3, the rear upper support arm structure 41 and the rear lower support arm structure 42 is 50mm-100mm, and here the main body length refers to the distance between the two rotating shafts, because the support arm structure may not be a standard long strip shape, but may be other special shapes, and the main body length of the front support arm structure 3 is the same as that of the rear lower support arm structure 42, or the main body length of the front support arm structure 3 is smaller than that of the rear lower support arm structure 42.

[0041] The leg support structure 1 includes a thigh support 11 and a calf support 12, and the thigh support 11 is rotatably installed on the top of the calf support 12 through a knee joint shaft, and the calf support 12 is provided with a U-shaped mounting bracket 13 at the bottom, and the front support arm structure 3 and the rear support arm structure 4 are installed on the U-shaped mounting bracket 13 through the ankle joint shaft structure 5.

[0042] The ankle joint shaft structure 5 comprises a first ankle joint half shaft 51 and a second ankle joint half shaft 52, which are respectively rotatably connected with the two side portions of the U-shaped mounting frame 13 through bearing structures, the center of the two sides of the front arm driving wheel 301 is provided with a joint half shaft mounting slot hole, the first ankle joint half shaft 51 and the second ankle joint half shaft 52 are respectively installed in the joint half shaft mounting hole and are tightly fixed through screw structures, and the side portion of the front arm driving wheel 301 has a stepped sleeve portion, and the rear arm driving wheel 401 is rotatably installed in the stepped sleeve portion through a bearing structure, so that the structure is more stable

[0043] The realization principle is as follows: in the process of natural gait walking, the foot plate body structure 2 needs to rotate forward and backward to adapt to the rhythm of the body weight transfer, and the foot plate body structure 2 needs to have upward and downward elastic support force to meet the torque of walking, the human foot is realized through the arch and the toes, and a general robot is realized through bending the knee joint part to lift the leg, the design realizes downward pressing of the foot plate body structure 2 by driving the front arm structure 3 to rotate, in this process, the rear lower arm structure 42 rotates around the joint with the rear upper arm structure 41 to follow the rotation, and the rear upper arm structure 41 does not rotate; the rotation of the rear upper arm structure 41 drives the rear lower arm structure 42 to push one end of the foot plate body structure 2 to press downward or lift upward, the active connection position of the front arm structure 3 on the foot plate body structure 2 is forward relative to the active connection position of the rear arm structure 4, under the condition that the front arm structure 3 is relatively stationary, that is, the foot plate body structure 2 rotates forward and backward on the toes around the active connection position of the front arm structure 3; of course, in the actual walking process, the lifting of the foot and the rotation of the toes are realized synchronously, but the principle of the front arm structure 3 rotating to control the lifting stroke is the same as that of the rear upper arm structure 41 rotating to control the rotation stroke of the toes, so that the radial magnet A at the end of the ankle joint shaft structure 5 rotates relative to the absolute encoder A15 fixedly installed at the bottom of the leg support structure 1, so as to realize real-time monitoring and feedback of the rotation angle of the front arm structure 3, and the front arm driving device 302 can output accurate control feedback; then the rear upper arm structure 41 is provided with a double-arm support frame structure rotating synchronously, one support arm is connected with the side of the rear arm driving wheel 401 (or the front arm structure 3 in the same way) to receive motion control, and the other support arm is rotatably connected with the bottom of the leg support structure 1, so as to enhance the structural stability, at the same time, a radial magnet B is arranged in the rotatable shell of the rotatable connection, the radial magnet B rotates relative to the absolute encoder B16 to realize real-time monitoring and feedback of the rotation angle of the rear upper arm structure 41, so as to facilitate the rear arm driving device 402 to output accurate control feedback, so that the accurate rotation angle detection of the two coaxial independent rotating parts is realized, and they do not interfere with each other.

[0044] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims.

Claims

1. An angle measurement device for a robot foot coaxial dual drive wheel, characterized by: It includes leg support structure (1) and foot plate body structure (2), the ankle joint shaft structure (5) is rotatably installed at the bottom of the leg support structure (1), two drive wheel structures are installed on the ankle joint shaft structure (5), one of which is rotatably connected with the ankle joint shaft structure (5) or the other drive wheel structure, and the other drive wheel structure is fixedly connected with the ankle joint shaft structure (5), and the two drive wheel structures are respectively fixedly connected with the front support arm structure (3) and the rear support arm structure (4); The rear support arm structure (4) is rotatably connected by the rear upper support arm structure (41) and the rear lower support arm structure (42), and the front support arm structure (3) and the rear support arm structure (4) are used to be movably connected with the foot plate body structure (2), and the movable connection position of the front support arm structure (3) on the foot plate body structure (2) is forward relative to the movable connection position of the rear support arm structure (4); An absolute encoder A (15) is installed on one side of the bottom of the leg support structure (1), and a radial magnet A is arranged on the end face of the ankle joint shaft structure (5), which is aligned with the absolute encoder A (15); The rear upper support arm structure (41) or the front support arm structure (3) is composed of two support arms, one of which is fixedly connected with the rotatably connected drive wheel structure side, and the other support arm end is provided with a rotating shell rotatably installed on the other side of the bottom of the leg support structure (1), a radial magnet B is arranged in the rotating shell, and an absolute encoder B (16) is installed on the other side of the bottom of the leg support structure (1), and the absolute encoder B (16) is arranged in alignment with the radial magnet B.

2. The angle measurement device of a robotic foot coaxial double drive wheel according to claim 1, characterized in that: The two drive wheel structures are respectively a front support arm drive wheel (301) and a rear support arm drive wheel (401), and the front support arm drive wheel (301) and the rear support arm drive wheel (401) are respectively drivingly connected with a front support arm driving device (302) and a rear support arm driving device (402).

3. The angle measurement device of a robotic foot coaxial double drive wheel according to claim 2, characterized in that: The front support arm driving device (302) and the rear support arm driving device (402) are motor module drives, and the front support arm driving device (302) and the front support arm drive wheel (301) are drivingly connected through a connecting rod or a tendon rope drive pair; the rear support arm driving device (402) and the rear support arm drive wheel (401) are drivingly connected through a connecting rod or a tendon rope drive pair.

4. The angle measurement device of a robotic foot coaxial double drive wheel according to claim 3, characterized in that: The front support arm driving device (302) and the front support arm drive wheel (301) are drivingly connected through a tendon rope drive pair, the output end of the front support arm driving device (302) is connected with a chain wheel or a synchronous belt wheel, the tendon rope drive pair is composed of a chain or a synchronous belt and a non-elastic rope connected at both ends of the chain or the synchronous belt, the chain or the synchronous belt is matched with the chain wheel or the synchronous belt wheel, and the non-elastic rope is sleeved on the front support arm drive wheel (301) to form a rotary transmission system.

5. The angle measurement device of a robotic foot coaxial double drive wheel according to any one of claims 1-4, characterized in that: The main body length of the front arm structure (3), the rear upper arm structure (41) and the rear lower arm structure (42) is 50-100 mm, and the main body length of the front arm structure (3) is the same as that of the rear lower arm structure (42), or the main body length of the front arm structure (3) is smaller than that of the rear lower arm structure (42).

6. The angle measurement device of a robotic foot coaxial double drive wheel according to claim 5, characterized in that: The foot plate body structure (2) is a narrow foot plate, and the bottom of the narrow foot plate is uniformly provided with a circular arc-shaped ground-touching rubber head.

7. The angle measurement device of a robotic foot coaxial double drive wheel according to any one of claims 2-4, characterized in that: The leg support structure (1) comprises a thigh support (11) and a calf support (12), the thigh support (11) is rotatably installed at the top of the calf support (12) through a knee joint shaft, the bottom of the calf support (12) is provided with a U-shaped mounting bracket (13), and the front arm structure (3) and the rear arm structure (4) are installed on the U-shaped mounting bracket (13) through an ankle joint shaft structure (5).

8. The robotic foot coaxial dual drive wheel angle measurement apparatus of claim 7, wherein: The ankle joint shaft structure (5) comprises a first ankle joint half shaft (51) and a second ankle joint half shaft (52), the first ankle joint half shaft (51) and the second ankle joint half shaft (52) are rotatably connected to the two sides of the U-shaped mounting bracket (13) through bearing structures, the center of the two sides of the front arm driving wheel (301) is provided with a joint half shaft mounting slot hole, the first ankle joint half shaft (51) and the second ankle joint half shaft (52) are respectively installed in the joint half shaft mounting hole and are tightly fixed through screw structures, the front arm driving wheel (301) has a stepped sleeve part on one side, and the rear arm driving wheel (401) is rotatably installed on the stepped sleeve part through a bearing structure.

9. The robotic foot coaxial dual drive wheel angle measurement apparatus of claim 8, wherein: The front arm structure (3) is a single-arm support structure, and the rear upper arm structure (41) and the rear lower arm structure (42) are double-arm support frame structures.

10. The robotic foot coaxial dual drive wheel angle measurement apparatus of claim 9, wherein: The rear upper arm structure (41) comprises two upper support arms, the rear lower arm structure (42) comprises two lower support arms, and the corresponding upper support arms and lower support arms are rotatably connected through bearing structures, the two lower support arms have inclined elbow parts, and a cross rod is arranged at the inflection points of the two inclined elbow parts and is connected to the two inclined elbow parts, and the lower support arms are rotatably connected to the upper support arms through the inclined elbow parts. One of the upper support arms is fixedly connected to the side of the rear arm driving wheel (401), the other upper support arm is provided with a rotating shell at the end, an annular boss (14) is arranged on the outer side of the U-shaped mounting bracket (13), the inner side edge of the rotating shell is rotatably installed on the annular boss (14) through a bearing structure, and the absolute encoder B (16) is installed on the side of the annular boss (14).

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