High-precision walking motion controller for robot

Abstract

The utility model provides a high-precision walking motion controller for a robot, which comprises an outer box, a bottom groove is formed in the inner wall of the bottom of the outer box, a first step groove is formed in the inner wall of the top of the outer box, a motion controller is fixed in the first step groove, and a second step groove is formed in the inner wall of the top of the outer box. A top cover covers the top of the second step groove, pressing clamping assemblies are arranged on the outer walls of the four corners of the bottom of the top cover, and a circulating water cooling assembly is arranged on the inner wall of the bottom of the outer box. The motion controller is integrally installed in the outer box and top cover structure, through the arrangement of the pressing clamping assembly, the top cover is pressed into a second step groove in a covering mode, a clamping block can be clamped into a clamping opening under the action of a first spring, clamping and fixing of the top cover are completed, a pressing block presses the motion controller under the action of a second spring, and therefore the motion controller can be clamped and fixed. The motion controller is stably installed in the outer box, and the function of comprehensively protecting the motion controller is achieved.

Description

Technical Field

[0001] This utility model relates to the field of motion controller technology, and more specifically, to a high-precision walking motion controller for robots. Background Technology

[0002] Motion control typically refers to the transformation of predetermined control schemes and planned instructions into desired mechanical motion under complex conditions, achieving precise position control, speed control, acceleration control, torque or force control of mechanical motion. Motion controllers play a core role in industrial automation, robotics, CNC machine tools, servo drives, and other fields. High-precision robot motion controllers are core components for achieving stable, flexible, and precise movement, especially crucial in complex terrain, industrial automation, or service robot scenarios. The development of high-precision robot motion controllers involves the interdisciplinary integration of multiple fields, and its history is closely related to advancements in robotics, control theory, sensor technology, and computing hardware. (Patent: CN) 221111844U discloses a high-precision walking motion controller for robots. This controller includes a chassis, a power supply, left and right wheels, a left high-speed motor and a right high-speed motor for controlling robot movement, and a motor drive controller. The power supply is mounted on top of the chassis. The left high-speed motor is directly driven to the left wheel of the robot, and the right high-speed motor is directly driven to the right wheel of the robot. The left and right high-speed motors are symmetrically arranged about the central axis of the chassis.

[0003] While existing high-precision motion controllers for robots are relatively well-developed, their structures lack comprehensive protection. Furthermore, the traditional outer casing of motion controllers has a top cover that cannot be easily opened, hindering maintenance and repair, making wiring difficult, and compromising the neat arrangement of wires. Additionally, traditional motion controllers lack the capability for circulating water cooling. Therefore, we propose an improved high-precision motion controller for robots. Summary of the Invention

[0004] The purpose of this utility model is to address the problems of existing high-precision walking motion controller structures for robots that lack comprehensive protection capabilities, and the fact that the top cover of the traditional outer protective box structure used for motion controllers cannot be easily opened, which is not conducive to the inspection and maintenance of the motion controller, cannot be easily wired, and cannot ensure the neat arrangement of the wiring. Furthermore, the traditional motion controller structure does not have the ability to circulate water cooling.

[0005] To achieve the above-mentioned objectives, this utility model provides the following technical solution:

[0006] The robot uses a high-precision walking motion controller to improve the above problems.

[0007] The application is as follows:

[0008] The device includes an outer box, a bottom groove on the bottom inner wall of the outer box, a first step groove on the top inner wall of the outer box, a motion controller body fixed inside the first step groove, a second step groove on the top inner wall of the outer box, a top cover on the top of the second step groove, a pressure-holding and clamping assembly on the bottom four corners of the bottom outer wall of the top cover, and a circulating water cooling assembly on the bottom inner wall of the outer box.

[0009] As a preferred technical solution of this application, the pressing and clamping assembly includes insert blocks distributed and fixed on the four corner outer walls of the bottom of the top cover. An inner groove is formed on the inner wall of the bottom end of the insert block. A first spring is provided inside the inner groove. A limiting block is provided on the inner wall of the inner groove on one side of the first spring. A locking block is fixed on one side of the outer wall of the limiting block. A bevel is formed on the outer wall of one end of the locking block. A locking slot is formed on the four corner inner walls of the second stepped groove corresponding to the locking block. A pull rope is fixed on one side of the outer wall of the limiting block. One end of the pull rope passes through the first spring and extends through the outside of the insert block. A through hole is formed at the center of the top outer wall of the top cover. A pull rod is inserted into the through hole. A pull handle is fixed at the top of the pull rod. A pressure block is fixed at the bottom of the pull rod. A second spring is fitted on the outer wall of the pull rod between the pressure block and the top cover. The top two outer walls of the pressure block are respectively connected to the ends of the pull ropes on both sides. A soft pad is fixed on the bottom outer wall of the pressure block.

[0010] As a preferred technical solution of this application, the circulating water cooling assembly includes a folded heat absorption pipe laid and fixed on the inner wall of the bottom of the bottom tank, a water tank fixed on one side of the outer wall of the outer box, one end of the folded heat absorption pipe connected to a liquid inlet pipe, and the other end of the liquid inlet pipe connected to the inside of the water tank, a heat exchanger fixed on one side of the outer wall of the outer box, the other end of the folded heat absorption pipe connected to a liquid outlet pipe, one end of the liquid outlet pipe connected to the liquid inlet of the heat exchanger, the liquid outlet of the heat exchanger connected to a return pipe, and one end of the return pipe connected to the inside of the water tank, a liquid pump installed through the middle of the return pipe, and the liquid pump fixed on the outer wall of the heat exchanger.

[0011] As a preferred technical solution of this application, positioning posts are fixed on the four outer walls at the bottom of the first step groove, and positioning holes are opened through the four outer walls at the top of the motion controller body.

[0012] As a preferred technical solution of this application, a wiring groove is provided on the outer wall of the top side of the outer box, an L-shaped frame is fixed on the outer wall of the top side of the pressure block, a pressure plate is fixed on the outer wall of the bottom end of the L-shaped frame, and wire pressing grooves are distributed on the outer wall of the bottom of the pressure plate.

[0013] As a preferred technical solution of this application, the pressure plate is inserted into the inside of the wiring groove, and a sponge pad is attached to the inner wall of the pressure groove.

[0014] As a preferred technical solution of this application, a third step groove is provided on the top outer wall of the top cover corresponding to the handle, and the two ends of the handle are rotatably connected to the handle.

[0015] As a preferred technical solution of this application, the card block and the slot are a mating component, and the card block is fitted inside the slot.

[0016] As a preferred technical solution of this application, each of the insert blocks is fixed with a compression spring on its bottom outer wall.

[0017] As a preferred technical solution of this application, the interior of the water tank is filled with coolant, and an injection port is installed through the top outer wall of the water tank.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0019] In the scheme of this application:

[0020] 1. The robot uses a high-precision walking motion controller, which is installed inside the outer box and top cover structure. Through the setting of the clamping and mounting components, the top cover is pressed and closed into the second step groove. Under the action of the first spring, the locking block will engage with the slot, completing the locking and fixing of the top cover. The pressure block, under the action of the second spring, holds the motion controller, making the motion controller firmly installed in the outer box, which plays a role in the comprehensive protection of the motion controller. Later, by pulling the upper handle, the locking block and slot can be easily released, and the top cover can be opened easily, which facilitates the inspection and maintenance of the motion controller.

[0021] 2. During the wiring process of the high-precision walking motion controller used in this robot, the external wires are arranged and passed out through the wire pressing groove. During the closing of the top cover through the pressing and clamping component structure, the pressure plate moves down and inserts into the wire pressing groove. Under the action of the second spring, the pressure block, L-shaped frame and the entire pressure plate structure are reset and pressed down, so that the pressure plate presses and fixes the external wires arranged and passed out in the wire pressing groove. The setting of the wire pressing groove facilitates the neat arrangement of the external wires, making the wiring of the motion controller convenient and ensuring the neat arrangement of the wiring.

[0022] 3. By incorporating a circulating water cooling system, the robot's high-precision walking motion controller operates by controlling a liquid pump. The pump draws coolant from the tank into a folded heat-absorbing pipe, which is positioned at the bottom of the motion controller. As the coolant flows through the heat-absorbing pipe, it absorbs the heat generated by the motion controller. The cooled coolant then exits through an outlet pipe into a heat exchanger, where it exchanges heat with the external environment, thus dissipating the heat. Finally, the cooled coolant returns to the tank through a return pipe, achieving circulating water cooling for the motion controller. This significantly improves the heat dissipation effect and ensures long-term stable operation of the motion controller. Attached Figure Description

[0023] Figure 1 A three-dimensional structural diagram of the high-precision walking motion controller for robots provided in this application;

[0024] Figure 2 A side view sectional structural diagram of the high-precision walking motion controller for robots provided in this application;

[0025] Figure 3 for Figure 2 Enlarged view of the structure of region A in the middle;

[0026] Figure 4 for Figure 2 Enlarged view of the structure of region B in the middle;

[0027] Figure 5 for Figure 1 Enlarged view of the structure of region C in the middle;

[0028] Figure 6 for Figure 1 Enlarged view of the structure of region D in the middle;

[0029] Figure 7 A three-dimensional structural diagram of the pressure block structure in the high-precision walking motion controller for robots provided in this application;

[0030] Figure 8 for Figure 1 Enlarged view of the structure of region E in the middle.

[0031] The image shows:

[0032] 1. Outer box; 2. Bottom groove; 3. First step groove; 4. Motion controller body; 5. Second step groove; 6. Top cover; 7. Press-fit assembly; 8. Circulating water cooling assembly; 9. Positioning post; 10. Positioning hole; 11. Wiring groove; 12. L-shaped bracket; 13. Pressure plate; 14. Wire clamping groove; 15. Third step groove; 16. Handle; 17. Press-fit spring; 18. Liquid injection port;

[0033] 701. Insert block; 702. Inner groove; 703. First spring; 704. Limiting block; 705. Locking block; 706. Inclined surface; 707. Bayonet; 708. Pull rope; 709. Through hole; 710. Pull rod; 711. Pull handle; 712. Pressure block; 713. Second spring; 714. Soft pad;

[0034] 801. Folded heat absorption tube; 802. Water tank; 803. Liquid inlet pipe; 804. Heat exchanger; 805. Liquid outlet pipe; 806. Liquid return pipe; 807. Liquid pump. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model.

[0036] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely to illustrate some embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0037] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0038] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0039] In the description of this utility model, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0040] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, this embodiment proposes a high-precision walking motion controller for robots, including an outer box 1. A bottom groove 2 is formed on the bottom inner wall of the outer box 1, and a first step groove 3 is formed on the top inner wall of the outer box 1. The motion controller body 4 is fixed inside the first step groove 3. A second step groove 5 is formed on the top inner wall of the outer box 1, and a top cover 6 is closed on the top of the second step groove 5. Press-holding and clamping components 7 are provided on the bottom four corner outer walls of the top cover 6, and a circulating water cooling component 8 is provided on the bottom inner wall of the outer box 1.

[0041] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, in a preferred embodiment, based on the above method, the pressing and clamping assembly 7 further includes insert blocks 701 distributed and fixed on the outer walls of the four corners of the bottom of the top cover 6. An inner groove 702 is formed on the inner wall of the bottom end of the insert block 701. A first spring 703 is disposed inside the inner groove 702. A limiting block 704 is provided on the inner wall of the inner groove 702 on one side of the first spring 703. A locking block 705 is fixed on one side of the outer wall of the limiting block 704. The locking block 705 penetrates through the outer wall of one end of the insert block 701 and has a bevel 706. A locking slot 707 is formed on the inner wall of the four corners of the second stepped groove 5 corresponding to the locking block 705. The outer wall of one side of the limiting block 704... A pull rope 708 is fixed to the top, passing through one end of the first spring 703 and extending through the outside of the insert block 701. A through hole 709 is formed at the center of the top outer wall of the top cover 6, and a pull rod 710 is inserted inside the through hole 709. A handle 711 is fixed to the top of the pull rod 710, and a pressure block 712 is fixed to the bottom of the pull rod 710. A second spring 713 is fitted on the outer wall of the pull rod 710 between the pressure block 712 and the top cover 6. The top two outer walls of the pressure block 712 are connected to the ends of the pull ropes 708 on both sides, and a soft pad 714 is fixed to the bottom outer wall of the pressure block 712. This robot uses a high-precision walking motion controller to replace the traditional motion controller. Based on the existing structure, an outer box 1 is installed, and the motion controller is installed in the first step groove 3. Then, the top cover 6 is installed on the top of the outer box 1. During the process, the top cover 6 is aligned and pressed into the second step groove 5. The inclined surface 706 at the end of the locking block 705 contacts the outer wall of the outer box 1 under force, causing the locking block 705 to move laterally and retract into the inner groove 702 of the insert block 701. During this process, the limiting block 704 will compress the first spring 703. After the top cover 6 is pressed down and closed, when the locking block 705 and the latch 707 are aligned, the locking block 705 will be reset and popped out under the action of the first spring 703, so that the locking block 705 is locked into the latch 707, completing the locking and fixing of the top cover 6. When the top cover 6 is closed, the pressure block 712, under the action of the second spring 713, presses against the middle outer wall of the motion controller, making the motion controller securely installed in the outer box 1, thus providing comprehensive protection for the motion controller. During the later maintenance and repair of the motion controller, the user can pull the handle 711 and the pull rod 710 to move the pressure block 712 upward. The pressure block 712 pulls the pull ropes 708 on both sides, and the pull ropes 708 move the limit block 704 and the locking block 705 to retract into the inner groove 702, thereby releasing the locking block 705 and the locking slot 707, making it easy to open the top cover and facilitating the maintenance and repair of the motion controller.

[0042] like Figure 1 , Figure 5 and Figure 6As shown, in a preferred embodiment, based on the above method, the circulating water cooling assembly 8 further includes a folded heat-absorbing pipe 801 laid and fixed on the inner wall of the bottom of the bottom tank 2, a water tank 802 fixed on one side of the outer wall of the outer box 1, one end of the folded heat-absorbing pipe 801 connected to an inlet pipe 803, and one end of the inlet pipe 803 connected to the inside of the water tank 802, a heat exchanger 804 fixed on one side of the outer wall of the outer box 1, the other end of the folded heat-absorbing pipe 801 connected to an outlet pipe 805, one end of the outlet pipe 805 connected to the inlet end of the heat exchanger 804, the outlet end of the heat exchanger 804 connected to a return pipe 806, and one end of the return pipe 806 connected to the inside of the water tank 802, a liquid pump 807 installed through the middle of the return pipe 806, and the liquid pump 807 fixed to the heat exchanger. On the outer wall of device 804, during the operation of the high-precision walking motion controller, the control pump 807 operates, and under the suction action, the coolant in the water tank 802 is input into the folded heat absorption pipe 801 through the liquid inlet pipe 803. The folded heat absorption pipe 801 is laid at the bottom of the motion controller. During the flow of the coolant in the folded heat absorption pipe 801, it absorbs the heat generated by the motion controller. After absorbing heat, the coolant is input into the heat exchanger 804 through the liquid outlet pipe 805. After absorbing heat, the coolant exchanges heat with the external environment, realizing the heat dissipation of the coolant after absorbing heat. After dissipating heat, the coolant flows back into the water tank 802 through the liquid return pipe 806, realizing the circulating water cooling of the motion controller, which greatly improves the heat dissipation effect of the motion controller and is conducive to the long-term stable operation of the motion controller.

[0043] like Figure 1 and Figure 6 As shown, in a preferred embodiment, based on the above method, a positioning post 9 is fixed on the bottom four corner outer wall of the first step groove 3, and a positioning hole 10 is provided through the top four corner outer wall of the motion controller body 4. During the installation of the motion controller body 4 in the outer box 1, the positioning hole 10 on the motion controller body 4 is aligned and fitted onto the positioning post 9, which plays the role of positioning the motion controller body 4 and preventing the motion controller body 4 from shifting inside the outer box 1 during use. With the pressing of the pressure block 712, the installation of the motion controller body 4 is more stable.

[0044] like Figure 1 , Figure 6 and Figure 7As shown, in a preferred embodiment, based on the above method, a wiring groove 11 is further provided on the outer wall of the top side of the outer box 1, an L-shaped frame 12 is fixed on the outer wall of the top side of the pressure block 712, a pressure plate 13 is fixed on the outer wall of the bottom end of the L-shaped frame 12, and wire pressing grooves 14 are distributed on the outer wall of the bottom of the pressure plate 13. During the wiring process of the high-precision walking motion controller of the robot, the external wires are arranged and passed out through the wire pressing grooves 14. During the closing process of the top cover 6, the pressure plate 13 moves down and inserts into the wire pressing groove 14. Under the action of the second spring 713, the pressure block 712, the L-shaped frame 12 and the pressure plate 13 are driven to reset and press down, so that the pressure plate 13 presses and fixes the external wires arranged and passed out in the wire pressing groove 14. The setting of the wire pressing groove 14 facilitates the neat arrangement of the external wires, making the wiring of the motion controller convenient and ensuring the neat arrangement of the wiring.

[0045] like Figure 7 As shown, in a preferred embodiment, based on the above method, the pressure plate 13 is further inserted into the inside of the wiring groove 11, and a sponge pad is attached to the inner wall of the pressure groove 14. The sponge pad is provided to avoid damaging the external wiring.

[0046] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, in a preferred embodiment, based on the above method, a third step groove 15 is further provided on the top outer wall of the top cover 6 corresponding to the handle 711. The two ends of the handle 711 are rotatably connected to the handles 16, which facilitates the lifting of the handle 711. The handle 711 and the handles 16 are stored in the third step groove 15, ensuring the flatness of the top of the top cover 6.

[0047] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, in a preferred embodiment, based on the above method, the locking block 705 and the locking slot 707 are further considered as a mating component, and the locking block 705 is fitted inside the locking slot 707. The locking of the top cover 6 can be efficiently and conveniently fixed by the engagement of the locking block 705 and the locking slot 707.

[0048] like Figure 1 and Figure 8As shown, in a preferred embodiment, based on the above method, a pressure spring 17 is fixed on the bottom outer wall of the insert 701. During the closing of the top cover 6, the insert 701 and the pressure spring 17 below it will press against the four corner outer walls of the top of the motion controller to ensure the stable installation of the motion controller.

[0049] like Figure 1 and Figure 5 As shown, in a preferred embodiment, based on the above method, the interior of the water tank 802 is filled with coolant, and an injection port 18 is installed through the top outer wall of the water tank 802, through which the coolant in the water tank 802 can be replenished.

[0050] Specifically, during operation / use of the high-precision walking motion controller for this robot: Based on the traditional motion controller structure, an outer box 1 is added, and the motion controller is installed in the first step groove 3. Then, the top cover 6 is installed on the top of the outer box 1. During this process, the top cover 6 is aligned and pressed into the second step groove 5. The positioning holes 10 on the motion controller body 4 are aligned and fitted onto the positioning posts 9, serving to position the motion controller body 4 and prevent displacement of the motion controller body 4 within the outer box 1 during use. The top cover 6 is then installed on the top of the outer box 1, aligned and pressed into the second step groove 5. The inclined surface 706 at the end of the locking block 705 is in contact with the outer wall of the outer box 1. When the force is applied, the locking block 705 will retract laterally into the inner groove 702 of the insert block 701. During this process, the limiting block 704 will compress the first spring 703. After the top cover 6 is pressed down and closed, when the locking block 705 and the latch 707 are aligned, the locking block 705 will be reset and popped out under the action of the first spring 703, so that the locking block 705 is locked into the latch 707, completing the locking and fixing of the top cover 6. When the top cover 6 is closed, the pressure block 712 will press against the middle outer wall of the motion controller under the action of the second spring 713, so that the motion controller is stably installed in the outer box 1, which plays a role in the comprehensive protection of the motion controller. During the wiring process, the external wires are arranged and passed out through the wire pressing groove 14. During the closing of the top cover 6, the pressure plate 13 moves down and inserts into the pressure plate 14. Inside the wire groove 14, under the action of the second spring 713, the pressure block 712, L-shaped frame 12, and pressure plate 13 are reset and pressed down, so that the pressure plate 13 holds and fixes the external wires arranged in the wire groove 14. The setting of the wire groove 14 facilitates the neat arrangement of the external wires, making the wiring of the motion controller convenient and ensuring the neat arrangement of the wiring. During use, the control liquid pump 807 works, and under the suction action, the coolant in the water tank 802 is input into the folded heat absorption pipe 801 through the liquid inlet pipe 803. The folded heat absorption pipe 801 is laid at the bottom of the motion controller. During the flow of the coolant in the folded heat absorption pipe 801, it absorbs the heat generated by the motion controller. The coolant after heat absorption is input into the heat exchanger through the liquid outlet pipe 805. Inside 804, the coolant, after absorbing heat, exchanges heat with the external environment, thus dissipating the heat. The cooled coolant then flows back to the water tank 802 through the return pipe 806, achieving circulating water cooling for the motion controller. This greatly improves the heat dissipation effect of the motion controller and facilitates its long-term stable operation. During subsequent maintenance and repair of the motion controller, the user can pull the handle 711 upwards, which in turn moves the pressure block 712 upwards via the pull rod 710. The pressure block 712 pulls the pull ropes 708 on both sides, causing the pull ropes 708 to move and retract the limit block 704 and the locking block 705 into the inner groove 702, thereby releasing the locking block 705 from the locking slot 707. This allows for easy opening of the top cover 6, facilitating the maintenance and repair of the motion controller.

[0051] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, the present utility model is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present utility model, and all technical solutions and improvements that do not depart from the spirit and scope of the invention, are covered within the scope of the claims of the present utility model.

Claims

1. A high-precision walking motion controller for a robot, characterized by, The outer box (1) includes a bottom groove (2) on the bottom inner wall of the outer box (1), a first step groove (3) on the top inner wall of the outer box (1), a motion controller body (4) fixed inside the first step groove (3), a second step groove (5) on the top inner wall of the outer box (1), a top cover (6) on the top of the second step groove (5), a pressure-holding and clamping assembly (7) on the bottom four corner outer walls of the top cover (6), and a circulating water cooling assembly (8) on the bottom inner wall of the outer box (1).

2. The high-precision walking motion controller for robots according to claim 1, characterized by, The clamping assembly (7) includes inserts (701) distributed and fixed on the outer walls of the four corners of the bottom of the top cover (6). An inner groove (702) is provided on the inner wall of the bottom end of the insert (701). A first spring (703) is provided inside the inner groove (702). A limit block (704) is provided on the inner wall of the inner groove (702) on one side of the first spring (703). A locking block (705) is fixed on one side of the outer wall of the limit block (704). The locking block (705) has a bevel (706) on the outer wall of one end of the insert (701). A locking slot (707) is provided on the inner wall of the four corners of the second stepped groove (5) corresponding to the locking block (705). The outer wall of the limit block (704) has a bevel (706) on one side of the outer wall. A pull rope (708) is fixed, and one end of the pull rope (708) passes through the first spring (703) and extends through the outside of the insert block (701). A through hole (709) is provided at the center of the top outer wall of the top cover (6), and a pull rod (710) is inserted inside the through hole (709). A handle (711) is fixed at the top of the pull rod (710), and a pressure block (712) is fixed at the bottom of the pull rod (710). A second spring (713) is fitted on the outer wall of the pull rod (710) between the pressure block (712) and the top cover (6). The top two outer walls of the pressure block (712) are respectively connected to the ends of the pull ropes (708) on both sides. A soft pad (714) is fixed on the bottom outer wall of the pressure block (712).

3. The high-precision walking motion controller for robots according to claim 1, characterized by, The circulating water cooling assembly (8) includes a folded heat-absorbing pipe (801) laid and fixed on the inner wall of the bottom of the bottom trough (2). A water tank (802) is fixed on one side of the outer wall of the outer box (1). One end of the folded heat-absorbing pipe (801) is connected to an inlet pipe (803), and one end of the inlet pipe (803) is connected to the inside of the water tank (802). A heat exchanger (804) is fixed on one side of the outer wall of the outer box (1). The folded heat-absorbing pipe (801) The other end of 801 is connected to a liquid outlet pipe (805). One end of the liquid outlet pipe (805) is connected to the liquid inlet of the heat exchanger (804). The liquid outlet of the heat exchanger (804) is connected to a return pipe (806). One end of the return pipe (806) is connected to the inside of the water tank (802). A liquid pump (807) is installed through the middle of the return pipe (806). The liquid pump (807) is fixed on the outer wall of the heat exchanger (804).

4. The high-precision gait controller for robots according to claim 1, wherein Positioning pins (9) are fixed on the bottom four corners of the first step groove (3), and positioning holes (10) are opened through the top four corners of the motion controller body (4).

5. The high-precision gait controller for robots according to claim 2, wherein A wiring groove (11) is provided on the top side outer wall of the outer box (1), an L-shaped frame (12) is fixed on the top side outer wall of the pressure block (712), a pressure plate (13) is fixed on the bottom outer wall of the L-shaped frame (12), and a wire pressing groove (14) is distributed on the bottom outer wall of the pressure plate (13).

6. The high-precision gait controller for robots according to claim 5, wherein The pressure plate (13) is inserted into the inside of the wiring groove (11), and a sponge pad is attached to the inner wall of the pressure groove (14).

7. The high-precision gait controller for robots according to claim 2, wherein The top outer wall of the top cover (6) is provided with a third step groove (15) corresponding to the handle (711), and the two ends of the handle (711) are rotatably connected to the handle (16).

8. The high-precision gait controller for robots according to claim 2, wherein The card block (705) and the bayonet (707) are a mating component, and the card block (705) is fitted inside the bayonet (707).

9. The high-precision gait controller for robots according to claim 2, wherein Each of the inserts (701) has a compression spring (17) fixed on the bottom outer wall.

10. The high-precision gait controller for robots according to claim 3, wherein The interior of the water tank (802) is filled with coolant, and an injection port (18) is installed through the top outer wall of the water tank (802).

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