CN113525548A

CN113525548A - Novel four-footed robot shank joint

Info

Publication number: CN113525548A
Application number: CN202010318910.XA
Authority: CN
Inventors: 赵同阳
Original assignee: Shenzhen Pengxing Intelligent Co ltd
Current assignee: Shenzhen Pengxing Intelligent Co ltd
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2021-10-22

Abstract

The invention provides a novel leg joint of a quadruped robot. Novel quadruped robot shank joint includes the side pendulum motor of installation on the robot body, is connected with the thigh motor on the side pendulum motor, is connected with the shank motor on the thigh motor, and one side of shank motor is connected with the thigh shell, and the bottom of thigh shell is rotated and is connected with the shank, and the foot shell is installed to the bottom of shank. The novel four-legged robot leg joint provided by the invention has the advantages of simple structure, high transmission precision and high efficiency.

Description

Novel four-footed robot shank joint

Technical Field

The invention relates to the technical field of robots, in particular to a novel leg joint of a quadruped robot.

Background

Compared with the traditional wheel type robot, the foot type robot has higher ground adaptability, the foot type robot ensures walking stability, leg joints generally have three degrees of freedom consisting of three power units, assemblies need more parts, the structural design is precise, the joint positions are accurate, the cost is often very high, the precision and the stability of the four-foot robot are ensured, and meanwhile, the four-foot robot is easy to assemble, and the device is few, and the processing performance becomes the key of design. In addition, in order to ensure the beauty and durability, the routing arrangement of each joint is also very important. The foot type robot is suitable for the ground environment, joint force detection is particularly important, and a sole force sensor is required to be additionally arranged on a sole to judge the sole stress condition more accurately and visually. Because the sole has certain distance from the machine body part where the controller is located, a signal transmission line and a sole force sensor power line need to be arranged, the leg of the foot type robot frequently moves, and the joint rotates, so that the wiring is difficult, and the production difficulty is high.

Therefore, there is a need to provide a new leg joint of a quadruped robot to solve the above technical problems.

Disclosure of Invention

The invention solves the technical problem of providing a novel four-footed robot leg joint with simple structure, high transmission precision and high efficiency.

In order to solve the above technical problems, the present invention provides a novel quadruped robot leg joint comprising: the robot comprises a robot body, a side swing motor, a thigh motor, a shank motor, a thigh shell, a shank and a foot shell, wherein the side swing motor is arranged on the robot body, the thigh motor is connected to the side swing motor, the shank motor is connected to the thigh motor, the thigh shell is connected to one side of the shank motor, the bottom end of the thigh shell is rotatably connected with the shank, and the foot shell is arranged at the bottom end of the shank.

Preferably, the shank motor is fixedly connected with the thigh shell, an output shaft of the shank motor extends into the thigh shell and is fixedly sleeved with a crank disc, a first bearing is fixedly sleeved on the output shaft of the shank motor, an outer ring of the first bearing is fixedly sleeved with the thigh shell, a second bearing is fixedly sleeved on a crank on the crank disc, a transmission connecting rod is fixedly sleeved on an outer ring of the second bearing, a third bearing and a fourth bearing are installed on the shank, the transmission connecting rod is fixedly sleeved with an outer ring of the third bearing, and the thigh shell is rotatably connected with the shank through the fourth bearing.

Preferably, the side-sway motor is provided with side-sway motor wiring in a winding manner, the thigh motor is provided with thigh motor wiring in a winding manner, the shank motor is provided with shank motor wiring in a winding manner, and the thigh shell is internally provided with a first shank limit and a second shank limit.

Preferably, a pressure sensor and a sensor circuit board are installed in the foot surgery, the pressure sensor is connected with the sensor circuit board, a sensor power supply signal line outlet is formed in the thigh shell from the motor, a first sensor power supply line inlet is formed in the shank, a second sensor power supply line inlet is formed in the foot shell, an installed power supply signal line in the robot body enters the foot shell through the sensor power supply signal line outlet, the first sensor power supply line inlet and the second sensor power supply line inlet from the motor and is connected with the pressure sensor, and the foot shell is made of a plastic buffer material.

Preferably, the side-sway motor and the shank motor comprise a stator support, a driver end cover and output connection unit, a rotor magnetic conduction ring, a stator coil, a driving plate sliding cover, a motor driving plate, a bearing pressing cover, a circuit board holding support, a position detection annular hall array after deceleration, a sun wheel, a motor rotor magnet group, a first motor bearing, a planet carrier unit and output flange plate, a planet wheel, a central vertical holding shaft, a planet shaft and output pin, a second motor bearing, a third motor bearing, a fourth motor bearing, a planet deceleration inner gear ring, a motor angle measurement polarized magnet, a motor angle measurement hall, a linear hall element, an angle feedback magnet after deceleration, a penetrating metal conductor column, a motor driving plate, an annular hall plate and a rotor support.

Preferably, the thigh motor comprises a thigh motor shank knee joint shared wiring, a hollow penetration surface, a first thigh motor sun gear, a second thigh motor sun gear, a first thigh motor planet gear, a second thigh motor planet gear, a planet reducer outer gear ring, a drive plate, a motor end annular encoder read head, a motor end encoder annular encoding disc, a first thigh motor bearing, a second thigh motor bearing, a thigh motor rotor support, a thigh motor rotor magnet group, a thigh motor stator coil, a first stage planet reducer output disc, a second stage planet reducer output disc, a first planet retainer, a second planet retainer, an output pin and a cascade hole.

Preferably, a second circuit of a shank motor of the shank motor is led out after passing through a hollow part of a thigh motor, a second circuit of the thigh motor is led out after passing through the thigh motor and is connected to a circuit board of the thigh motor, and meanwhile, a power supply and a communication loop are provided for the thigh motor and the shank motor, and the second circuit of the thigh motor and the second circuit of the side swing motor are both located in the robot body.

Preferably, the sensor power supply signal line is disconnected from the first sensor power supply inlet, two sections of wires are arranged, the wires are connected through the non-contact coil, and wireless energy transmission and wireless signal transmission are adopted.

Preferably, the thigh shell is provided with a thigh coil, a first connecting wire and a second connecting wire.

Preferably, foot shell overcoat is equipped with the protective sheath, has seted up a plurality of angle grooves on the foot shell, is equipped with the hornblock that corresponds quantity on the inner wall of protective sheath, and the hornblock has the mount pad with the angle groove looks adaptation that corresponds, and the both ends fixed mounting of protective sheath has seted up the recess on the mount pad, has seted up the through-hole on the inner wall, has seted up two screw holes on the foot shell, and the through-hole is linked together with the screw hole, is connected the through-hole with the screw hole through the bolt.

Compared with the related art, the novel leg joint of the quadruped robot provided by the invention has the following beneficial effects:

the invention provides a novel link transmission realization mode of a leg joint of a quadruped robot, which has the advantages of simple structure, few combined parts, good link leg transmission structure, good bearing, limiting method, transmission precision and efficiency and small occupied space and protects the mechanism; the scheme of a double-encoder outer rotor planetary structure built in the three same power modules is suitable for severe environments, and the cost is reduced; the cascade method has the advantages that the motors are connected in a hollow mode, a foot wireless signal sensing mode and wireless energy supply are adopted, and the problems of exposed routing and bending fatigue are solved; the realization of hollow motor position coding makes data more accurate.

Drawings

FIG. 1 is a schematic structural diagram of a preferred embodiment of a leg joint of a novel quadruped robot provided by the invention;

FIG. 2 is a schematic structural view of the leg joint and the robot body shown in FIG. 1;

FIG. 3 is a schematic cross-sectional view of the structure shown in FIG. 1;

FIG. 4 is a schematic side view of FIG. 1;

fig. 5 is a schematic view of a connection structure of three motors shown in fig. 1;

FIG. 6 is a schematic structural view of the connection of other embodiments of the three motors shown in FIG. 1;

FIG. 7 is a schematic structural view of another embodiment of the side swing motor and lower leg motor shown in FIG. 1;

fig. 8 is a schematic structural view of another embodiment of the thigh motor shown in fig. 1;

FIG. 9 is a side view of the structure of FIG. 7;

FIG. 10 is a schematic structural view of the foot shell shown in FIG. 1;

FIG. 11 is a schematic top cross-sectional view of the structure of FIG. 10;

FIG. 12 is a schematic structural diagram of the other embodiment shown in FIG. 1;

FIG. 13 is a schematic structural diagram of a second embodiment of the leg joint of the novel quadruped robot provided by the invention;

FIG. 14 is a schematic view of the protective sheath of FIG. 13;

reference numbers in the figures: 1a, a side swing motor, 2a, a thigh motor, 3a, a shank motor, 4a, a thigh shell, 5a, a shank, 6a and a foot shell;

1b, a crank disc, 2b, a first bearing, 3b, a second bearing, 4b, a transmission connecting rod, 5b, a third bearing, 6b and a fourth bearing;

1c, a stator support, 2c, a driver end cover and output connection unit, 3c, a rotor magnetic conduction ring, 4c, a stator coil, 5c, a driving plate sliding cover, 6c, a motor driving plate, 7c, a bearing pressing cover, 8c, a circuit board holding support, 9c, a position detection annular Hall array after speed reduction, 10c, a sun wheel, 11c, a motor rotor magnet set, 12c, a first motor bearing, 13c, a planet carrier unit, 14c, a planet carrier unit and output flange plate, 15c, a planet wheel, 16c, a central vertical holding shaft, 17c, a planet shaft and output pin, 18c, a second motor bearing, 19c, a third motor bearing, 20c, a fourth motor bearing, 21c, a planet speed reduction inner gear ring, 22c, a motor angle measurement polarized magnet, 23c, a motor angle measurement, 24c, a linear Hall element, 25c, a linear Hall element, a magnetic conduction ring, a magnetic field coil, a magnet, a magnetic field coil, a magnetic field, a, The speed reduction back angle feedback magnet 26c, the penetrating metal conductor column 27c, the motor drive plate 28c, the annular Hall plate 29c and the rotor support;

1d, common wiring of a thigh motor and a shank knee joint, 2d, a hollow penetrating surface, 3d, a first thigh motor sun gear, 4d, a second thigh motor sun gear, 5d, a first thigh motor planet gear, 6d, a second thigh motor planet gear, 7d, a planet reducer outer gear ring, 8d, an FOC drive plate, 9d, a motor end annular encoder read head, 10d, a motor end encoder annular encoding disc, 11d, the device comprises a first thigh motor bearing, a second thigh motor rotor support, a first thigh motor rotor magnet group, a second thigh motor stator coil, a first stage planetary reducer output disc, a second stage planetary reducer output disc, a first planetary retainer, a second stage planetary reducer output disc, a first planetary retainer, a second;

1e, side-sway motor wiring, 2e thigh motor wiring, 3e shank motor wiring;

1f, first shank limiting, 2f, second shank limiting;

1g, a pressure sensor, 2g, a sensor circuit board, 3g, a wire outlet at a motor, 4g, a first sensor power supply wire inlet, 5g and a second sensor power supply wire inlet;

1h, routing a second line of the side swing motor, 2h, routing a second line of the thigh motor, and 3h, routing a second line of the shank motor;

1j, a thigh coil, 2j, a first connecting line, 3j, a second connecting line, 4j, a magnet array, 5j and an induction coil;

1k, protective sheath, 2k, angle groove, 3k, angle piece, 4k, mount pad, 5k, recess, 6k, screw hole, 7k, bolt.

Detailed Description

The invention is further described with reference to the following figures and embodiments.

The first embodiment:

please refer to fig. 1-11 in combination, which illustrate a first embodiment of the present invention. Novel quadruped robot leg joint includes: the robot comprises a robot body, a side swing motor 1a, a thigh motor 2a, a shank motor 3a, a thigh shell 4a, a shank 5a and a foot shell 6a, wherein the side swing motor 1a is arranged on the robot body, the thigh motor 2a is connected with the thigh motor 2a, the shank motor 3a is connected with one side of the shank motor 3a, the bottom end of the thigh shell 4a is rotatably connected with the shank 5a, and the foot shell 6a is arranged at the bottom end of the shank 5 a.

In order to ensure that the system has enough precision, the transmission parts are few enough, durability and high transmission efficiency are considered, and in addition, the space occupied by the motion of the transmission mechanism is small enough, so that the leg part is designed to be small, and the material consumption is small. The leg inertia and the leg modeling are both reduced, as shown in fig. 1, the rotary motion of the lower leg motor 3a passes through a unique device of the transmission connecting rod 4b, the force is transmitted and converted into the relative motion of the thigh shell 4a and the lower leg 5a, in addition, the transmission connecting rod 4b has a dead angle position, and the limitation in two directions is necessary to prevent the dead zone, such as a first lower leg limit 1f and a second lower leg limit 2f shown in fig. 3, from entering the dead zone, and the dead zone serves as an appearance part and a mechanical support part; a shank motor a3 outputs force to a crank disc 1b through a flange plate after speed reduction, a transmission connecting rod 4b, a first bearing 2b, a second bearing 3b, a third bearing 5b and a fourth bearing 6b form a quadrilateral connecting rod mechanism, the rotating force of the motor is transmitted to a joint of a shank 5a in a ratio of 1: 1, the shank rotates around the fourth bearing 6b, the first bearing 2b, the second bearing 3b and the third bearing 5b select low-speed large-bearing-capacity needle bearings, a cam output connecting rod structure is adopted, bearings are arranged inside the shank motor, cross connecting rods are arranged, and the space required by a leg unit is only half of the common space.

The side-sway motor 1a rotates around the direction R3, so that the legs can swing towards the inside or the outside of the body to perform balance and direction measurement motions, the motion of the thigh motor 2a drives the thigh shell 4a and the shank 5a to integrally move back and forth in the motion direction shown by R2, the shank motor 3a rotates to perform the motion of the shank 5a in the direction of R1, and therefore the motion of the whole leg is completed, the four legs are designed in the same way, the whole body motion of the four-legged robot is completed, and the four-legged robot can well adapt to the complex ground. The large side swing motor 1a, the thigh motor 2a and the shank motor 3a are internally provided with current sensors, the current is proportional to the stress of the joint, the stress condition of the joint can be obtained by detecting the internal current, and the stress condition of the foot shell 6a can be mapped, so that the road condition information of hardness, height and the like of the foot can be sensed, and the information is informed to a central processing unit for comprehensive control.

The position of shank unit in whole machine, big side pendulum motor 1a, thigh motor 2a, shank motor 3a all is based on flexible force control, three motor precision is at 0.025 degree, it is electric, three motor connects in parallel on a power cord, three motor CAN signal parallelly connected sharing physics CAN mouth is with current articular position, moment, speed information feeds back to central processing unit, accept the motion instruction that central processing unit sent simultaneously, consequently, whole shank joint is only a set of power cord to the external electrical apparatus connection, and a set of signal line, it is electric simple, three motor CAN adopt same motor structure, three motor structure is the same like this, and the replacement is convenient, not enough are: the shank motor 3a is provided with an exposed shank motor wire 3e, and the shank motor 3a is easy to scrape and rub the machine body and external obstacles during movement. In another embodiment, the physical connection relationship of the three motors is as shown in fig. 6, the calf motor second line 3h of the calf motor 3a penetrates through the hollow part of the thigh motor 2a and is led out, so that the condition that the calf motor second line 3h of the calf motor 3a is exposed is avoided, the safety factor of the whole machine is improved, the calf motor second line 3h penetrates through the thigh motor 2a and is simultaneously connected to the circuit board of the thigh motor 2a, a power supply and a communication loop are simultaneously provided for the thigh motor 2a and the calf motor 3a, the thigh motor second line 2h and the side swing motor second line 1h are both located in the machine body, and the safety is relatively high under the protection of the outer shell. The side swing motor 1a and the lower leg motor 3a have the motor structures shown in fig. 7, and the upper leg motor 2a has a hollow motor structure shown in fig. 8.

Although the sole force can be indirectly obtained by monitoring the current of each motor, the sole force can also be directly obtained according to a pressure sensor 1g placed on the sole, and the sole force can be transmitted to the pressure sensor 1g of the sole from a machine body, wired energy and wireless signal transmission can be adopted for use, wherein, the wiring-free sole force detection needs to solve the problems of no-connection energy supply and no-connection signal transmission, the signal transmission can adopt the prior radio frequency technology and is directly transmitted to a host machine, the wiring-free energy supply can be realized, the leg movement energy regeneration can be used, the wiring from the machine body to the sole is avoided, and the power supply of a sole circuit can realize the following scheme, and the energy generated in the compression process of the sole can be recovered according to the mechanical energy generated in the rotation process; and half wiring scheme, the use of the bearing, the necessary power supply and signal transmission can adopt as shown in figure 10, the routing runs through the shank position of thigh, see the movement at the joint position from figure 10, will cause the routing to buckle, whether routing expose and embed will have the damage caused by bending fatigue, the method to solve this problem, namely break off at the first sensor power supply inlet 4g, adopt two sections of routing, adopt wireless energy transmission and wireless signal transmission between them, carry on the non-contact transmission of energy and information, thus has avoided the folding of routing of the first sensor power supply inlet 4g, divide the routing into two sections, connect through the non-contact coil, the routing also needs to connect to the first connecting wire 2.j from shank motor 3a, therefore can optimize to the first sensor power supply inlet 4g to cancel, after the first sensor power supply inlet 4g cancels, the robot can not be powered by a battery in the robot body any more, the generation source of sole power supply needs to be considered, and a mode of converting mechanical energy generated by the motion of the lower leg 5a around the thigh into electric energy can be used, wherein the embodiment is shown in fig. 12, 4j is a magnet array, 5j is an induction coil, the two parts can convert the mechanical energy of the leg into electric energy to be supplied to a sole force sensor when the lower leg moves, so that the power supply problem is solved, the signal transmission of the sole force sensor can be completed by the transmission of a radio frequency transceiving circuit on a sole circuit board and a radio frequency transceiving circuit placed in the robot, and circuits such as a CPU (central processing unit) and a radio frequency transceiving circuit are arranged in a circuit of a sensor circuit board 2 g.

As shown in fig. 7, the stator support 1c is located inside the housing of the stator, and has stator coil windings 4c, the motor windings are controlled by the built-in motor driving circuit board 6c, the motor driving board has a stator core winding and a rotor magnet, wherein the motor angle measuring polarized magnet 22c on the rotor support 29c of the rotor magnet carrying part and the motor angle measuring hall IC23c can determine the relative position between the rotor and the stator and inform the motor driving CPU27c of the present electrical angle between the rotor and the stator of the motor, so that the motor driving board controls the motor to rotate correctly according to the basic information, wherein the motor angle measuring hall IC23c not only obtains the relative position between the stator and the rotor of the motor, but also obtains the absolute angle information of the whole rotor part within 360 degrees of one rotation of the motor. The absolute angle information of the motor is matched with a second Hall angle detection element to finish the mechanical angle absolute information of the flange plate after speed reduction. The moment after the motor rotates correctly passes through a basic primary planetary reduction unit consisting of the sun gear 10c, the planet gear 15c and the planetary reduction ring gear 21c, and the reduced planet carrier unit also serving as the output flange 14c is output. And outputs the rotational torque to the next stage through the planet shaft cum output pin 17 c. The output pin 20d can be just inserted into the cascade hole 21d of the next stage to transmit the torque to the next stage, the magnet 25c is fed back after deceleration on the planet carrier rigidly connected with the flange plate, the position information of the flange plate penetrates through the aluminum alloy rotor bracket by the magnetic force line, the position information is fed back on the second angle linear Hall element 24c and the annular Hall array PCB9c after deceleration, and the information is fed back to the driving CPU to synthesize the second Hall array plate and the information on the absolute angle encoder, and calculate the accurate absolute position of the flange plate. Because two sets of magnetic encoders all have the characteristic of being afraid of falling the electricity, and need not to keep the rotation angle information of motor with the backup battery power supply, very big improvement the practicality and the security of motor.

The reduction gear set is of a two-stage planetary structure, so that the sun gear can be thicker under the condition of the same speed ratio. The sun gear is in the geometric center position of the motor in design. The thicker sun gear allows the sun gear to be hollow, as in fig. 8, which would allow the next stage power unit, power and signal transmission therethrough. The condition that the wiring is exposed is solved. The working principle of the power unit is basically similar, and the following description is simply given, because of the hollow design requirement, all the components and the circuit board on the central axis of the power unit are determined to be in the hollow design. Thigh motor stator coil 15d is fixed on the inner support that is connected with the casing, and thigh motor stator coil 15 d's three-phase winding is controlled by FOC drive plate 8d, and FOC drive plate 8d is for can normally passing through FOC's classic mode control, needs to know the absolute position of stator and rotor. So as to be convenient for magnetic field vector synthesis control, the motor end encoder annular encoding disk 10d is an absolute position encoding ring fixed on the thigh motor rotor bracket 13d, the motor end encoder annular encoding disk 10d is an encoder reading head indirectly fixed on the shell, the motor end encoder reading head 9d and the motor end encoder annular encoding disk 10d are both absolute encoder components with hollow annular structures, and complete reading of the absolute 0-360-degree electromechanical positions of the rotor and the stator in cooperation, so as to provide necessary conditions for the driving plate to correctly drive the three-phase brushless servo motor, the design is double-stage speed reduction, the two-stage speed reduction ratio is the same, an outer gear ring can be shared, the sun gear and the planet gear are the same, the cost and the process are reduced, the first thigh motor sun gear 3d is fixed on the thigh motor rotor bracket 13d, the first thigh motor sun gear 3d, the second thigh motor planet gear 6d and the planet gear 7d of the planet reducer, the first-stage planetary reduction is formed, the output torque after reduction is carried by a second thigh motor sun gear 4d, the second thigh motor sun gear 4d, a first thigh motor planet gear 5d and a planet gear reducer outer gear ring 7d form a second-stage reduction structure, the output disc 17d and an output pin 20d of the second-stage planetary reducer are finally output to the reduction structure after reduction, the basic functions of the power unit from the motor to the reduction gear are completed, a single-circle absolute position drive CPU of a motor stator rotor can be obtained at any time, only the angle of the motor end from 0-360 degrees can be represented and the mechanical angle of a flange plate cannot be represented due to the physical characteristic determination of a single-circle encoder, and the reduction machine is used for reducing the speed by 9 times in the middle, so that the input of the motor end and the output of the flange plate have fixed reduction ratios, and only the rotating position and the number of turns of the motor end need to be remembered, the angle of the flange plate can be obtained by dividing the angle by the reduction ratio, the traditional design is the design, the defect exists, and after the power is cut off, the information of the number of turns can be lost. Although a backup battery can be used to remember the number of turns, the circuit design difficulty is increased, more importantly, the battery life and the battery light, and the number of turns will be lost or inaccurate after interference. There is a great hidden trouble. The joint design provides a solution, only an annular Hall array plate needs to be placed on the opposite side of the motor, and a magnet is placed on the side, so that the relative scale position of the flange plate relative to the shell can be obtained. The rough scale position can be matched with an annular encoder at the motor end to obtain accurate flange plate end angle information. The basic principle is briefly described as follows: the motor end encoder is equivalent to a second hand of a clock, and a second Hall encoding ring connected to the flange plate after fixed speed reduction is equivalent to a clock hand of the clock. Every time the motor end encoder rotates the number of reduction ratio circles, for example, 9 here, the magnetic line position that the second encoder sensed changes 1 interval, reads the interval (similar to minute hand) that the magnet located on the second encoder, and the reading (second hand) of the motor end is added, just can acquire the final accurate mechanical position of output ring flange.

Second embodiment:

based on the novel quadruped robot leg joint provided by the first embodiment of the application, the second embodiment of the application provides another novel quadruped robot leg joint. The second embodiment is merely a preferred way of the first embodiment, and the implementation of the second embodiment does not affect the implementation of the first embodiment alone.

The second embodiment of the present invention will be further described with reference to the drawings and the following description.

Referring to fig. 12-13, the present embodiment is different from the first embodiment in that a protective sleeve 1k is sleeved outside the foot casing 6a, the foot casing 6a is provided with a plurality of corner slots 2k, the inner wall of the protective sleeve 1k is provided with a corresponding number of corner blocks 3k, the corner blocks 3k are adapted to the corresponding corner slots 2k, two ends of the protective sleeve 1k are fixedly provided with a mounting seat 4k, the mounting seat 4k is provided with a groove 5k, the inner wall of the 5k is provided with a through hole, the foot casing 6a is provided with two threaded holes 6k, the through hole is communicated with the threaded holes 6k, and the through hole is connected with the threaded holes 6k through bolts 7 k.

The foot shell 6a can be protected from wear by the protective sleeve 1k, and the protective sleeve 1k is easy to replace.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A novel quadruped robot leg joint is characterized by comprising: the robot comprises a robot body, a side swing motor, a thigh motor, a shank motor, a thigh shell, a shank and a foot shell, wherein the side swing motor is arranged on the robot body, the thigh motor is connected to the side swing motor, the shank motor is connected to the thigh motor, the thigh shell is connected to one side of the shank motor, the bottom end of the thigh shell is rotatably connected with the shank, and the foot shell is arranged at the bottom end of the shank.

2. The novel leg joint of the quadruped robot as claimed in claim 1, wherein the shank motor is fixedly connected with the thigh shell, the output shaft of the shank motor extends into the thigh shell and is fixedly sleeved with a crank disc, the output shaft of the shank motor is fixedly sleeved with a first bearing, the outer ring of the first bearing is fixedly sleeved with the thigh shell, the crank on the crank disc is fixedly sleeved with a second bearing, the outer ring of the second bearing is fixedly sleeved with a transmission connecting rod, the shank is provided with a third bearing and a fourth bearing, the transmission connecting rod is fixedly sleeved with the outer ring of the third bearing, and the thigh shell is rotatably connected with the shank through the fourth bearing.

3. The novel quadruped robot leg joint as claimed in claim 1, wherein the side swing motor is provided with side swing motor wiring, the thigh motor is provided with thigh motor wiring, the shank motor is provided with shank motor wiring, and the thigh shell is provided with a first shank limit and a second shank limit.

4. The novel quadruped robot leg joint as claimed in claim 1, wherein a pressure sensor and a sensor circuit board are installed in the foot surgery, the pressure sensor is connected with the sensor circuit board, a sensor power supply signal line outlet from the motor is arranged in the thigh shell, a first sensor power supply line inlet is arranged on the shank, a second sensor power supply line inlet is arranged on the foot shell, a power supply signal line installed in the robot body enters the foot shell through the sensor power supply signal line outlet from the motor, the first sensor power supply line inlet and the second sensor power supply line inlet to be connected with the pressure sensor, and the foot shell is made of a plastic buffer material.

5. The novel quadruped robot leg joint according to claim 1, the side-sway motor and the shank motor comprise a stator support, a driver end cover and output connecting unit, a rotor magnetic conduction ring, a stator coil, a driving plate sliding cover, a motor driving plate, a bearing pressing cover, a circuit board retaining support, a position detection annular Hall array after deceleration, a sun wheel, a motor rotor magnet group, a first motor bearing, a planet carrier unit and output flange plate, a planet wheel, a central vertical retaining shaft, a planet shaft and output pin, a second motor bearing, a third motor bearing, a fourth motor bearing, a planet deceleration inner gear ring, a motor angle measurement polarized magnet, a motor angle measurement Hall, a linear Hall element, an angle feedback magnet after deceleration, a penetrating metal conductor column, a motor driving plate, an annular Hall plate and a rotor support.

6. The novel quadruped robot leg joint as claimed in claim 1, wherein the thigh motor comprises a thigh motor shank knee joint shared wiring, a hollow through surface, a first thigh motor sun gear, a second thigh motor sun gear, a first thigh motor planet gear, a second thigh motor planet gear, a planetary reducer outer gear ring, an FOC drive plate, a motor end annular encoder read head, a motor end encoder annular encoding disk, a first thigh motor bearing, a second thigh motor bearing, a thigh motor rotor support, a thigh motor rotor magnet group, a thigh motor stator coil, a first-stage planetary reducer output disk, a second-stage planetary reducer output disk, a first planetary retainer, a second planetary retainer, an output pin and a cascade hole.

7. The novel quadruped robot leg joint as claimed in claim 1, wherein the calf motor second line routing of the calf motor is led out after passing through the hollow part of the thigh motor, the thigh motor second line routing passes through the thigh motor and is connected to the circuit board of the thigh motor to provide a power supply and a communication loop for the thigh motor and the calf motor, and the thigh motor second line routing and the side swing motor second line routing are both located in the robot body.

8. The novel quadruped robot leg joint as claimed in claim 1, wherein the sensor power supply signal line is disconnected from the first sensor power supply inlet, two sections of wires are used, the two sections of wires are connected through a non-contact coil, and wireless energy transmission and wireless signal transmission are used.

9. The novel quadruped robot leg joint according to claim 4, wherein the thigh shell is provided with a thigh coil, a first connecting line and a second connecting line.

10. The novel quadruped robot leg joint as claimed in claim 1, wherein the foot shell is externally sleeved with a protective sleeve, the foot shell is provided with a plurality of corner slots, the inner wall of the protective sleeve is provided with a corresponding number of corner blocks, the corner blocks are matched with the corresponding corner slots, the two ends of the protective sleeve are fixedly provided with a mounting seat, the mounting seat is provided with a groove, the inner wall of the mounting seat is provided with a through hole, the foot shell is provided with two threaded holes, the through hole is communicated with the threaded holes, and the through hole is connected with the threaded holes through bolts.