CN112009593A - Leg assembly for foot type robot - Google Patents

Abstract

A leg assembly for a legged robot includes a body attachment member, a first motor, a second motor winder, a second motor fastener, a second motor, and a thigh knuckle arm. The cable extends from the first motor output to the first wire entry slot and enters the second wire entry slot after being wound around the second motor winder for a predetermined number of turns. The cable is connected to the second motor and supplies power for the second motor after passing through the third opening, and the output end of the second motor is connected to the thigh joint arm and drives the thigh joint arm to rotate. In some embodiments, a leg assembly for a legged robot may also include a kicker, a third motor winder, a third motor fastener, a third motor, a lower leg drive system, and a lower leg articulated arm.

Description

A leg assembly for a footed robot

technical field

The invention belongs to the field of robot manufacturing, in particular to a leg assembly for a footed robot.

Background technique

Footed robots have the characteristics of strong mobility and can walk on complex terrain, and can be used to undertake search and rescue tasks in areas where earthquakes or other disasters occur.

The legs of a footed robot need to perform a series of actions such as walking, running, and climbing. Legs usually consist of a series of drives and articulated arms and other components. In order to achieve power supply to each device, cables need to be laid out.

In the existing wiring arrangement, the wires are usually hung outside the leg assembly, which not only affects the appearance of the robot and destroys its aesthetics, but also makes the cables easy to age and wear, reducing the service life of the leg joints.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention provides a leg assembly for a footed robot. The assembly runs the cables through the contents of the various components and will not be worn out by the rotation of the motor.

According to an aspect of the present invention, there is provided a leg assembly for a footed robot, the assembly comprising:

a body connector having an annular shape and having a first opening in a central region;

a first motor, the smaller end of the first motor is inserted into the first opening;

a second motor winding device, the second motor winding device has a cylindrical intermediate wall extending around the first axis, and a first annular end wall and a second annular end wall connected to both ends of the intermediate wall, The first annular end wall is perpendicular to the intermediate wall and extends radially inward, a central region of the first annular end wall has a second opening, and the second annular end wall is perpendicular to the intermediate wall towards the radial direction extending outside, the second motor winding device is mounted to the first motor at the second annular end wall, and the second annular end wall is provided with a first wire inlet slot;

A second motor fastener, the second motor fastener includes a first cylindrical body, a first flange connected to one end of the first cylindrical body and perpendicular to the first cylindrical body, perpendicular to the The first flange and a support portion extending around a part of the outer edge of the first flange and a threading portion protruding from the support portion toward the radially outer direction of the first cylindrical body, the second motor is in The first flange is installed to the second motor fastener, the threading part is connected to the first output end of the corresponding area of the central rotor of the first motor through the second opening, and the threading part is The part has a second wire inlet groove, the second wire inlet groove penetrates the radial dimension of the partial area of the wire threading part and extends to the third opening at the central area of the wire threading part;

A second motor, the smaller end of the second motor is inserted into the hollow of the first cylindrical body of the second motor fastener, and the larger end of the second motor is mounted to the second motor the first flange of the fastener, the second motor has a second output end, the second output end is connected to the thigh joint arm and drives the thigh joint arm to rotate;

a cable, the cable extends to the first wire inlet slot after coming out of the first motor, and enters the second wire inlet slot after being wound around the second motor winding for a predetermined number of times. The cable is connected to the second motor through the third opening and supplies power to the second motor.

According to an embodiment of the present invention, the first motor includes a first segment and a second segment side by side along a first axis, the first segment having a smaller diameter and inserted into the first opening, the second segment The diameter of the segment is greater than the diameter of the first segment.

According to an embodiment of the present invention, the second annular end wall is provided with a plurality of first mounting holes, and the first mounting holes are used for mounting the second motor winding device to the periphery of the first motor In the fixing area, the first wire feed groove extends through the entire radial dimension of the second annular end wall, and the first wire feed groove extends along the first axis to at least a portion of the intermediate wall.

According to an embodiment of the present invention, the first flange has a plurality of second mounting holes, the second mounting holes are used for fixedly mounting the second motor to the second motor fastener, and the threading portion There is a second cylindrical body and the size of the second cylindrical body is smaller than the size of the second opening, the first end of the threading part is connected to the support part, and the other end of the threading part has a first end. Three annular end walls, the third annular end wall has a plurality of third installation holes and the second wire inlet groove, the third installation holes are used for installing the second motor fastener to the first At the first output end of a motor, the second wire inlet groove penetrates the entire radial dimension of a partial area of the third annular end wall and extends to the second cylindrical body of the wire threading portion, the first Three openings are provided in the central region of the third annular end wall.

According to an embodiment of the present invention, the second motor includes a third segment and a fourth segment side by side along a second axis, the third segment having a smaller diameter and the insertion of the second motor fastener In the hollow of the first cylindrical body, the diameter of the fourth section is larger than the diameter of the third section and has a plurality of fourth mounting holes on the end face close to the third section, the fourth mounting holes are the same as those of the third section. A second mounting hole cooperates to mount the second motor to the first flange of the second motor fastener.

According to an embodiment of the present invention, the assembly further includes:

a baffle plate adjacent to the fourth section of the second motor, the baffle plate comprising an annular body extending parallel to the radial direction of the second motor and perpendicular to the annular body and facing away from the second motor A second flange extending in four directions, the annular body has a fourth opening in a central area and a plurality of fifth mounting holes for mounting the baffle to the second In the peripheral fixing area of the motor, a part of the peripheral area of the baffle plate is provided with a third wire inlet groove, and the third wire inlet groove extends on a part of the annular main body and a part of the second flange area , the annular main body is further provided with a winding limit part in the area adjacent to the third wire inlet slot.

According to an embodiment of the present invention, the assembly further includes:

A third motor fastener comprising fifth and sixth segments side by side along the second axis and a third flange extending radially outward perpendicular to the sixth segment, the The diameter of the fifth segment is smaller than the diameter of the sixth segment, the diameter of the fifth segment is smaller than that of the fourth opening, the central area of the fifth segment is provided with a plurality of sixth installation holes, and the sixth installation A hole is used to install the third motor fastener to the second output end located in the central area of the second motor, and the sixth section is cylindrical and has a diameter smaller than the second protrusion of the baffle plate The diameter of the edge, the sixth segment is provided with at least two opposite fourth wire entry grooves.

According to an embodiment of the present invention, the assembly further includes:

A third motor, the third motor includes a seventh segment and an eighth segment side by side along the second axis, the seventh segment has a diameter smaller than that of the eighth segment, and the seventh segment is inserted into a cylindrical shape Inside the sixth section of the motor, the first side of the eighth section is fixedly mounted to the third flange, and the other side of the eighth section is fixedly connected to the thigh joint in the peripheral fixed area of the motor The arm has a third output end in the corresponding area of the rotor in the center, the third output end is connected with a lower leg transmission system, and the lower leg transmission system is arranged in the cavity formed by the thigh joint arm and connected with the lower leg joint arm .

According to an embodiment of the present invention, the cable is divided into two branches after passing through the third opening, and the cable of the first branch is fastened to the second motor at the third section of the second motor The cables extend between the parts and are connected to the second motor to supply power to the second motor, and the cables of the second branch cross the second motor into the third wire entry slot of the baffle, and at the The baffle and the third motor fastener are wound for a predetermined number of turns in the annular area, and then extend to the third motor fastener through the fourth wire entry slot of the third motor fastener in the space between the component and the third motor, and is connected to the third motor to supply power thereto.

According to an embodiment of the present invention, the assembly further comprises:

A third motor winder, the third motor winder is disposed between the baffle and the third motor fastener, the third motor winder includes two halves, two halves The parts are combined to form a protective casing that is snapped on the periphery of the fifth and sixth sections of the third motor fastener.

According to an embodiment of the present invention, the cable enters the second wire inlet slot after being wound around the second motor winding device for 2 turns.

According to an embodiment of the present invention, the cable is wound twice in the annular area formed by the baffle and the third motor fastener, and then extends through the fourth wire entry slot of the third motor fastener into the space between the third motor fastener and the third motor.

According to an embodiment of the present invention, the first axis is perpendicular to the second axis.

Due to the above structure, the leg assembly for a footed robot of the present invention can obtain the following beneficial effects:

(1) By arranging the cable inside the leg assembly, the leg assembly is more beautiful and durable;

(2) By arranging structures such as motor windings, motor fasteners, baffles, etc., the cables will not be worn due to the rotation of the motor after they are arranged inside the leg assembly, which significantly improves the cable and leg assembly. service life.

Description of drawings

1 is an exploded schematic view of a leg assembly for a footed robot according to an embodiment of the present invention;

2 is an exploded schematic view of another angle of a leg assembly for a footed robot according to an embodiment of the present invention;

3 is a schematic diagram of the assembly structure of the leg assembly for the footed robot shown in FIGS. 1 and 2;

FIG. 4 is a schematic structural diagram of a second motor fastener according to an embodiment;

5 is a schematic structural diagram of a baffle plate according to an embodiment;

6 is a schematic structural diagram of a third motor fastener according to an embodiment;

7 is a schematic structural diagram of a third motor winding device in a combined state according to an embodiment;

FIG. 8 is a schematic structural diagram of a third motor winding device in an exploded state according to an embodiment.

in:

10 body connector, 12 first motor, 14 second motor winder, 14a first annular end wall, 14b second annular end wall, 14c first wire entry slot, 16 second motor fastener, 16a first Flange, 16b threading part, 16b1 third opening, 16b2 third annular end wall, 16b3 second wire inlet groove, 16c first cylindrical body, 16d support part, 18 second motor, 20 baffle plate, 20a annular body, 20b fifth mounting hole, 20c third wire slot, 20d limit hole, 20e fourth opening, 20f second flange, 22 third motor winder, 22a half, 22b half, 22c fifth opening, 22d jack, 22e plug, 24 third motor fastener, 24a sixth segment, 24b fifth segment, 24c third flange, 24d sixth mounting hole, 24e cutting portion, 24f fourth wire entry slot, 26th Three motors, 28 lower leg transmission systems, 30 thigh articulated arms, 32 lower leg articulated arms.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

As required, specific embodiments of this invention are disclosed in this specification; however, it is to be understood that the embodiments disclosed herein are merely exemplary of the invention that may be embodied in various and alternative forms. The drawings are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. The same or similar reference numbers may indicate the same parameters and components or similar modifications and alternatives thereto. In the following description, various operating parameters and components are described in various embodiments contemplated. These specific parameters and components are presented in this specification as examples only and are not meant to be limiting. Therefore, specific structural and functional details disclosed in this specification are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. The relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore It should not be construed as a limitation of the present invention.

The present invention generally provides a leg assembly for a footed robot. 1-3 show schematic diagrams of a leg assembly for a footed robot according to an embodiment of the present invention, wherein FIGS. 1 and 2 are exploded views, and FIG. 3 is a view of an assembled state.

As shown in FIGS. 1 and 2 , the leg assembly for a footed robot of this embodiment generally includes a body connector 10 , a first motor 12 , a second motor coil 14 , a second motor fastener 16 , Second motor 18 , baffle 20 , third motor winder 22 , third motor fastener 24 , third motor 26 , calf drive system 28 , thigh articulating arm 30 , and calf articulating arm 32 .

The body connector 10 is generally annular and has a first opening in a central region. The body connector 10 is used to connect the leg assembly to the body of the robot. The first motor 12 includes a first segment and a second segment arranged side by side along a first axis. The first segment has a smaller diameter and is inserted into the first opening. The diameter of the second segment is greater than the diameter of the first segment. The first motor 12 includes a fixed area located at the periphery and a first output end located in the center and corresponding to the rotor area. After power-on, the rotor rotates to output rotational motion to the first output end, thereby driving the thigh and the calf connected to it to surround the first output end. The axis of a motor 12 rotates to realize the lateral swing of the thigh and the lower leg relative to the body (ie, the direction toward the side of the body).

The second motor winder 14 is disposed adjacent to the second section of the first motor 12 and on the opposite side of the body attachment 10 . The second motor winder 14 has a cylindrical intermediate wall extending around the first axis, and a first annular end wall 14a and a second annular end wall 14b connected to both ends of the intermediate wall. The first annular end wall 14a extends radially inward perpendicular to the intermediate wall, and a central region of the first annular end wall 14a has a second opening. The second annular end wall 14b extends radially outwardly perpendicular to the intermediate wall. The second motor winder 14 is mounted to the peripheral fixing area of the first motor 12 at the second annular end wall 14b. For example, a plurality of first mounting holes may be provided at the second annular end wall 14b, and the first mounting holes are used for mounting the second motor winding device 14 to the peripheral fixing area of the first motor. The second annular end wall 14b is provided with a first wire inlet slot 14c. The first wire entry slot 14c runs through the entire radial dimension of the partial area of the second annular end wall 14b, and the first wire entry slot 14c can also extend along the first axis to at least a part of the middle wall, that is, the first wire entry slot 14c Can have a certain depth as needed.

Referring to Figure 4, a second motor fastener 16 is shown in accordance with one embodiment of the present invention. The second motor fastener 16 generally includes a first cylindrical body 16c, a first flange 16a, a support portion 16d, and a threading portion 16b. The first cylindrical body 16c forms a hollow region which extends along the second axis. In this embodiment, the second axis is generally perpendicular to the first axis. The first flange 16a is provided at one end of the first cylindrical body 16c, and the other end of the first cylindrical body 16c is closed. The first flange 16a is perpendicular to the first cylindrical body 16c (ie, extends outward in the radial direction of the first cylindrical body 16c). The second motor 18 is mounted to the second motor fastener 16 at the first flange 16a. For example, the first flange 16a has a plurality of second mounting holes for fixedly mounting the second motor 18 to the second motor fastener.

The support portion 16d is perpendicular to the first flange 16a (ie, extends in the axial direction of the first cylindrical body 16c) and extends around a part of the outer edge of the first flange 16a. The threading portion 16b protrudes from the support portion 16d toward the radially outer direction of the first cylindrical body 16c. A part of the threading portion 16b is connected to the first output end of the first motor 12 through the second opening. Therefore, the diameter of the threading portion 16b is smaller than the diameter of the second opening. The threading portion 16b may have a second cylindrical body and the size of the second cylindrical body is smaller than that of the second opening. The first end of the threading portion 16b is connected to the support portion 16d, and the other end of the threading portion 16b has a third annular end wall 16b2. The third annular end wall 16b2 has a plurality of third mounting holes and a second wire inlet groove 16b3. The third mounting hole is used to mount the second motor fastener 16 to the first output end of the first motor 12 (ie, the area corresponding to the center rotor). The second wire entry groove 16b3 runs through the entire radial dimension of the partial area of the third annular end wall 16b2 and extends to the third opening 16b1 of the third annular end wall 16b2. The second wire inlet groove 16b3 may extend into a partial area of the second cylindrical body along the axis of the wire threading portion 16b.

The second motor 18 includes a third segment and a fourth segment side by side along the second axis. The third segment has a smaller diameter and is inserted into the hollow of the first cylindrical body 16c of the second motor fastener 16 . The diameter of the fourth segment is larger than that of the third segment and has a plurality of fourth mounting holes on the end face close to the side of the third segment. The fourth mounting hole cooperates with the second mounting hole to mount the second motor 18 to the first flange 16a of the second motor fastener 16 using fasteners such as screws. The length of the fourth section of the second motor 18 along the second axis is arranged to allow the third opening 16b1 to span the entire length of the fourth section. The second motor 18 also has a stationary area located at the periphery and a rotary output area located at the center area, which output area is represented by the second output terminal.

In some embodiments of the invention, the baffle 20 is positioned adjacent the fourth segment of the second motor 18 on the opposite side of the second motor fastener 16 . 5, the baffle 20 generally includes an annular body 20a extending parallel to the radial direction of the second motor 18 and a second flange 20f extending perpendicular to the annular body 20a and towards a direction away from the fourth segment. The baffle 20 is in the shape of a bottle cap with a hole in the middle as a whole. The annular body 20a has a fourth opening 20e located in the central region and a plurality of fifth mounting holes 20b located on the annular body 20a. The fifth mounting hole 20 b is used to mount the baffle 20 to the peripheral fixing area of the second motor 18 . A part of the peripheral area of the baffle plate 20 is provided with a third wire entry slot 20c. In this embodiment, as shown in FIG. 5 , the third wire entry slot 20c is in an inverted "L" shape. The third wire entry groove 20c extends over a portion of the annular body 20a and a portion of the second flange 20f. The annular main body 20a is further provided with a winding limiting portion 20d (here, a limiting hole) in a region adjacent to the third wire inlet groove 20d, and components such as screws or rivets can be used to limit the winding. That is, the cable wound along the second flange 20f is clamped by the space between the screw or the like mounted on the limiting hole 20d and the second flange 20f.

A third motor fastener 24 is provided on the other side of the baffle 20 . The third motor fastener 24 extends generally along the second axis and includes a fifth segment 24b and a sixth segment 24a side by side along the second axis and a third flange 24c extending radially outwardly perpendicular to the sixth segment 24a. The diameter of the fifth segment 24b is smaller than the diameter of the sixth segment 24a and smaller than the diameter of the fourth opening 20e. The central area of the fifth segment 24b is provided with a plurality of sixth mounting holes 24d. The sixth mounting hole 24d is used to mount the third motor fastener 24 to the second output end located in the central region of the second motor 18 . The sixth section 24a is cylindrical and has a diameter smaller than the diameter of the second flange 20f of the baffle 20, and at least two opposite fourth wire inlet grooves 24f are provided on the sixth section 24a. In some embodiments, the sixth segment 24a is further provided with a cut portion 24e. The third flange 24c of the third motor fastener 24 is provided with a plurality of seventh mounting holes for mounting the third motor 26 . The sixth segment 24a is cap-shaped and has a recess on the side close to the third motor 26 that can receive a portion of the third motor 26 .

The third motor 26 includes seventh and eighth segments side by side along the second axis. The diameter of the seventh segment is smaller than the diameter of the eighth segment. The seventh stage is inserted into the recess of the cylindrical sixth stage 24a. The first side of the eighth segment (ie, the side facing the third motor fastener 24 ) is fixedly mounted to the third flange 24c. The other side of the eighth segment is fixedly connected to the thigh articulating arm 30 in a fixed area around the motor. There is a third output end in the central rotor corresponding area, and the third output end is connected with the lower leg transmission system 28 . The lower leg drive system 28 is disposed within the cavity formed by the thigh articulating arm 30 and is connected to the lower leg articulating arm 32 .

The calf drive system 28 generally includes an input pulley, an output pulley, and a chain or belt connecting the two. The input wheel is disposed near the thigh root of the thigh joint arm 30 and is connected to the third output end of the third motor 26 , and is thus driven to rotate by the third motor 26 . A chain or belt transfers the rotation of the input pulley to the output pulley. The output wheel is arranged at the position where the thigh joint arm is connected with the calf joint arm. Two end faces of the output wheel are provided with special-shaped clamping parts. The connecting end of the lower leg joint arm 32 is provided with two opposite connecting pieces, and each connecting piece is provided with a clamping hole matching the shape of the special-shaped clamping portion of the output wheel. The shape matching of the two enables the shank joint arm 32 to pivot accordingly with the rotation of the output wheel, thereby realizing the forward and backward movement of the shank.

In some embodiments of the present invention, the leg assembly for the footed robot may further include a third motor winder 22 . Referring to FIGS. 1 and 2 , the third motor winder 22 is disposed between the baffle 20 and the third motor fastener 24 . 7 and 8, the third motor winding device 22 generally includes two halves 22a and 22b, the two halves are combined to form a snap around the fifth segment 24b and the sixth segment 24a of the third motor fastener round protective casing. As shown, the third motor winder 22 has a centrally located fifth opening 22c. Each of the halves 22a and 22b includes a radially extending bottom wall and an axially extending side wall, the side walls may extend on both sides of the bottom wall. Both ends of the semicircular half portion 22a are provided with insertion holes, and the main body portion of the insertion hole may be formed by a cylindrical structure starting from the bottom wall and protruding in the axial direction. Correspondingly, the two ends of the semicircular half portion 22b are provided with plugs, and the plugs can be realized by using circular rods protruding to the outside of the ends. The diameter of the circular rod is smaller than that of the socket and can be snap-fitted with the socket. The combined protruding portion of the plug and socket is adapted to the size and shape of the cut portion 24e of the third motor fastener 24 .

The cable arrangement for the leg assembly of the footed robot according to this embodiment is specifically as follows: the cable extends from the first motor 10 to the first wire entry slot 14c, and enters the second motor from the first wire entry slot 14c Inside the wire winder 14 and around the periphery of the second motor winder 14, it is wound twice, and then enters the second wire inlet slot 16b3, the cable enters the third opening 16b1 through the second wire inlet slot 16b3, After coming out, it is divided into two branches, the cable of the first branch extends in the space between the third section of the second motor 18 and the second motor fastener 16 and is connected to the second motor 18 for the second motor 18 After supplying power, the cable of the second branch crosses the second motor 18 into the third wire inlet slot 20c of the baffle 20, and is wound 2 times in the annular area formed by the baffle 20 and the third motor fastener 24, and then The fourth wire entry slot 24f of the third motor fastener 24 extends into the space between the third motor fastener 24 and the third motor 26, and is connected to the third motor 26 to supply power thereto.

According to the leg assembly for a footed robot in this embodiment, the thigh joint arm 30 is mounted to the peripheral fixing area of the third motor 26 , the third motor 26 is fixedly mounted to the third motor fastener 24 , and the third motor tightens The fifth segment of the firmware 24 is connected to the second output of the second motor 18 . Therefore, the rotation of the rotor of the second motor 18 drives the thigh joint arm 30 to rotate. The third output end of the third motor 26 is connected to the lower leg transmission system 28 , so the rotation of the rotor of the third motor 26 drives the rotation of the lower leg joint arm 32 . The motion of the thigh joint arm can be controlled by controlling the current of the second motor 18 , and the movement of the calf joint arm can be controlled by controlling the current of the third motor 26 .

Since the leg assembly for a footed robot of the present invention is designed with a motor winding device, a baffle plate and a motor fastener with a specific structure, the motor rotation requirement is met while effectively avoiding the damage to the cable caused by the motor rotation. damage. Moreover, since the cables are arranged inside the leg assembly, the overall structure is more beautiful.

Embodiments of the invention are described with a leg assembly having a thigh articulating arm and a calf articulating arm. However, it is contemplated that, in some embodiments, the leg assembly may also have only thigh articulating arms. That is, the specific structure of the leg assembly includes a body link, a first motor, a second motor winder, a second motor fastener, a second motor, and a thigh joint arm. The cable extends from the output end of the first motor to the first wire inlet slot and enters the second wire inlet slot after being wound around the second motor winding device for a predetermined number of times. The cable is connected to the second motor through the third opening and supplies power to the second motor. The output end of the second motor is connected to the thigh joint arm and drives the thigh joint arm to rotate.

It should be understood that, where technically feasible, the technical features listed above for different embodiments can be combined with each other to form additional embodiments within the scope of the present invention. Furthermore, the specific examples and embodiments described herein are non-limiting and corresponding modifications may be made to the structures, dimensions, and materials set forth above without departing from the scope of the present invention.

In this application, the use of the antisense connective is intended to include the connective. Also, the conjunction "or" can be used to convey concurrent features rather than a mutually exclusive scheme. In other words, the conjunction "or" should be read to include "and/or." The term "comprising" is inclusive and has the same scope as "comprising."

The above-described embodiments, particularly any "preferred" embodiments, are possible examples of implementations, and are presented merely for a clear understanding of the principles of the invention. Numerous changes and modifications may be made to the above-described embodiments without substantially departing from the spirit and principles of the technology described herein. All modifications are intended to be included within the scope of this disclosure.

Claims (10)

1. A leg assembly for a footed robot, wherein the assembly comprises: a body connector having an annular shape and having a first opening in a central region; a first motor, the smaller end of the first motor is inserted into the first opening; a second motor winding device, the second motor winding device has a cylindrical intermediate wall extending around the first axis, and a first annular end wall and a second annular end wall connected to both ends of the intermediate wall, The first annular end wall is perpendicular to the intermediate wall and extends radially inward, a central region of the first annular end wall has a second opening, and the second annular end wall is perpendicular to the intermediate wall towards the radial direction extending outside, the second motor winding device is mounted to the first motor at the second annular end wall, and the second annular end wall is provided with a first wire inlet slot; A second motor fastener, the second motor fastener includes a first cylindrical body, a first flange connected to one end of the first cylindrical body and perpendicular to the first cylindrical body, perpendicular to the The first flange and a support portion extending around a part of the outer edge of the first flange and a threading portion protruding from the support portion toward the radially outer direction of the first cylindrical body, the second motor is in The first flange is installed to the second motor fastener, the threading part is connected to the first output end of the corresponding area of the central rotor of the first motor through the second opening, and the threading part is The part has a second wire inlet groove, the second wire inlet groove penetrates the radial dimension of the partial area of the wire threading part and extends to the third opening at the central area of the wire threading part; A second motor, the smaller end of the second motor is inserted into the hollow of the first cylindrical body of the second motor fastener, and the larger end of the second motor is mounted to the second motor the first flange of the fastener, the second motor has a second output end, the second output end is connected to the thigh joint arm and drives the thigh joint arm to rotate; a cable, the cable extends to the first wire inlet slot after coming out of the first motor, and enters the second wire inlet slot after being wound around the second motor winding for a predetermined number of times. The cable is connected to the second motor through the third opening and supplies power to the second motor. 2 . The leg assembly of claim 1 , wherein the first motor comprises a first segment and a second segment side by side along a first axis, and the diameter of the first segment is 2. 3 . Smaller and inserted into the first opening, the diameter of the second segment is greater than the diameter of the first segment. 3 . The leg assembly for a footed robot according to claim 1 , wherein the second annular end wall is provided with a plurality of first mounting holes, and the first mounting holes are used to attach the A second motor winder is mounted to the peripheral fixed area of the first motor, the first wire entry slot runs through the entire radial dimension of the second annular end wall, and the first wire entry slot extends along the The first axis extends to at least a portion of the intermediate wall. 4 . The leg assembly of claim 1 , wherein the first flange has a plurality of second mounting holes, and the second mounting holes are used for fixing the second motor. 5 . Installed to the second motor fastener, the threading portion has a second cylindrical body and the size of the second cylindrical body is smaller than the size of the second opening, the first end of the threading portion is connected to the On the support part, the other end of the threading part has a third annular end wall, the third annular end wall has a plurality of third installation holes and the second wire inlet groove, the third installation holes are used for For mounting the second motor fastener to the first output end of the first motor, the second wire entry slot penetrates the entire radial dimension of the partial area of the third annular end wall and extends to all In the second cylindrical body of the threading part, the third opening is arranged in the central area of the third annular end wall. 5 . The leg assembly of claim 1 , wherein the second motor comprises a third segment and a fourth segment side by side along the second axis, the diameter of the third segment being Smaller and inserted into the hollow of the first cylindrical body of the second motor fastener, the diameter of the fourth segment is larger than that of the third segment and has a larger diameter on the end face near the third segment. a fourth mounting hole that cooperates with the second mounting hole to mount the second motor to the first flange of the second motor fastener. 6. The leg assembly for a footed robot according to claim 5, wherein the assembly further comprises: a baffle plate adjacent to the fourth section of the second motor, the baffle plate comprising an annular body extending parallel to the radial direction of the second motor and perpendicular to the annular body and facing away from the second motor A second flange extending in four directions, the annular body has a fourth opening in a central area and a plurality of fifth mounting holes for mounting the baffle to the second In the peripheral fixing area of the motor, a part of the peripheral area of the baffle plate is provided with a third wire inlet groove, and the third wire inlet groove extends on a part of the annular main body and a part of the second flange area , the annular main body is further provided with a winding limit part in the area adjacent to the third wire inlet slot. 7. The leg assembly for a footed robot according to claim 6, wherein the assembly further comprises: A third motor fastener comprising fifth and sixth segments side by side along the second axis and a third flange extending radially outward perpendicular to the sixth segment, the The diameter of the fifth segment is smaller than the diameter of the sixth segment, the diameter of the fifth segment is smaller than that of the fourth opening, the central area of the fifth segment is provided with a plurality of sixth installation holes, and the sixth installation A hole is used to install the third motor fastener to the second output end located in the central area of the second motor, and the sixth section is cylindrical and has a diameter smaller than the second protrusion of the baffle plate The diameter of the edge, the sixth segment is provided with at least two opposite fourth wire entry grooves. 8. The leg assembly for a footed robot according to claim 7, wherein the assembly further comprises: A third motor, the third motor includes a seventh segment and an eighth segment side by side along the second axis, the seventh segment has a diameter smaller than that of the eighth segment, and the seventh segment is inserted into a cylindrical shape Inside the sixth section of the motor, the first side of the eighth section is fixedly mounted to the third flange, and the other side of the eighth section is fixedly connected to the thigh joint in the peripheral fixed area of the motor The arm has a third output end in the corresponding area of the rotor in the center, the third output end is connected with a lower leg transmission system, and the lower leg transmission system is arranged in the cavity formed by the thigh joint arm and connected with the lower leg joint arm . 9 . The leg assembly for a footed robot according to claim 7 , wherein the cable is divided into two branches after passing through the third opening, and the cable of the first branch is in the A third section of the second motor extends between and connects to the second motor fastener to supply power to the second motor, and the cable of the second leg enters across the second motor The third wire entry slot of the baffle is wound for a predetermined number of turns in the annular area formed by the baffle and the third motor fastener, and then passes through all the third motor fasteners. The fourth wire entry slot extends into the space between the third motor fastener and the third motor, and is connected to the third motor to power it. 10. The leg assembly of claim 7, wherein the assembly further comprises: A third motor winder, the third motor winder is disposed between the baffle and the third motor fastener, the third motor winder includes two halves, two halves The parts are combined to form a protective casing that is snapped on the periphery of the fifth and sixth sections of the third motor fastener.

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