Robot

Abstract

The invention relates to a robot which comprises a trunk structure, a controller, a charging structure, a driving assembly and a walking structure, and the trunk structure is provided with a mounting cavity; the controller is mounted in the mounting cavity; the charging structure is connected with the trunk structure, is electrically connected with the controller and is used for supplying power to the controller; the robot comprises a trunk structure, a controller, a driving assembly and a walking structure, the driving assembly is electrically connected with the controller, the driving assembly is installed on the trunk structure, the walking structure is connected with the output end of the driving assembly, and the driving assembly is controlled by the controller to drive the walking structure to move. The robot can walk, retreat, roll and lie down, so that the robot can be applied to various fields of families, industry, rescue, detection and the like, and the application universality of the robot is achieved.

Description

Technical Field

[0001] The present application relates to the field of robot automation technology, and in particular to a robot. Background Art

[0002] With the rapid development of science and technology, robots are being used to replace manual operations in more and more scenarios. As a result, robots with various functions have emerged, which can provide users with a variety of business services. Robots can be wheeled robots or legged robots. On the other hand, with the advancement of artificial intelligence technology, the interaction between humans and robots tends to be more intelligent and more natural.

[0003] To this end, robots have strong mobility and adaptability, and are expected to be widely used in household, industrial, rescue, detection and other fields. Summary of the invention

[0004] Based on this, it is necessary to provide a robot to address the problem of the single application field of existing robots.

[0005] The present application provides a robot, which includes a trunk structure with an installation cavity; a controller installed in the installation cavity; a charging structure connected to the trunk structure and electrically connected to the controller for powering the controller; a driving component and a walking structure, the driving component is electrically connected to the controller, the driving component is installed on the trunk structure, the walking structure is connected to the output end of the driving component, and the driving component is controlled by the controller to drive the walking structure to move.

[0006] In one embodiment, the driving assembly includes a first actuator, a second actuator and a third actuator; wherein the first actuator is installed on the torso structure, and the first actuator is used to drive the robot hip joint to move; the output end of the first actuator is connected to the input end of the second actuator, and the output end of the second actuator is connected to the thigh structure of the walking structure, and the second actuator is used to drive the thigh structure to move; the output end of the second actuator is also configured to move with the input end of the third actuator, and the output end of the third actuator is connected to the calf structure, and the third actuator is used to drive the calf structure to move, and the calf structure is rotationally connected to the thigh structure.

[0007] In one embodiment, it also includes a hidden wiring structure, which is used to hide the first cable between the third actuator and the controller, and the hidden wiring structure includes: a first limiter, which is arranged on the first surface of the second actuator, and the first limiter is used to guide the first cable to extend along the first surface, and a second limiter, which is arranged on the second surface of the second actuator, and the second limiter is used to guide the first cable to extend along the second surface; and / or, it also includes a hidden wiring structure, which is used to hide the first cable between the third actuator and the controller and / or hide the second cable between the controller of the second actuator, and the hidden wiring structure includes: a third limiter, the third limiter is connected to the trunk structure, and the third limiter has a plurality of fixing parts for accommodating the first cable and / or the second cable; and / or, it also includes a hidden wiring structure, and the hidden wiring structure also includes a joint shell, which is arranged between the walking structure and the trunk structure, and the joint shell is configured to cover the drive component exposed outside the trunk structure, the first cable between the third actuator and the controller exposed outside the trunk structure, and the second cable between the second actuator and the controller exposed outside the trunk structure.

[0008] In one of the embodiments, a transmission structure is further included, which is arranged between the calf structure and the third actuator. The transmission structure includes a crank and a pull rod. The crank rotates coaxially with the output end of the third actuator. One end of the pull rod is rotationally connected to the crank, and the other end is rotationally connected to the calf structure. Driven by the third actuator, the calf structure rotates relative to the thigh structure.

[0009] In one embodiment, the walking structure includes a thigh structure, a calf structure and a plantar structure, the thigh structure is rotatably connected to the calf structure, the plantar structure is arranged on the side of the calf structure away from the thigh structure, and the plantar structure includes an insert and a plantar elastic part; wherein the insert and the plantar elastic part are integrally formed; or, the insert and the plantar elastic part are fixedly connected by a connecting part; or, the plantar elastic part also includes a first elastomer and a second elastomer, the first elastomer is fixedly connected to the insert, and the insert is fixedly connected to the first elastomer, and the first elastomer and the second elastomer are made of different materials; and / or, the thigh structure includes a thigh part, the thigh part includes a thigh support and an ear integrally connected to the thigh support, the thigh support is provided with a first axial hole, the ear is provided with a second axial hole corresponding to the first axial hole, and the first axial hole and the second axial hole are used to assemble the driving component.

[0010] In one embodiment, the charging mechanism is mounted on the trunk structure, the charging mechanism includes a battery component and a charging connector, the battery component is used to store electrical energy, the battery component is connected to a controller, and the charging connector is used to electrically connect to an external electrical connector to charge the battery component; or, the charging mechanism is mounted on the trunk structure, the charging mechanism includes a battery component and a charging connector, the battery component is used to store electrical energy, the battery component is connected to a controller, and the charging connector is used to electrically connect to an external electrical connector to charge the battery component, the trunk structure includes a battery component pressure plate, the mounting pressure plate and the trunk structure form a cavity for accommodating the battery component of the charging mechanism, and the charging connector is arranged on the outer surface of the trunk structure.

[0011] In one of the embodiments, a heat dissipation mechanism is further included, which is used to dissipate heat from the installation cavity. The heat dissipation mechanism includes: a first heat dissipation element and an air outlet structure, the first heat dissipation element is arranged on the trunk structure close to the controller, the air outlet structure has a first air outlet channel, the first heat dissipation element is used to drive the gas outside the trunk structure into the installation cavity and drive the gas to be discharged from the shell through the first air outlet channel; and / or, a second heat dissipation element, the second heat dissipation element is arranged close to the battery component side, and the second heat dissipation element is used to dissipate heat from the battery component.

[0012] In one embodiment, it also includes an environmental sensing mechanism, including: at least one radar, which is arranged on the trunk structure or on the head structure of the robot; and / or, at least one dynamic object detection component, which is arranged on the trunk structure or on the head structure of the robot, and is used to detect surrounding dynamic moving objects; and / or, a distance detection component, which is arranged on the head structure, walking structure or trunk structure of the robot, and the position detection component is used for the walking robot to linearly sense the surrounding environment; and / or, at least one temperature sensor, which is arranged on the head structure, trunk structure or walking structure of the robot, and is used to sense the temperature of the surrounding environment; and / or, at least one humidity sensor, which is arranged on the head structure, trunk structure or walking structure of the robot. structure, trunk structure or walking structure, for sensing the humidity of the surrounding environment; and / or, a camera, arranged on the head structure, trunk structure or walking structure of the robot, for capturing images of the surrounding environment and feeding back to the controller; and / or, at least one touch sensor, arranged on the head structure or trunk structure of the robot, the touch sensor being used to feed back touch signals to the controller after being touched by the outside world; and / or, at least one voice interaction component, arranged on the head structure, trunk structure or walking structure of the robot, the voice interaction component being used for external voice input and / or the voice interaction component being used for external voice output; and / or, at least one display, arranged on the head structure or trunk structure of the robot, connected to the controller, for displaying patterns or graphics to the outside.

[0013] In one of the embodiments, at least one characteristic part is further included, and the characteristic part is arranged on the head structure, trunk structure or walking structure of the robot. The characteristic part includes a characteristic support part, a characteristic transition part and a characteristic counterweight part that are connected to each other, and the characteristic support part is used to connect with the trunk structure; one end of the characteristic transition part is connected to the characteristic support part, and the other end of the characteristic transition part is bent and connected to the characteristic counterweight part, and the characteristic transition part has elastic deformation under the action of external force to drive the characteristic counterweight part to shake relative to the characteristic support part; and / or, at least one identification part is also included, and the identification part is arranged on the head structure, trunk structure or walking structure of the robot, and is used to identify the robot; and / or The trunk structure includes a chassis structure, the chassis structure includes a bottom plate, at least one pair of oppositely arranged side plates and at least one pair of oppositely arranged end plates, the side plates are connected to the bottom plate, the end plates are connected to the bottom plate, the two ends of any side plate are respectively connected to the two end plates, the end plates are used to install moving parts, all side plates, all end plates and the bottom plate together enclose an installation cavity with at least one side opening; and / or, it also includes a cover shell member, the cover shell member is coated on the outer periphery of the chassis structure and covers the opening of the accommodating cavity; and / or, it also includes a characteristic shell, the characteristic shell cover is arranged on the outer side of the cover shell member, the characteristic shell includes an inner shell body and an outer shell body wrapped outside the inner shell body, the softness of the outer shell body is greater than the softness of the outer periphery of the cover shell member or the chassis structure or the trunk structure.

[0014] In one embodiment, it also includes a braking structure, which is driven by an external force to cut off the circuit. The braking structure includes: a trigger component, including a moving part and at least one switch body arranged at intervals, the switch body is connected to the trunk structure, and the moving part includes a first position and a second position; in the first position, the moving part triggers the switch body and the circuit is disconnected; in the second position, the moving part is separated from all the switch bodies; and at least one reset component, connected between the moving part and the trunk structure, the reset component applies a biasing force toward the second position to the moving part.

[0015] The above robot has the following advantages:

[0016] 1. In the robot provided by the present invention, the charging structure supplies power to the controller and the driving component. The driving component is controlled by the controller to drive the walking structure to move, thereby realizing the walking structure, such as the leg structure of a quadruped robot, to swing or other forms of movement, and realizing the robot's multi-form movements such as walking, backward, rolling, and lying down, thereby meeting the application in various fields such as home, industry, rescue, and detection, thereby realizing the wide application of the robot.

[0017] 2. Multiple actuators coordinate and cooperate to realize multi-mode movement of the robot. The actuators are connected in series to realize the control of the hip joint, thigh, and calf respectively, providing the possibility of multi-mode and multi-gait movement of the robot

[0018] 3. For quadruped robots and humanoid robots, hidden wiring is particularly important. If the cables are exposed, there may be safety hazards. For example, if the robot is hooked by external forces during walking, the robot may move irregularly, which in turn affects the external force sender or the robot itself, and even causes injuries to the user or damage to the robot.

[0019] To this end, in one embodiment, a hidden wiring structure is adopted, and through the cooperation of a first limiter and a second limiter, the first cable between a third actuator and a controller arranged at the farthest side relative to the torso structure can be stored on the outer wall surface of the second actuator, thereby avoiding the above-mentioned problem caused by the first cable being exposed alone.

[0020] In another embodiment, the hidden wiring structure also includes a third limiter, which is fixedly connected to the trunk structure. The third limiter accommodates the first cable and the second cable between the second actuator and the controller, thereby ensuring a reliable connection between the first cable and the second cable and the controller, and further ensuring the reliability of the wiring.

[0021] In another embodiment, the hidden wiring structure also includes a joint shell, which can cover the drive component exposed on the outside of the trunk structure, and at the same time cover the first cable and the second cable exposed outside the trunk structure, further ensuring the reliability of the wiring and effectively avoiding the first cable and the second cable from being exposed outside.

[0022] 4. The plantar structure includes an insert and an elastomer. The presence of the insert can enhance the hardness and supporting force of the plantar structure, and the plantar elastic member can increase the elasticity and improve the wear resistance of the plantar structure, thereby extending the service life of the plantar structure. In addition, the plantar elastic member is integrally formed with the insert or is adhesively connected to the insert, and has a simple structure, which is suitable for mass production.

[0023] When the sole elastic member is connected to the insert by adhesive bonding, the sole elastic member includes a first elastic body connected to the bottom surface of the insert and a second elastic body connected to the bottom surface of the first elastic body, and the first elastic body and the second elastic body are made of different materials.

[0024] For the thigh structure, the thigh support and ears are integrally arranged, and the first axial hole and the second axial hole on the thigh support and the ear are used to assemble the driving component. By simplifying the two components that interlock with each other on the thigh in the prior art into one thigh component, the manufacturing accuracy of the first axial hole and the second axial hole can be improved, thereby improving the assembly accuracy of the thigh structure and the calf, reducing the difficulty of assembly, and facilitating mass production. At the same time, it can reduce the problem of movement collision between the driving component and the thigh component caused by the poor alignment of the holes on the two existing components, and further improve the problem of high movement noise.

[0025] 6. In the heat dissipation mechanism, the gas outside the shell is sucked into the accommodating chamber through the first heat dissipation component, and the gas in the accommodating chamber is effectively discharged outside the shell through the first air outlet channel of the air outlet structure, thereby accelerating the exchange of hot and cold gases in the accommodating chamber, so that the heat generated by the battery components, control components, etc. in the accommodating chamber can be discharged in a timely and effective manner, thereby improving the heat dissipation effect of the robot, extending the service life of the robot, and allowing the battery components and control components to be within a safe charging temperature, thereby improving the safety performance of the robot.

[0026] 7. For the environmental perception mechanism, the radar can realize the scanning and acquisition of the panoramic map. The dynamic object detection component can dynamically detect the environment during the movement of the robot. The distance detection component can linearly perceive the surrounding environment such as obstacles and cliffs, so that the robot can perform corresponding actions such as climbing stairs and avoiding obstacles under the drive of the controller; the temperature sensor and humidity sensor can realize feedback on temperature and humidity to ensure that the robot can perceive the surrounding space environment; the camera can take pictures of the surrounding environment to ensure that the robot obtains the surrounding environment image according to needs; the setting of the touch sensor improves the robot's human-computer interaction ability and ensures that the robot can feedback to the external touch; the voice interaction component can interact with the external environment through voice, further improving the human-computer interaction ability; the display screen can display images and then show the robot's various emotional changes according to actual conditions.

[0027] 8. Regarding the setting of the characteristic parts, when the robot is walking or moving, the vibration of the body will be transmitted to the characteristic parts on it, causing the transition part on the characteristic part to produce elastic deformation, driving the counterweight part to shake relative to the support part, and the transition part is in a shaking state. The characteristic parts can be used as the ear structure of the head of the quadruped robot, or as the tail structure of the quadruped robot. During the movement of the quadruped robot, the ear structure or the tail structure shakes accordingly, which can achieve a good and accurate human-machine interaction effect.

[0028] On the other hand, the cover member covers the torso structure, and the characteristic shell cover is arranged on the outside of the cover member. The characteristic shell and the cover member respectively serve as a form of robot bionics, further improving the robot's animal form or anthropomorphic form, and further improving human-computer interaction.

[0029] 9. In the braking structure, when the external force causes the moving part to touch the switch body, the robot can be braked, and then the robot braking action can be realized in an emergency. At the same time, a reset component is provided between the switch body and the moving part, and the moving part always keeps the tendency to move from the first position to the second position under the drive of the reset component. It is ensured that when the robot is running, even if the moving part is accidentally touched, the moving part will return to the second position under the push of the reset component, thereby reducing the situation where the circuit control device is accidentally touched and the robot power is abnormally disconnected. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of a robot provided in one embodiment.

[0031] Figure 2 An exploded view of the robot structures other than the head structure and the walking structure provided in one embodiment.

[0032] Figure 3 Schematic diagram of the chassis structure of a robot provided in one embodiment.

[0033] Figure 4 A schematic diagram of the coordination of a driving component and a hidden wiring structure in one implementation manner.

[0034] Figure 5 for Figure 4 Schematic diagram of the structure from a top-down perspective after the walking structure is installed and the first cable is removed.

[0035] Figure 6 It is a schematic diagram of the structure of a driving assembly, a first cable, a second cable, and a third cable in cooperation with a first limiter and a second limiter in one embodiment.

[0036] Figure 7 It is a schematic diagram of the structure of the robot body after removing the local feature shell, the local cover shell and the braking structure in one embodiment.

[0037] Figure 8 A side view of the robot structures other than the head structure and the walking structure provided in one embodiment.

[0038] Fig. 9 In one embodiment Figure 8 Cross-sectional view along the AA direction.

[0039] Fig.10 In one embodiment Figure 8 A cross-sectional view from head to tail.

[0040] Fig.11 In one embodiment Figure 8 Cross-sectional view along direction BB.

[0041] Fig.12 It is a schematic diagram of the structure after the head structure is connected to the matching piece and the head structure is separated in one embodiment.

[0042] Fig.13 Schematic diagram of the structure of characteristic parts of a robot in one embodiment.

[0043] Fig.14It is a schematic diagram of the structure of the thigh member, the calf structure and the transmission structure in one embodiment.

[0044] Fig.15 Schematic diagram of the structure of a thigh in one embodiment.

[0045] Fig.16 for Fig.15 Schematic diagram of the structure of the thigh part and the appearance part after separation.

[0046] Fig.17 It is a cross-sectional view of a thigh member, an appearance member and a thigh elastic member at one viewing angle after being assembled in coordination in one embodiment.

[0047] Fig.18 It is a cross-sectional view of a calf structure and a thigh structure after being assembled in cooperation in one embodiment.

[0048] Fig.19 It is a schematic diagram of the structure after the calf structure and the sole structure are installed in coordination in one embodiment.

[0049] Fig. 20 A cross-sectional view of a calf structure in one embodiment.

[0050] Fig.21 Schematic diagram of the structure of the sole of the foot in one embodiment.

[0051] Fig. 22 is a cross-sectional view of a plantar structure in one embodiment.

[0052] Fig.23 It is a schematic diagram of the structure of an insert at a certain viewing angle in one implementation manner.

[0053] Fig.24 It is a schematic diagram of the structure of an insert in one embodiment from another perspective.

[0054] Fig.25 FIG. 4 is a cross-sectional view of a plantar structure in another embodiment.

[0055] Fig.26 It is a schematic diagram of the structure of the brake structure cooperating with the radar in one implementation manner.

[0056] Fig. 27 for Fig.26 Cross-sectional view of the switch body at the center.

[0057] Explanation of reference numerals: 10-trunk structure; 110-chassis structure; 111-weight reduction portion; 112-reinforcement portion; 112a-axis reinforcement rib; 112b-side reinforcement rib; 113-side plate; 114-end plate; 115-bottom plate; 115a-weight reduction groove; 116-fourth connecting frame; 117a-first chassis mounting portion; 117b-second chassis mounting portion; 117c-third chassis mounting portion; 117d-fourth chassis mounting portion; 118a-first air inlet; 118b-third air outlet; 118c-first air outlet; 12-first connecting frame; 12a-winding portion; 12b-edge portion; 13-second connecting frame; 14-installation cavity; 210-controller; 220-braking structure; 221- Trigger assembly; 221b-switch body; 221a-moving member; 221c-moving support portion; 221d-moving abutment portion; 222-reset assembly; 222a-connecting member; 222b-biased reset member; 222c-guide member; 223-brake mounting assembly; 223a-brake mounting seat; 223b-limiting portion; 224-switch limiting assembly; 224a-first switch limiting member; 224b-second switch limiting member; 31-battery member 31; 32-mounting plate; 410-driving assembly; 411-first actuator; 412-second actuator; 413 third actuator; 421-first cable; 422-second cable; 423-third cable; 430-transmission structure; 431-crank; 432-pull rod; 50-walking structure; 510-thigh structure; 511-thigh piece; 511a-thigh bracket; 511b-ear; 511c-first axial hole; 511d-second axial hole; 511e-second stopper; 511f-thigh slot; 511g-thigh through hole; 512-appearance piece; 512a-first stopper; 512b-thigh buckle; 512c-thigh locking hole; 513-thigh elastic piece; 520-calf structure; 521-calf limit piece; 522-convex rib; 523-calf cavity; 524-calf locking hole; 530-plantar structure; 531-insert; 5311-inlay body; 5312-insert through hole; 5313-inlay guide piece; 5314-inlay limit Positioning piece; 5315-special-shaped protrusion; 5316-limiting block; 5317-inlay locking hole; 5318-glue groove; 532-plantar elastic piece; 5321-cavity groove; 5322-elastic groove; 5323-first elastic body; 5324-second elastic body; 54-connecting pin; 55-rotating shaft locking piece; 56-buckle cover; 57-protective cover; 60-hidden wiring structure; 61-first limiting piece; 611-first fixing part; 62-second limiting piece; 63-third limiting piece; 64-joint shell; 710-head structure; 720-featured piece; 721-support part; 722-transition part; 723-weight part; 730-cover shell; 731-outer cover shell; 732-bottom cover shell; 740-featured shell;741-inner shell; 742-outer shell; 750-identification member; 751-collar body; 752-sign; 80-heat dissipation mechanism; 810-first heat dissipation member; 811-second air inlet; 812-second air outlet channel; 812a-second air outlet; 820-air outlet structure; 821-first air outlet channel; 830-second heat dissipation member; 831-third air outlet; 832-third air outlet channel; 840-third heat dissipation member; 850-fourth heat dissipation member; 860-first guide member; 861-air inlet channel; 91-radar; 92-dynamic object detection member; 93-camera; 94-touch sensor; 95-microphone; 96-display; 97-distance detection member; 98-sound system. ; DETAILED DESCRIPTION

[0058] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0059] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0060] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0061] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0062] This embodiment provides a robot such as Figures 1 to 27 As shown, it includes: a trunk structure 10, a controller 210, a charging structure, a driving component 410 and a walking structure 50. Among them, the trunk structure 10 has an installation cavity 14, the controller 210 is installed in the installation cavity 14, the charging structure is connected to the trunk structure 10, and the charging structure is electrically connected to the controller 210, for supplying power to the controller 210; the driving component 410 is electrically connected to the controller 210, the driving component 410 is installed on the trunk structure 10, the walking structure 50 is connected to the output end of the driving component 410, and the driving component 410 is controlled by the controller 210 to drive the walking structure 50 to move. In the robot provided by the present invention, the charging structure supplies power to the controller and the driving component, and the driving component is controlled by the controller to drive the walking structure to move, thereby realizing the walking structure, such as the leg structure of a quadruped robot, swinging or other forms of movement, realizing the robot walking, retreating, rolling, lying down and other multi-form actions, thereby meeting the application in various fields such as home, industry, rescue, detection, etc., and realizing the wide application of the robot. For understanding, in this embodiment Figure 1 A quadruped robot is shown; in other optional embodiments, a humanoid robot or other multi-legged robot may also be used.

[0063] In this embodiment, Figure 1 , Fig.14 and Fig.19 As shown, the walking structure 50 includes a thigh structure 510, a calf structure 520 and a sole structure 530. The thigh structure 510 is rotatably connected to the calf structure 520, and the sole structure 530 is arranged on the side of the calf structure 520 away from the thigh structure 510. The walking action of the robot is realized by the cooperation of the thigh structure 510, the calf structure 520 and the sole structure 530.

[0064] like Fig. 9As shown, the driving component 410 includes a first actuator 411, a second actuator 412 and a third actuator 413; wherein the first actuator 411 is installed on the trunk structure 10, and the first actuator 411 is used to drive the robot hip joint to move; the output end of the first actuator 411 is connected to the input end of the second actuator 412, the output end of the second actuator 412 is connected to the thigh structure 510 of the walking structure 50, and the second actuator 412 is used to drive the thigh structure 510 to move; the output end of the second actuator 412 is also configured to move with the input end of the third actuator 413, the output end of the third actuator 413 is connected to the calf structure 520, and the third actuator 413 is used to drive the calf structure 520 to move, and the calf structure 520 is rotationally connected to the thigh structure 510.

[0065] like Figure 3 and Fig.10 As shown, the trunk structure 10 includes three parts, a chassis structure 110 and a frame structure connected to the actuator, the frame structure includes a first connecting frame 12 and a second connecting frame 13 (mentioned later), which are used to fix the third actuator 413 and the second actuator 412. The chassis structure 110 is formed with a mounting cavity 14 with one side open, and the mounting cavity 14 is used to accommodate components such as the battery component 31, the heat sink, the sound, the controller 210, the first actuator 411, etc.

[0066] like Figure 2 As shown, a cover member 730 and a characteristic shell 740 are also provided on the outside of the trunk structure 10. The cover member 730 is covered on the periphery of the chassis structure 110 and covers the opening of the accommodating cavity. The characteristic shell 740 is covered on the outside of the cover member 730. The characteristic shell 740 includes an inner shell 741 and an outer shell 742 wrapped outside the inner shell 741. The softness of the outer shell 742 is greater than the softness of the outer peripheral surface of the cover member 730 or the chassis structure 110 or the trunk structure 10. The cover member 730 covers the trunk structure 10, and the characteristic shell 740 is covered on the outside of the cover member 730. The characteristic shell 740 and the cover member 730 are respectively used as a form of robot bionics, further improving the anthropomorphic form or anthropomorphic form of the robot, and further improving the human-machine interaction.

[0067] Specifically, in one implementation of the present embodiment, the cover shell 730 includes two outer cover shells 731 and a bottom cover shell 732, and the three are assembled together to form an outer cover shell covering the chassis structure 110. For the characteristic shell 740, it includes an inner shell 741 and an outer shell 742. The inner shell 741 and the outer shell 742 are assembled by snap-fit ​​or threaded locking, and of course, they can also be connected by welding or bonding. For the cover shell 730 and the characteristic shell 740, they can be selectively added or not added in some implementations, as long as the trunk structure 10 can achieve the support of the corresponding overall structure.

[0068] For the head structure 710, if Figure 1 and Fig.12 As shown, the head structure has two detachable shells, and there is a cavity inside to accommodate multiple sensors. At the same time, the head structure 710 is also provided with a mounting portion for mounting the feature 720 and a mounting portion for mounting with the trunk structure 10. The form of mounting with the trunk is not limited here. As long as the connection between the two can be achieved, the above connection can be achieved regardless of whether a detachable connection method such as thread, buckle, etc. is used or the head structure and the trunk structure 10 are integrally formed. Among them, the sensors in the head structure are detailed in some structural contents of the following environmental sensing structure.

[0069] like Figure 1 As shown, the robot further includes at least one identification member 750, which is disposed on the head structure, trunk structure or walking structure of the robot for identifying the robot; specifically, the identification member 750 can be a connecting accessory such as a collar or a coat of the robot, which covers the outside of the trunk, head or walking structure, so that the user can find or highlight the position of the robot, such as Figure 1 As shown, taking the collar as an identification part as an example, the collar includes a collar body 751 and a label 752 set on the collar. The collar body can be made of flexible material. Of course, the material selection can also be other materials and is not limited here. Identification words can be printed on the label 752 to facilitate the outside world to identify or name the robot.

[0070] The controller 210 is the core component of the entire robot, and can control various functions and behaviors of the robot, such as walking, running, turning, jumping, etc. The controller 210 can receive and process information from other sensors, and guide the movement and behavior of the robot based on this information. The controller 210 can realize the human-computer interaction function with the robot. Specifically in the embodiment, the controller 210 is the main control chip of the robot. The controller 210 can be connected to the chassis structure 110 through the mounting plate, and of course in some embodiments, it can also be directly connected to the trunk structure 10.

[0071] like Figure 2As shown, the charging mechanism is installed on the trunk structure 10, and the charging mechanism includes a battery unit 31 and a charging connector 222a (the viewing angle is not shown in the figure, and the position can be set on the abdomen). The battery unit 31 is used to store electrical energy. The battery unit 31 is connected to the controller 210, and the charging connector 222a is used to electrically connect to the external electrical connector 222a to charge the battery unit 31; the charging connector 222a can be two electrode sheets, or it can be a wireless charging coil. The specific form of the charging connector 222a is not too limited here. For the battery unit 31, the battery unit 31 is the power source of the robot. The battery unit 31 releases the stored electrical energy to increase the power of various parts of the robot, so that the robot can work normally, such as walking, running, jumping, turning, etc. There is no limitation on the specific form of the battery component, and any battery form that can store electrical energy can be used. The installation of the battery component 31 can be achieved by installing a pressure plate 32 and other structures to install and fix the battery component 31. Of course, in other methods, the battery component 31 can be directly limited by installing slots in the chassis structure 110, as long as the installation of the battery component 31 is met.

[0072] For easier understanding, the following are detailed descriptions of specific components:

[0073] Regarding the chassis structure 110 of the robot, Figure 2 FIG. 7 shows an exploded view of the robot except the head structure 710 and the walking structure 50 provided in one embodiment. Figure 3 The schematic diagram of the structure of the chassis structure 110 of the robot provided in one embodiment is shown in FIG. 1 ; the chassis structure 110 provided in this embodiment includes a bottom plate 115, a pair of oppositely arranged side plates 113, and a pair of oppositely arranged end plates 114, wherein the side plates 113 are connected to the bottom plate 115, the end plates 114 are connected to the bottom plate 115, and the two ends of any side plate 113 are respectively connected to two end plates 114, and the end plates 114 are used to install moving parts, and all the side plates 113, all the end plates 114, and the bottom plate 115 are jointly enclosed to form a mounting cavity 14 with an opening on one side, and the bottom plate 115 includes a plurality of weight-reducing parts 111 and a reinforcement part 112 arranged at intervals, and the reinforcement part 112 is used to enhance the torsion resistance of the bottom plate 115. In this embodiment, a mounting cavity 14 with an opening at the top is adopted, and in other optional embodiments, there may also be multiple openings in other directions, as long as the strength of the chassis structure 110 is guaranteed. In this embodiment, the chassis structure 110 with an opening is formed by enclosing side panels 113, end panels 114 and a bottom panel 115, providing an open installation space for various functional components on the robot, thereby facilitating the assembly and maintenance of the robot; and by arranging a weight reduction portion 111 and a reinforcement portion 112 on the bottom panel 115, the problem of the robot body being too heavy is solved while ensuring the load capacity of the chassis structure 110.

[0074] like Figure 3 As shown, the reinforcement part 112 provided in this embodiment is connected between the two end plates 114, and is extended in a direction perpendicular to the torsion direction of the moving part to obtain a relatively good torsion resistance; but it is not limited to this, for example: when there are multiple reinforcement parts 112, the extension direction of each reinforcement part 112 and the torsion direction of the moving part can also be extended at a non-90 degree angle, as long as the reinforcement parts 112 work together to produce a good torsion resistance, it is also allowed. The moving part of this embodiment can be a drive assembly 410, that is, a plurality of actuators connected in series, of course, there is no limitation here, and the scheme for realizing movement can be a moving part.

[0075] As an embodiment of the present invention, the reinforcement part 112 includes a reinforcement rib, and the cross-sectional size of the reinforcement rib gradually decreases from the end plate 114 to the extension direction away from the moving part, so as to achieve a better anti-torsion effect. The reinforcement rib includes an axial reinforcement rib 112a and two side reinforcement ribs 112b, and the axial reinforcement rib 112a is arranged between the two side reinforcement ribs 112b; the side reinforcement rib 112b is connected to the adjacent side plate 113 to improve the stability of the connection between the bottom plate 115 and the side plate 113.

[0076] To further reduce weight, the reinforcing ribs provided in this embodiment are further provided with a plurality of weight reducing grooves 115a. As a variation of the weight reducing grooves 115a, the weight reducing grooves 115a may be completely or partially replaced with weight reducing holes.

[0077] As an implementable embodiment of this embodiment, the weight reducing portion 111 includes a through hole recessed from the outside to the inside, and the weight reducing portion 111 is arranged between the side reinforcement ribs 112b and the axis reinforcement ribs 112a; the specific number of the weight reducing portions 111 can be set according to the needs of the robot. In this embodiment, four weight reducing portions 111 are arranged, and the four weight reducing portions 111 are arranged symmetrically in the center; this embodiment, through the ingenious arrangement of the structures of the weight reducing portion 111 and the reinforcement portion 112, meets the requirements of weight reduction while greatly meeting the requirements of robot movement, support strength and stiffness from a mechanical point of view.

[0078] Reference Figure 3 As shown, in the technical solution of the present invention, the chassis structure 110 further includes a fourth connecting frame 116, and both ends of the fourth connecting frame 116 are connected to two oppositely arranged end plates 114, which can play a role in further reinforcing and supporting the overall structure of the chassis.

[0079] In some other embodiments, the fourth connecting frame 116 is provided with a plurality of connecting parts, which can be used to install radar 91, vision or mechanical arm and other structural parts. The connection and installation of the radar 91 and other structures of the connecting parts can be connected by fasteners such as screws, or can be installed by sliding in a slot or locking by a buckle, etc., which are not limited here. Among them, the fourth connecting frame 116 in this embodiment is selected as a metal guide rail, which can be made of aluminum alloy. The tops of the two end plates 114 are provided with mounting holes, and the fourth connecting frame 116 is installed on the mounting holes on the tops of the two end plates 114 by the first bolts, which is convenient for disassembly and assembly. Of course, the connection method between the connecting structure and the end plate 114 can also be a buckle connection or welding, which is not limited here.

[0080] In some other embodiments, the height of the side panel 113 is lower than the height of the end panel 114, and the top edge of the side panel 113 is not designed to be a straight line, that is, the edge of the side panel 113 is provided with a plurality of recessed portions, thereby achieving a further weight reduction effect; in addition, the arc-shaped transition between the side panel 113 and the bottom panel 115 can enhance the strength of the chassis structure 110, reduce the resistance of the robot during movement, and make the outer lines of the chassis structure 110 smoother and more beautiful.

[0081] In this embodiment, the bottom plate 115 also includes a first chassis mounting portion 117a for mounting a speaker. The first chassis mounting portion 117a is provided with a mesh hollow structure for transmitting sound. Mounting columns for fixing the speaker 98 are provided on both sides of the mesh hollow structure. Mounting holes are provided on the mounting columns. The speaker 98 is conveniently disassembled and assembled with the chassis structure 110 by means of a second mounting bolt matching the second mounting hole.

[0082] In this embodiment, the base plate 115 also includes a second chassis mounting portion 117b for mounting the battery component 31, and brackets for fixing the circuit board are provided at the four corners of the base plate 115. The second chassis mounting portion 117b is located in the space enclosed by the four brackets. The second chassis mounting portion 117b is provided with a plurality of mounting holes, and the battery component 31 is conveniently disassembled and assembled with the chassis structure 110 by threaded fastening.

[0083] In this embodiment, a fourth chassis mounting portion 117d for mounting the actuator is provided on the end plate 114; the fourth chassis mounting portion 117d is a through hole, and during assembly, the mounting through hole is clamped with the housing of the actuator, and the actuator is further fixed to the end plate 114 by a fourth bolt; in addition, a fifth chassis mounting portion for mounting the tail of the robot is also provided on the end plate 114.

[0084] Reference Figure 2 and Figure 3As shown, in one embodiment, the side panel 113 further includes at least one third chassis mounting portion 117c, which is used to mount a human-machine interaction panel. The third chassis mounting portion 117c is a second through hole, and the human-machine interaction panel is connected to the side panel 113 through the second through hole and is electrically connected to the internal circuit structure. In this embodiment, the human-machine interaction panel can be a switch button, a charging socket, etc.

[0085] In some other embodiments, each side panel 113 is provided with a third chassis mounting portion 117c, which can be used to mount the robot control panel and the charging panel respectively.

[0086] As described above about the drive component 410, in addition, the components cooperating with the drive component 410 also include a hidden wiring structure. For quadruped robots and humanoid robots, hidden wiring is particularly important. If the cables are exposed, there may be safety hazards. For example, if the robot is affected by external forces and is hooked during walking, the robot may move irregularly, which may affect the external force sender or the robot itself, and even cause injuries to the user or damage to the robot. Figure 4 FIG. 4 is a schematic diagram showing the coordination of a driving component 410 and a hidden wiring structure in one embodiment; Figure 5 It is shown as Figure 4 A schematic diagram of the structure in a top view after the walking structure 50 is installed and the first cable 421 is removed; Figure 6 FIG. 1 is a schematic diagram showing a structure in which a driving assembly 410, a first cable 421, a second cable 422, and a third cable 423 cooperate with a first stopper 61 and a second stopper 62 in one embodiment;

[0087] like Figure 4 and Figure 5 As shown, the output end of the first actuator 411 can drive the walking structure 50 to rotate around the Y axis, and the output end of the second actuator 412 and the output end of the third actuator 413 both rotate around the X axis. Further, the first cable 421 is led out from the third actuator 413 and extends toward the controller 210 side and is connected to the controller 210 to achieve the transmission of electric energy and electric signals and then achieve control and drive, the second cable 422 is led out from the second actuator 412 and extends toward the controller 210 side and is connected to the controller 210 to achieve the transmission of electric energy and electric signals and then achieve control and drive, and the third cable 423 is led out from the first actuator 411 and extends toward the controller 210 side and is connected to the controller 210 to achieve the transmission of electric energy and electric signals and then achieve control and drive. Of course, the above-mentioned X-axis and Y-axis are only for illustration. In this embodiment, the X-axis and Y-axis are perpendicular to each other. In some optional embodiments, a certain angle can also be adopted.

[0088] The first cable 421 includes a winding section and an outlet section arranged in sequence, the winding section is wound between the trunk structure 10 and the walking structure 50, and the outlet section extends from the winding section toward the trunk structure 10. The hidden wiring structure in this embodiment is connected to the driving assembly 410, and the hidden wiring structure includes a fixing portion, which is configured to fix the outlet section.

[0089] Furthermore, the winding segment is wound between the third actuator 413 and the second actuator 412. In some embodiments, the trunk structure 10 includes a first connecting frame 12 connecting the second actuator 412 and the third actuator 413, and the first connecting frame 12 includes a winding portion 12a arranged between the third actuator 413 and the second actuator 412, and the winding segment is wound around the winding portion 12a. The first connecting frame 12 supports and fixes the third actuator 413. The central axis of the winding segment of the first connecting frame 12 is parallel to the first axis X, and the winding segment is wound around the winding portion 12a in a direction parallel to the first axis X. The trunk structure 10 includes a second connecting frame 13 connecting the first actuator 411 and the second actuator 412, and the second connecting frame 13 supports and fixes the second actuator 412 and the third actuator 413 as a whole. The second connecting frame 13 and the first connecting frame 12 may be an integrally formed structure, or may be an integrally formed structure with the chassis structure 110 , as long as they can provide a position for mounting the third actuator 413 and the second actuator 412 .

[0090] like Figure 5 As shown, the first connecting frame 12 further includes an edge portion 12b and a transition portion, wherein the radial dimension of the edge portion 12b is set to be larger than the radial dimension of the winding portion 12a. The edge portion 12b surrounds the outer side of the third actuator 413 and the second actuator 412, and the transition portion is connected between the edge portion 12b and the winding portion 12a.

[0091] When the third actuator 413 rotates in the positive direction around the X axis driven by the second actuator 412, the winding segments wound on the winding portion 12a will become loose, and when the third actuator 413 rotates in the reverse direction around the first axis X driven by the second actuator 412, the winding segments loosely arranged on the winding portion 12a will gradually be wound tightly on the winding portion 12a as the third actuator 413 rotates. The winding segments may be made of slingshot wire to adapt to continuous loosening and tightening.

[0092] In some embodiments, the number of winding turns of the winding segment is at least two turns. Furthermore, the number of winding turns of the winding segment is 2-10 turns, and preferably, the number of winding turns of the winding segment is 4, 5, 6, or 7 turns. When the number of winding turns of the winding segment increases, corresponding to the same angular motion range of the third actuator 413, the loose or tight diameter change shared on each turn of the winding segment is smaller, and the design of the connecting frame and the driving component 410 of the trunk structure 10. Too many winding turns will cause the spacing between the second actuator 412 and the third actuator 413 to become larger, which will cause the size of the robot dog along the X-axis direction to become wider, so that the load of the driving component 410 increases, which is not conducive to the movement ability of the robot dog. When the number of winding turns is within the above reasonable range, the distance between the two driving parts can be reduced, so that the robot dog has excellent movement ability and the reasonable design of the connecting frame in the trunk structure 10 is guaranteed.

[0093] In some embodiments, Figure 2 and Figure 4 As shown, the hidden wiring structure 60 includes a third limiting member 63 for limiting the second cable 422 of the second actuator 412 and the first cable 421 of the third actuator 413. The third limiting member 63 limits the first cable 421 and the second cable 422. The third limiting member 63 has at least one installation cavity for accommodating the first cable 421 and the second cable 422. Specifically, the third limiting member 63 has two installation grooves that match the first cable 421 and the second cable 422. The installation grooves can be used to install and guide the cables. The third limiting member 63 is connected and fixed to the trunk structure 10. The third limiting member 63 stores the second cable 422 between the first cable 421 and the second actuator 412 and the controller 210, ensuring the reliable connection between the first cable 421 and the second cable 422 and the controller 210, and further ensuring the reliability of the wiring.

[0094] In some embodiments, the hidden wiring structure 60 includes at least one of a first limiting member 61 , a second limiting member 62 , and a third limiting member 63 for fixing the first cable 421 .

[0095] In one embodiment, Figure 1 As shown, the hidden wiring structure also includes a joint shell 64, which can cover the drive assembly 410 exposed outside the trunk structure 10, and at the same time cover the first cable 421 and the second cable 422 exposed outside the trunk structure 10, further ensuring the reliability of the wiring, and effectively avoiding the first cable 421 and the second cable 422 from being exposed outside. The joint shell 64 can specifically be in the form of two covers that are fastened and fixed to each other. Of course, the joint shell 64 can also be in other forms, such as a soft shell that is coated on the outside of the actuator with elastic material, etc., as long as it can ensure that the external cables and other structures can be hidden.

[0096] In order to achieve heat dissipation for the installation cavity 14, in one embodiment, the robot is further provided with a heat dissipation mechanism 80, such as Figures 7 to 9 As shown, Figure 7 FIG. 2 shows a schematic diagram of the structure of the robot body after removing the local characteristic shell 740, the local cover shell and the brake structure 220. Figure 8 The figure shows a side view of the robot except the head structure 710 and the walking structure 50. Fig. 9 Shown as Figure 8 Cross-sectional view along AA direction, Fig.10 Show Figure 8 A cross-sectional view along the direction from head to tail; Fig. 9 Shown as Figure 8 The cross-sectional view along the BB direction. The heat dissipation mechanism 80 is used to dissipate the heat of the robot during the charging process and the use process, so as to increase the service life of the robot.

[0097] Because the trunk structure 10 needs to shield and protect the battery unit 31 and the controller 210, the trunk structure 10 is often of a closed design, and the heat in the installation cavity 14 is difficult to discharge. The heat dissipation mechanism 80 provided in this embodiment includes a first heat dissipation member 810 and an air outlet structure 820. The first heat dissipation member 810 is connected to the trunk structure 10 and is disposed in the installation cavity 14. The trunk structure 10 is provided with a first air inlet 118a. The first heat dissipation member 810 can drive the gas outside the trunk structure 10 to enter the installation cavity 14 through the first air inlet 118a. Figure 3 The positions of the first air inlet 118a and the third air outlet 118b indicated in the figure can be interchanged, and the air can be taken in from the head side and exhausted from the tail side, or the air can be taken in from the tail and exhausted from the head. In some embodiments, the heat dissipation solution in this embodiment can be achieved by opening air inlets or outlets on the side panels of the chassis structure or other trunk structure positions.

[0098] Optionally, the first heat sink 810 is a volute fan, which adopts a centrifugal design and can inhale air at high speed and send it out at a high pressure by rotating the volute and impeller, thereby reducing the turbulence of the airflow, generating low noise when running at high speed, and being able to quickly and effectively discharge the heat in the installation cavity 14. Furthermore, the volute fan is compact in design, occupies little space, and is easy to install in the installation cavity 14.

[0099] like Figure 7As shown, the air outlet structure 820 is configured in the installation cavity 14, and a first air outlet channel 821 is formed in the air outlet structure 820. The trunk structure 10 includes a first air outlet portion 118c. One end of the air outlet structure 820 is connected to the first air outlet portion 118c, and the other end is connected to the first heat sink 810. The first heat sink 810 can drive the gas in the installation cavity 14 to be discharged from the trunk structure 10 through the first air outlet channel 821.

[0100] The provision of the first air outlet channel 821 enables the gas in the installation cavity 14 to be effectively discharged outside the trunk structure 10, thereby achieving the exchange of cold and hot gases, completing the dissipation of heat inside the installation cavity 14, and improving the heat dissipation effect.

[0101] It should be noted that the air outlet structure 820 can be provided separately from the trunk structure 10 , or can be provided integrally with the trunk structure 10 , such as forming a first air outlet channel 821 on the trunk structure 10 .

[0102] Normally, the temperature of the gas outside the trunk structure 10 is lower than the temperature inside the installation cavity 14. The first heat sink 810 and the air outlet structure 820 enable the gas outside the trunk structure 10, i.e., cold air, to enter the installation cavity 14 and the gas in the installation cavity 14 to be discharged from the trunk structure 10, thereby enhancing the circulation of gas inside and outside the trunk structure 10. As a result, the heat generated by the battery component 31 and the controller 210 can be discharged from the installation cavity 14 in a timely and effective manner, and the cold air is continuously replenished to enter the installation cavity 14 through the first air inlet 118a, so that a relatively low temperature is always maintained inside the installation cavity 14, thereby improving the heat dissipation effect of the robot and increasing the service life of the robot. Furthermore, because the installation cavity 14 ensures a relatively low temperature, the heat of the battery component 31 can be discharged in a timely manner. When charging, there is no need to wait for the battery component 31 to cool down, thereby improving the safety of use and the user experience.

[0103] Furthermore, a plurality of first air inlets 118a are provided, and are arranged along the peripheral side of the battery component 31 or the controller 210, so that the cold air entering through the first air inlet 118a can flow through the surface of the components such as the battery component 31 or the controller 210 that are heated, and supplement the heat dissipation of the components such as the battery component 31 or the controller 210. The provision of a plurality of first air inlets 118a can increase the amount of cold air entering the installation cavity 14, and improve the heat dissipation effect on the battery component 31, the controller 210 and the installation cavity 14.

[0104] Specifically in the embodiment, the battery component 31 can be arranged at the bottom of the installation cavity 14, the trunk structure 10 is provided with a first air inlet 118a at both ends of the battery component 31 in the length direction, the controller 210 is arranged above the battery component 31, and the first heat dissipation component 810 and the air outlet structure 820 are arranged above the controller 210, so that the cold air from the first air inlet 118a can flow through the battery component 31 and the controller 210, thereby effectively dissipating the heat of the battery component 31 and the controller 210.

[0105] In a feasible embodiment, the first air outlet portion 118c is configured as an air outlet hole connected to the first air outlet channel 821, and the air outlet end of the air outlet mechanism abuts against the air outlet hole of the trunk structure 10, and the gas in the installation cavity 14 is discharged from the trunk structure 10 through the first air outlet channel 821 and the air outlet hole.

[0106] In other embodiments, the first air outlet portion 118c is configured as a connection hole for connecting the air outlet structure 820, the air outlet structure 820 is inserted into the connection hole, and the gas in the installation cavity 14 is discharged from the trunk structure 10 through the first air outlet channel 821. It should be noted that the cross-sectional shape of the air outlet structure 820 is not limited, and can be circular, square or irregular in shape, and the extension direction of the air outlet structure 820 is not limited, as long as the gas absorbed by the first heat dissipation element 810 can be discharged from the trunk structure 10.

[0107] Optionally, the cross-sectional size of the air outlet structure 820 increases as the gas flows out, thereby reducing the resistance to gas flow, facilitating the discharge of gas, improving ventilation, and reducing wind speed and noise, thereby improving the comfort of the robot. It should be noted that in actual use, the cross-sectional size of the air outlet structure 820 can be changed according to demand, and can be set to be equal in cross-sectional size or to be smaller and smaller in cross-sectional size.

[0108] In some embodiments, the first heat sink 810 includes a second air inlet with a second air inlet 811 and a second air outlet with a second air outlet channel 812, the second air inlet is arranged toward the installation cavity 14, the second air outlet is connected to the air outlet structure 820, so that the second air outlet channel 812 is connected to the first air outlet channel 821, and the first heat sink 810 can drive the gas in the installation cavity 14 to enter through the second air inlet 811 and be discharged through the second air outlet channel 812 and the first air outlet channel 821. The provision of the second air inlet 811 and the second air outlet channel 812 can ensure the discharge of hot air in the first heat sink 810, and prevent the hot air from flowing back into the installation cavity 14, affecting the heat dissipation effect of the installation cavity 14.

[0109] Optionally, the second air inlet is arranged toward the third heat sink 840 of the controller 210, so that the heat emitted by the third heat sink 840 can be effectively discharged through the second air inlet 811, thereby improving the heat dissipation effect of the controller 210, ensuring the normal use of the controller 210, avoiding the frequency reduction or failure of the controller 210, and extending the service life of the controller 210.

[0110] Optionally, the first heat sink 810 is disposed near the geometric center of the installation cavity 14, so that the wind absorbed by the first heat sink 810 can cover a larger range, increase the amount of heat discharged from the installation cavity 14, and improve the heat dissipation effect.

[0111] In some embodiments, the second air outlet channel 812 includes a first air outlet and a second air outlet 812a not shown in the figure. The first air outlet is connected to the first air outlet channel 821, and the second air outlet 812a is set toward the trunk structure 10. The gas discharged from the second air outlet 812a can disturb the gas around the battery component 31 under the guidance of the trunk structure 10.

[0112] Normally, the battery component 31 generates heat when being used or charged, and the heat diffuses into the gas around the battery component 31. The gas discharged through the second air outlet 812a disturbs the gas around the battery component 31, which can promote the flow of gas around the battery component 31, making it easier for the air around the battery component 31 to flow into the installation cavity 14 and be discharged by the first heat sink 810, thereby indirectly improving the heat dissipation of the battery component 31, enhancing the heat dissipation effect of the battery component 31, and extending the service life of the battery component 31.

[0113] Because the battery component 31 is installed at the bottom of the installation cavity 14, the heat at the bottom of the battery component 31 is difficult to dissipate. Preferably, the air from the second air outlet 812a can pass through the trunk structure 10 to reach the bottom of the battery component 31, disrupting the flow of hot air at the bottom of the battery component 31, and improving the heat dissipation effect at the bottom of the battery component 31. In a feasible embodiment, the trunk structure 10 is an arc-shaped design, which can reduce the power loss of the air flowing from the second air outlet 812a, and can disrupt the flow of hot air at the bottom of the battery component 31.

[0114] In other embodiments, the second air outlet channel 812 includes a first air outlet and a second air outlet 812a, which are not shown in the figure. The first air outlet is connected to the first air outlet channel 821. The heat dissipation mechanism 80 also includes a spoiler pipe, which is not shown in the figure. The spoiler pipe is arranged in the installation cavity 14. A spoiler channel is formed in the spoiler pipe. One end of the spoiler pipe is connected to the second air outlet portion, so that the second air outlet 812a is connected to the spoiler channel. The other end of the spoiler pipe is arranged toward the battery component 31, so that the gas discharged from the second air outlet 812a can disturb the gas around the battery component 31 through the spoiler channel. Preferably, the spoiler pipe extends from the second air outlet 812a to the bottom of the battery component 31, disturbing the flow of hot air at the bottom of the battery component 31, and improving the heat dissipation effect on the bottom of the battery component 31.

[0115] The setting of the spoiler tube can ensure that the air from the second air outlet 812a can interfere with the normal flow of gas around the battery component 31, so that the air around the battery component 31 can more easily flow into the installation cavity 14 and be discharged by the first heat sink 810, thereby indirectly improving the heat dissipation of the battery component 31 and enhancing the heat dissipation effect of the battery component 31.

[0116] In some embodiments, the heat dissipation mechanism 80 further includes a second heat dissipation member 830, which is used for dissipating heat from the battery member 31. The second heat dissipation member 830 is connected to the trunk structure 10 and is disposed between the battery member 31 and the trunk structure 10. The second heat dissipation member 830 can specifically dissipate heat from the battery member 31, accelerate the dissipation of heat generated by the battery member 31, timely and effectively reduce the temperature of the battery member 31, and improve the heat dissipation effect on the battery member 31. Optionally, the second heat dissipation member 830 also uses a volute fan.

[0117] In the embodiment disclosed in the present application, the battery component 31 is disposed at the bottom of the installation cavity 14, and the second heat sink 830 is disposed between the battery component 31 and the trunk structure 10, which can effectively discharge the heat at the bottom of the battery component 31, thereby avoiding the temperature increase of the battery component 31 due to the difficulty in discharging the heat at the bottom of the battery component 31, and helping to extend the service life of the battery component 31.

[0118] The coordinated work between the second heat sink 830 and the first heat sink 810 can ensure that when the robot is in use, the temperature of the battery component 31 is always lower than the safe charging temperature. When the battery component 31 needs to be charged, the protection mechanism of the battery component 31 will not be triggered, and the battery component 31 can be charged in time, thereby improving the safety of the battery component 31 and the user's comfort.

[0119] In some embodiments, the second heat sink 830 includes a third air inlet portion provided with a third air inlet and a third air outlet portion 831 provided with a third air outlet channel 832. The third air inlet portion is arranged toward the battery component 31, and the third air outlet portion 831 is connected to the air inlet side of the first heat sink 810. The second heat sink 830 can drive the gas outside the trunk structure 10 to enter through the first air inlet 118a and the third air inlet and be discharged to the air inlet side of the first heat sink 810 through the third air outlet channel 832.

[0120] By setting the third air inlet toward the battery component 31, the heat of the battery component 31 can be effectively absorbed by the second heat sink 830, avoiding the increase in the temperature of the battery component 31 during use, and ensuring that the battery component 31 can be within a safe charging temperature. The second heat sink 830 discharges the heat of the battery component 31 into the installation cavity 14, and the first heat sink 810 can discharge the heat discharged to the installation cavity 14 out of the trunk structure 10, so that the heat of the battery component 31 will not be enclosed in the installation cavity 14, thereby improving the heat dissipation reliability of the battery component 31. In a feasible embodiment, a fourth heat sink 850 (mentioned in detail later) is also provided, and the third air inlet is arranged toward the fourth heat sink 850, so that the heat of the battery component 31 absorbed by the fourth heat sink 850 can also be effectively and timely discharged from the trunk structure 10, ensuring the heat dissipation effect for the battery component 31 and improving the safety of the battery component 31.

[0121] The fourth heat sink 850 is connected to the battery component 31. The fourth heat sink 850 can be a heat sink with strong thermal conductivity and thermal diffusion. It is used to collect and discharge the heat generated by the battery component 31, such as the heat generated by the battery component 31 when in use or charging, to reduce the operating temperature of the battery component 31, ensure the normal operation of the battery component 31, and extend the service life of the battery component 31. Generally, the fourth heat sink 850 conducts the heat of the battery component 31 to the fourth heat sink 850 through a thermally conductive material, and improves the heat dissipation through the large surface area of ​​the fourth heat sink 850.

[0122] In other embodiments, the third air inlet is arranged opposite to the first air inlet 118a, the third air outlet 831 is arranged toward the battery component 31, the third air outlet 831 is connected to the air inlet side of the first heat sink 810, and the second heat sink 830 can drive the gas outside the trunk structure 10 to enter through the first air inlet 118a and the third air inlet and exhaust to the battery component 31 side until it is discharged to the air inlet side of the first heat sink 810. As a result, the cold air outside the trunk structure 10 can be directly blown to the battery component 31, directly cool the battery component 31, and improve the heat dissipation effect on the battery component 31.

[0123] In other embodiments, the third air inlet is arranged opposite to the first air inlet 118a, the third air outlet 831 is arranged toward the battery component 31, and the third air outlet 831 is also configured to be arranged opposite to the third air outlet 118b of the trunk structure 10. The second heat sink 830 can drive the gas outside the trunk structure 10 to enter through the first air inlet 118a and the third air inlet and exhaust to the battery component 31 side until it is discharged from the installation cavity 14 through the third air outlet 118b. As a result, the heat of the battery component 31 can be directly discharged from the installation cavity 14, which improves the heat dissipation effect on the battery component 31.

[0124] In some embodiments, Fig.11 As shown, the heat dissipation mechanism 80 also includes a first guide member 860, and an air inlet duct 861 is formed in the first guide member 860c. The first guide member 860c is arranged between the battery member 31 and the trunk structure 10. The trunk structure 10 includes a first air inlet portion, and the first air inlet portion is provided with a first air inlet port 118a. One end of the first guide member 860c is connected to the first air inlet portion, and the other end is connected to the second heat dissipation member 830, so that the gas inside and outside the trunk structure 10 can enter the third air inlet port through the first air inlet port 118a and the air inlet duct 861.

[0125] Alternatively, if Fig.11 As shown, the first guide member 860c is two ribs provided on the trunk structure 10, and an air inlet duct 861 is formed between the two ribs. It should be noted that the first guide member 860c can be provided separately or integrally formed with the trunk structure 10. In the embodiment disclosed in the present application, two first air inlets 118a are provided, and correspondingly, two first guide members 860c are provided, respectively provided on both sides of the second heat sink 830, so as to dissipate heat for the battery member 31.

[0126] In a feasible embodiment, the air inlet duct 861 gradually narrows along the flow path of the cold air, so that the air in the air inlet duct 861 can cover the battery component 31 as much as possible, and can enter the third air inlet and be discharged by the second heat sink 830. Preferably, the first guide member 860c is disposed between the fourth heat sink 850 and the trunk structure 10, so that the heat collected by the fourth heat sink 850 can be discharged.

[0127] By setting the air inlet duct 861, the cold air from the first air inlet 118a can flow orderly along the surface of the battery component 31 under the action of the second heat sink 830, dissipate heat for the battery component 31, form heat convection with the battery component 31, exchange heat of the battery component 31, and cooperate with the fourth heat sink 850 to transfer the temperature of the battery component 31 to the fourth heat sink 850 body, dissipate heat for the battery component 31 by heat conduction, so that the temperature of the battery component 31 will not enter the state of safe charging protection during the entire working cycle, thereby improving the user experience.

[0128] In some embodiments, the heat dissipation mechanism 80 further includes a second guide member not shown in the figure, an exhaust air duct is formed in the second guide member, the second guide member is arranged between the battery member 31 and the trunk structure 10, and the second guide member is connected to the third air outlet 831. Through the third air outlet 832 and the exhaust air duct, the heat discharged by the second heat dissipation member 830 is easily absorbed by the first heat dissipation member 810, thereby allowing the heat around the battery member 31 to be continuously discharged, thereby improving the heat dissipation effect on the battery member 31.

[0129] Optionally, the air inlet duct 861 is arranged along the length direction of the battery component 31, and the air outlet duct is arranged along the width direction of the battery component 31, so as to avoid the cold air of the air inlet duct 861 and the hot air of the air outlet duct from mixing, thereby affecting the heat dissipation effect of the second heat sink 830 on the battery component 31. Moreover, the arrangement of the air inlet duct 861 and the air outlet duct can discharge the heat generated in the length direction and the width direction of the battery component 31, thereby accelerating the heat dissipation of the battery component 31.

[0130] The heat dissipation mechanism 80 includes a third heat dissipation member 840. The third heat dissipation member 840 is connected to the controller 210 and is used to collect and discharge the heat generated by the controller 210, prevent the controller 210 from overheating during use, ensure the normal operation of the controller 210, and extend the service life of the controller 210. The third heat dissipation member 840 is provided to effectively reduce the temperature of the controller 210, avoid performance degradation or failure caused by overheating, and increase the stability and reliability of the controller 210.

[0131] Typically, the third heat sink 840 and the fourth heat sink 850 can further realize heat exchange between the controller 210 and the battery component 31. The heat generated by the controller 210 and the battery component 31 is dissipated into the installation cavity 14 by the third heat sink 840 and the fourth heat sink 850, respectively.

[0132] The present application effectively discharges the heat of heating components such as the battery component 31 and the controller 210 in the installation cavity 14 through the settings of the third heat sink 840, the fourth heat sink 850, the first heat sink 810 and the second heat sink 830, thereby avoiding the frequency reduction or failure of the controller 210, so that the temperature of the battery component 31 will not enter the safe charging protection state during the entire working cycle, thereby improving the safety of the battery component 31 and maintaining a low temperature in the installation cavity 14, thereby improving the safety of the robot, reducing the possibility of failure of the robot, extending the service life of the robot, and improving the user experience.

[0133] For the head structure 710 and the environment sensing mechanism, Fig.12 FIG. 1 shows a schematic diagram of a structure after the head structure 710 is connected to the mating piece and the head structure 710 is separated in one embodiment. Figures 1 to 3 Common understanding.

[0134] The environmental perception mechanism is specifically implemented through the cooperation of radar 91, dynamic object detection component 92, distance detection component 97, temperature sensor, humidity sensor, camera 93, touch sensor 94, voice interaction component and display 96. In some feasible implementation methods, one or more combinations thereof can be selected for implementation. Of course, it can also be expanded according to actual usage requirements as long as it ensures that the robot can perceive the external functions.

[0135] In this embodiment, the radar 91 is arranged on the trunk structure 10. Figure 1As shown, it is arranged on the back of the robot, and in other optional embodiments, it can also be arranged on the head structure 710 of the robot; in this embodiment, the dynamic object detection component 92 is arranged on the head structure 710, specifically on the nose, and can detect dynamic moving objects around the outside world. In other optional embodiments, it can also be arranged on the trunk structure 10 or the walking structure 50, as long as the above functions are met. At the same time, the dynamic object detection component 92 in this embodiment adopts the millimeter wave radar 91, and can also be implemented by other existing forms of structure; the distance detection component 97 is arranged on the head structure 710 or the walking structure 50 or the trunk structure 10 of the robot. The position detection component is used for the walking robot to linearly perceive the surrounding environment. In this embodiment, multiple TOF sensors (Time offlight; time of flight) structure to achieve distance detection, in other feasible implementations, any other existing form of structure may also be used; the temperature sensor is arranged on the head structure 710 or the trunk structure 10 or the walking structure 50 of the robot, and is used to sense the temperature of the surrounding environment, and the humidity sensor is arranged on the head structure 710 or the trunk structure 10 or the walking structure 50 of the robot, and is used to sense the humidity of the surrounding environment. In this implementation, the temperature and humidity sensors are fused for detection, and the temperature and humidity are sensed at the same time. The temperature and humidity sensors are arranged at the neck position or at any position on the trunk or the head, and of course, they can also be on the walking structure 50. The camera 93 is arranged on the head structure 710 or the trunk structure 10 or the walking structure 50 of the robot, and is used to capture the image of the surrounding environment and feed back the controller 210; the touch sensor 94 is arranged on the head structure 710 or the trunk structure 10 of the robot, and the touch sensor 94 is used to feed back the touch signal of the controller 210 after being touched by the outside world. One or more touch sensors 94 can be arranged, as long as the feedback to the user after touching is achieved. They can be arranged at the chin of the head structure 710, or at the forehead of the head structure 710, or on the trunk structure 10. As long as it is achieved, no excessive restrictions are made here. The voice interaction component is arranged on the head structure 710 or the trunk structure 10 or the walking structure 50 of the robot, and the voice interaction component is used for external voice input and / or the voice interaction component is used for external voice output. The voice interaction component can include a microphone 95 and a speaker 98, such as Figure 2 and Fig.11 As shown, the microphone 95 is arranged in the head structure 710, and the speaker 98 is arranged in the trunk structure 10. The display 96 is arranged on the head structure 710 or the trunk structure 10 of the robot, connected to the controller 210, and used to display patterns or graphics externally. Multiple displays 96 can be arranged, and the number is not limited.

[0136] In order to achieve the motion characteristic effect and enhance the anthropomorphism of the robot, the robot also includes a characteristic part 720 Figure 1 , Fig.12 and 13As shown, Fig.13 Schematic diagram of the structure of a characteristic part 720 of a robot in one embodiment.

[0137] Specifically, if Fig.13 As shown, the characteristic member 720 provided in this embodiment includes a characteristic support portion 721, a characteristic transition portion 722, and a characteristic counterweight portion 723, and the characteristic support portion 721, the characteristic transition portion 722, and the characteristic counterweight portion 723 are integrally formed. Of course, in other optional embodiments, the characteristic support portion 721, the characteristic transition portion 722, and the characteristic counterweight portion 723 can be integrally formed together.

[0138] like Fig.13 As shown, a characteristic connecting seat is provided at the lower end of the characteristic support portion 721, the characteristic transition portion 722 is arranged between the characteristic support portion 721 and the characteristic counterweight portion 723, and the characteristic transition portion 722 is bent toward one side of the characteristic support portion 721, so that the characteristic counterweight portion 723 is located on one side of the characteristic support portion 721.

[0139] In this embodiment, the characteristic part 720 is made of TPE, TPU or rubber, and the weight of the characteristic weight portion 723 is 10%-90% of the overall weight of the characteristic part 720; further, it can be 30%-40%. It is understood that in some other embodiments, such as Figure 3 As shown, the entire bending part of the characteristic part 720 can be understood as the characteristic counterweight part 723. Alternatively, the characteristic transition part 722 can also be used as part of the characteristic counterweight part 723, that is, the right side of the characteristic support part 721 is set as the characteristic counterweight part 723, and the characteristic counterweight part 723 itself is partially bent.

[0140] In this embodiment, the characteristic part 720 is flat, and is connected to the head structure 710 of the quadruped robot through the characteristic connection seat at the lower end of the characteristic support part 721 when in use. Two characteristic parts 720 are set as the ear 511b structure of the quadruped robot. Since the TPE or TPU or rubber material will be elastically deformed when subjected to force, and the characteristic transition part 722 bends toward the characteristic support part 721, during the movement of the quadruped robot, the vibration of the body and the mechanical dog head structure 710 will be transmitted to the characteristic part 720 thereon, so that the characteristic transition part 722 on the characteristic part 720 will produce elastic deformation, driving the characteristic counterweight part 723 to shake relative to the characteristic support part 721, and at this time, the characteristic transition part 722 is in a shaking state. By setting two characteristic parts 720 as the ear 511b structure of the head structure 710 of the quadruped robot, the ear 511b structure will shake accordingly during the movement of the quadruped robot, which can achieve a good and accurate human-machine interaction effect. Among them, the characteristic connection seat is connected to the head structure 710 of the quadruped robot by adopting the clamping method in the prior art, and the bottom of the characteristic connection seat includes a plurality of protrusions for inserting into a plurality of limiting holes of the head structure 710 of the quadruped robot.

[0141] In this embodiment, if Fig.13 As shown, the characteristic support portion 721 and the characteristic transition portion 722 are provided with interconnected cavities, the characteristic counterweight portion 723 is a solid structure, and the inner thickness of the curved portion of the characteristic transition portion 722 is smaller than the outer thickness, so that the tension of the two surfaces is greatly different, making the characteristic part 720 (that is, the actual indicated position in the figure is the ear structure of the quadruped robot, and in some cases it can also be the tail structure) more likely to shake during the movement of the quadruped robot, thereby achieving a good and accurate human-computer interaction effect.

[0142] The characteristic part 720 provided in this embodiment is connected to the head structure 710 of the quadruped robot. The characteristic part 720 uses its bottom characteristic connecting seat as the vibration basis. Under the combined effects of the weight of the characteristic counterweight part 723 at the front end of the characteristic part 720, the different wall thickness tensions in the characteristic transition part 722 and the walking vibration frequency of the quadruped robot, the characteristic part 720 can achieve natural up and down vibration, and cooperate with the movements of the quadruped robot to achieve good and accurate human-computer interaction effects.

[0143] In order to realize the walking function, the walking structure 50 specifically includes the following contents: Figures 14 to 25 Shown in order. Fig.14 A structural schematic diagram is shown in which the thigh member 511 and the calf structure 520 cooperate with the transmission structure 430; the transmission structure 430 is arranged between the calf structure 520 and the third actuator 413, and the transmission structure 430 includes a crank 431 and a pull rod 432. The crank 431 rotates coaxially with the output end of the third actuator 413, one end of the pull rod 432 is rotationally connected to the crank 431, and the other end is rotationally connected to the calf structure 520. Driven by the third actuator 413, the calf structure 520 rotates relative to the thigh structure 510.

[0144] Fig.15 is a schematic structural diagram of a thigh structure 510 in one embodiment; Fig.16 for Fig.15 Schematic diagram of the structure of the thigh member 511 and the appearance member 512 after separation; This embodiment provides a thigh structure 510, including the thigh member 511 and the appearance member 512, the thigh member 511 and the appearance member 512 are mutually buckled and connected, of course, the connection method is not limited here. The appearance member 512 can protect the thigh member 511, improve the aesthetics of the thigh structure 510, and at the same time, can improve the noise problem caused by the collision of parts during movement

[0145] like Fig.16As shown, specifically, the thigh member 511 includes a thigh support 511a and an ear 511b integrally connected to the thigh support 511a; wherein the thigh support 511a is provided with a first axial hole 511c, and the ear 511b is provided with a second axial hole 511d corresponding to the first axial hole 511c, and the first axial hole 511c and the second axial hole 511d are used to coaxially install the rotating component. The thigh structure 510 provided by the present invention simplifies the two components of the thigh in the prior art into one thigh member 511, which can improve the manufacturing accuracy of the first axial hole 511c and the second axial hole 511d, thereby improving the assembly accuracy of the thigh structure 510 and the calf, reducing the assembly difficulty, facilitating mass production, and at the same time, reducing the movement collision between components and improving the noise problem.

[0146] In this embodiment, if Figure 1 As shown, the thigh support 511a and the ear 511b form a U-shaped structure, and the cavity formed by the U-shaped structure is used to install the calf. In other embodiments, the thigh support 511a and the ear 511b can also be connected to form a Y-shaped or V-shaped structure, and the cavity formed is used to install the calf.

[0147] like Fig.16 As shown, the appearance part 512 has a first stop 512a, and the thigh part 511 has a second stop 511e; one of the first stop 512a and the second stop 511e is a male stop, and the other is a female stop, and the male stop and the female stop are plugged in; the appearance part 512 is provided with a plurality of thigh buckles 512b, and the thigh part 511 is provided with a thigh slot 511f corresponding to the thigh buckle 512b, and the thigh buckle 512b and the thigh slot 511f are plugged in each other. When the appearance part 512 and the thigh part 511 are assembled, the first stop 512a and the second stop 511e are plugged in, and the thigh buckle 512b is plugged in the thigh slot 511f, thereby realizing convenient assembly and reliable connection between the appearance part 512 and the thigh part 511.

[0148] In this embodiment, the first stop 512a and the second stop 511e are double stop structures, so that a reliable connection is formed between the appearance member 512 and the thigh member 511. In other embodiments, the first stop 512a and the second stop 511e can also be single stop structures or reverse stop structures.

[0149] like Fig.17 As shown, a thigh elastic member 513 is provided between the first stop 512a and the second stop 511e, and the material of the thigh elastic member 513 can be elastic materials such as foam and rubber. The thigh elastic member 513 is provided at the stop structure, which can isolate the appearance member 512 and the thigh member 511, and effectively reduce vibration noise.

[0150] like Fig.16As shown, the thigh piece 511 is provided with a thigh through hole 511g, and the appearance piece 512 is provided with a thigh locking hole 512c corresponding to the thigh through hole 511g. A first locking piece is installed in the thigh through hole 511g and the thigh locking hole 512c, which helps to achieve further reliable connection between the appearance piece 512 and the thigh piece 511.

[0151] In this embodiment, the thigh locking hole 512c is a threaded hole, and the first locking member is a screw or a bolt. The screw or bolt is passed through the through hole from the outside of the thigh member 511 and then locked into the threaded hole to achieve a fixed connection between the appearance member 512 and the thigh member 511.

[0152] This embodiment provides a leg component, including the above-mentioned thigh structure 510, as well as a calf structure 520 and a pin assembly. The thigh component 511 and the calf structure 520 are rotatably connected via a pin assembly installed in the first shaft hole 511c and the second shaft hole 511d.

[0153] like Fig.18 As shown, the pin assembly includes a connecting pin 54 and a rotating shaft locking member 55 for locking the connecting pin 54; the connecting pin 54 can be installed from one side of the first shaft hole 511c and the second shaft hole 511d, and the rotating shaft locking member 55 is installed from the other side; the rotating shaft locking member 55 is a structure with a locking function such as a screw or a bolt.

[0154] In this embodiment, the connecting pin 54 is installed from the side of the second shaft hole 511d through the second shaft hole 511d and the first shaft hole 511c in sequence, and the rotating shaft locking member 55 is installed through the first shaft hole 511c. The thigh support 511a is provided with a buckle cover 56 covering the outside of the rotating shaft locking member 55, and the ear 511b is provided with a protective cover 57 covering the outside of the connecting pin 54. Specifically, the first shaft hole 511c is a step hole, including a first step portion and a second step portion, the first step portion is used to install the rotating shaft locking member 55, and the second step portion is used to install the buckle cover 56. The outer wall of the buckle cover 56 is flush with the outer wall of the thigh support 511a, which can protect the rotating shaft locking member 55 and has both aesthetics. Specifically, the second shaft hole 511d is a step hole, including a third step portion, and the third step portion is used to install the connecting pin 54; the material of the protective cover 57 is selected from elastic materials such as foam and rubber sheets, and is attached to the outer wall of the ear 511b by gluing. The protective cover 57 can protect the connecting pin 54 and also has aesthetics. In other embodiments, the pin is installed through the first shaft hole 511c and the second shaft hole 511d from the first shaft hole 511c, and the second locking member is installed through the second shaft hole 511d. Accordingly, the thigh support 511a is provided with a buckle cover 56 covering the outside of the pin, and the ear 511b is provided with a protective cover 57 covering the outside of the second locking member.

[0155] like Fig.14 and Fig.16 As shown, the thigh member 511 is provided with mounting holes arranged along a circumference for mounting the third actuator 413 , and a transmission structure 430 is connected between the thigh member 511 and the calf structure 520 .

[0156] like Fig.19 as well as Figure 21 to Figure 25 As shown, Fig.21 A schematic structural diagram of a plantar structure 530 is shown; Fig. 22 A cross-sectional view of a plantar structure 530 is shown; Fig.23 A schematic diagram showing the structure of the insert 531 at a certain viewing angle; Fig.24 A schematic diagram showing the structure of the insert 531 from another viewing angle; Fig.25 A cross-sectional view of a plantar structure 530 is shown;

[0157] The sole structure 530 provided in this embodiment is as follows: Fig.21 and Fig. 22 As shown, it includes an insert 531 and a sole elastic member 532. In an achievable embodiment, the sole elastic member 532 and the insert 531 are integrally formed, the sole elastic member 532 is provided with one or more cavity grooves 5321; the insert 531 is provided with one or more insert 531 through holes, and each insert 531 through hole is connected to each cavity groove 5321 in a one-to-one correspondence.

[0158] In one implementation of the present embodiment, the outer surface of the sole elastic member 532 is provided with one or more rows of elastic grooves 5322, which have the functions of increasing elastic force, increasing friction and reducing weight. The material of the sole elastic member 532 can be selected from elastic materials such as rubber and silicone. When making the sole structure 530 provided in the present embodiment, the insert 531 is placed in the mold of the sole elastic member 532, and vulcanized together with the raw materials of the sole elastic member 532; the mold of the sole elastic member 532 has a protrusion corresponding to the through hole of the insert 531, so that after the sole elastic member 532 is vulcanized, a cavity groove 5321 corresponding to each through hole of the insert 531 will be formed in the sole elastic member 532. After vulcanization, the insert 531 has a strong bonding force with the sole elastic member 532, and when the hardness of the material itself is increased, the overall hardness of the sole structure 530 can be reduced through the cavity groove 5321, so as to realize the functional requirements of both wear resistance and noise reduction of the sole.

[0159] In another possible implementation of the sole structure 530, as Fig.25 As shown, the insert 531 and the sole elastic member 532 are not integrally formed, and the sole structure 530 includes the insert 531 and the sole elastic member 532. The sole elastic member 532 includes a first elastic body 5323 adhered to the bottom surface of the insert 531 and a second elastic body 5324 adhered to the bottom surface of the first elastic body 5323.

[0160] like Fig.23 and Fig.24 As shown, the insert 531 includes an inlay body 5311, and a special-shaped protrusion 5315 and a stopper 5316 are provided on the bottom surface of the inlay body 5311. The upper surface of the first elastic body 5323 is provided with a first adhesive surface that fits the bottom surface of the inlay body 5311, a special-shaped groove that matches the special-shaped protrusion 5315, and a stopper groove that matches the stopper 5316, and the lower surface of the first elastic body 5323 is provided with a second adhesive surface that is an arc surface. The second elastic body 5324 is provided with a groove that matches the shape of the bottom surface of the first elastic body 5323. After the insert 531, the first elastomer 5323 and the second elastomer 5324 are formed separately, the first bonding surface, the surface of the special-shaped groove and the surface of the limiting groove of the first elastomer 5323 are matched and bonded to the bottom surface of the inlay body 5311, the surface of the special-shaped protrusion 5315 and the surface of the limiting block 5316 respectively through a gluing process to achieve a firm connection between the first elastomer 5323 and the insert 531; then, the second elastomer 5324 is glued to the outside of the second bonding surface of the first elastomer 5323 through a gluing process to achieve a firm connection between the second elastomer 5324 and the first elastomer 5323.

[0161] In one implementation of this embodiment, Fig.25 As shown, the materials of the first elastic body 5323 and the second elastic body 5324 are different. The first elastic body 5323 is made of a material with high elasticity, soft material and good noise reduction, and the second elastic body 5324 is made of a material with high hardness and good wear resistance, such as rubber and silicone. The hardness of the second elastic body 5324 is greater than the hardness of the first elastic body 5323, the elasticity of the first elastic body 5323 is greater than the elasticity of the second elastic body 5324, and the wear resistance of the second elastic body 5324 is greater than the wear resistance of the first elastic body 5323. Through the combination of the first elastic body 5323 and the second elastic body 5324, the functional requirements of the sole structure 530 for both wear resistance and noise reduction are achieved.

[0162] In one implementation of this embodiment, Fig.21 The bottom of the foot elastic member 532 has a plurality of transverse slots, and the outer surface of the foot elastic member 532 is provided with one or more rows of elastic slots 5322, which have the functions of increasing elastic force, increasing friction and reducing weight.

[0163] like Fig.19 and Fig. 20 As shown, Fig. 20 A cross-sectional view of the calf structure 520 is shown; in the calf structure 520, the calf structure 520 is a cavity structure, and the inner wall of the calf structure 520 is provided with two or more convex ribs 522. The design of the calf cavity 523 can reduce the weight of the leg structure, and the design of the convex rib 522 can enhance the strength and rigidity of the leg structure to meet the use requirements.

[0164] In one implementation of this embodiment, the convex rib 522 extends along the length direction of the calf structure 520 and is provided with a calf stopper 521 extending out of the calf structure 520 at the tail, and the inlay 531 is provided with an inlay stopper 5314 corresponding to the calf stopper 521; one of the calf stopper 521 and the inlay stopper 5314 is a buckle, and the other is a slot, and the buckle and the slot are mutually engaged. The calf stopper 521 and the inlay stopper 5314 of this structural form are hidden interfaces, and there is no fastener design on the appearance surface of the leg structure, which retains the exquisite product appearance design requirements to the greatest extent.

[0165] In this embodiment, the calf limiter 521 is a buckle, and the inlay limiter 5314 is a slot. The buckle of the calf structure 520 is inserted into the slot of the insert 531 to achieve mutual snap connection, and the edge of the calf structure 520 close to the plantar structure 530 is smoothly connected to the outer contour of the insert 531 and the plantar elastic member 532, so that the installation of the calf structure 520 and the plantar structure 530 can be completed, and the operation is simple.

[0166] In other specific embodiments, the first limiting member 61 is a slot and the second limiting member 62 is a buckle; or part of the first limiting member 61 is a slot and the other part of the first limiting member 61 is a buckle, and accordingly, the second limiting member 62 is also a combination of a buckle and a slot, so that the installation of the calf and the sole structure 530 can be achieved.

[0167] To further enhance the installation reliability of the calf and sole structure 530, a calf locking hole 524 is provided at the junction of the calf structure 520 and the insert 531, and the insert 531 is provided with an inlay locking hole 5317 corresponding to the calf locking hole 524, and locking pieces are installed in the calf locking hole 524 and the inlay locking hole 5317.

[0168] In this embodiment, a threaded hole is provided at the junction of the calf structure 520 and the insert 531, and the insert 531 is provided with a through hole corresponding to the threaded hole. The screw passes through the through hole and is locked into the threaded hole and tightened to complete further tightening and installation.

[0169] In one embodiment, an inlay guide 5313 is provided on the insert 531, and a calf guide corresponding to the inlay guide 5313 is provided on the calf structure 520; in the inlay guide 5313 and the calf guide, one of them is a guide protrusion, and the other of them is a guide groove, and the guide protrusion and the guide groove are plugged into each other to achieve guided plug-in between the calf and the insert 531, thereby improving installation convenience.

[0170] In this embodiment, the inlay guide 5313 is a guide protrusion, and the calf guide is a guide groove.

[0171] In other specific embodiments, the first guide member 860c may be a guide groove, and the calf guide member may be a guide protrusion.

[0172] The guide protrusions in this embodiment are three arc-surface protrusions, which can be directly inserted into the guide grooves formed between the convex ribs 522 on the inner wall of the calf structure 520. In other specific embodiments, the guide protrusions can also be a complete convex ring, or two or more arc-surface protrusions, special-shaped protrusions 5315, etc., which can achieve the guided insertion of the insert 531 and the inner wall of the calf structure 520.

[0173] In one implementation of this embodiment, the insert guide 5313 and / or the insert surface of the calf guide are provided with a plurality of glue grooves 5318 for accommodating glue. In this embodiment, the glue grooves 5318 are provided outside the guide protrusion of the insert 531 to facilitate accommodating glue and facilitate the glue to be glued and cured between the calf structure 520 and the insert surface of the insert 531. This assembly method has good assembly performance and can meet the needs of mass assembly production.

[0174] like Figure 1 , Figure 2 , Fig.26 and Fig. 27 , a braking structure 220 in the robot is shown, Fig.26 This is a schematic diagram of the structure of the brake structure 220 cooperating with the radar 91 in one embodiment; Fig. 27 for Fig.26 A cross-sectional view of the middle edge of the switch body 221b. Among them, the brake structure 220 is used to control the on-off status of the circuit connected to the brake structure 220. In the present application, the brake structure 220 cooperates with the radar 91 to achieve braking. Of course, it can also be set at other positions of the trunk structure 10, or it can be set on the head structure 710 or the walking structure 50. In order to achieve push-button braking, a separate button structure can also be used. Of course, it can also be set on the feature part. For example, when the feature part is pulled, the braking function is achieved. Of course, the specific implementation method and implementation position are not limited here, as long as the corresponding braking function can be achieved. For understanding, the radar housing set on the back of the quadruped robot to achieve the braking function is used as the basis for the following description.

[0175] Specifically, the brake structure 220 includes a brake mounting assembly 223, a trigger assembly 221, and at least one reset assembly 222. In actual production, the reset assembly 222 can be set to multiple, and all the reset assemblies 222 are evenly arranged along the peripheral direction of the trigger assembly 221, which can effectively improve the reset ability of the reset assembly 222. In the embodiment of the present application, only two reset assemblies 222 are provided on each brake structure 220 for introduction.

[0176] like Fig.26As shown, the brake mounting assembly 223 includes a brake mounting seat 223a for mounting the trigger assembly 221 and the reset assembly 222. Specifically, the brake mounting seat 223a of the brake structure 220 can be connected to the fourth connecting frame 116 by plugging or threading, thereby realizing a detachable connection between the brake structure 220 and the trunk structure 10, so that the same brake structure 220 can be applied to different trunk structures 10.

[0177] like Fig.26 As shown, the trigger assembly 221 includes a moving member 221a and at least one switch body 221b, all of the switch bodies 221b are evenly arranged along the peripheral direction of the moving member 221a, and all of the switch bodies 221b are connected in parallel. When triggered, even if there is a biased pressing situation, as long as the moving member 221a can press one of the switch bodies 221b, the trigger can still be achieved, thereby achieving emergency braking. In the embodiment of the present application, providing multiple switch bodies 221b can effectively reduce the situation where the switch body 221b cannot be pressed in time during the braking process, resulting in braking failure, thereby improving the reliability of the triggering of the braking structure 220.

[0178] Specifically, the moving member 221a and any of the above-mentioned switch bodies 221b are arranged at intervals along the first direction, wherein the first direction is along the switch pressing direction, which can be understood as a vertical direction. In fact, the above-mentioned vertical direction is not the only way to achieve this in the present embodiment. Any direction that can realize the switch pressing can be used as the first direction, as long as the switch body 221b can be connected to the brake mounting seat 223a by means of clamping or bolt connection. The reset component 222 is connected between the brake mounting seat 223a and the moving member 221a and can be extended and retracted along the first direction. The reset component 222 always provides a thrust for the moving member 221a to move in the direction away from the brake mounting seat 223a. In some ways, the relative extension and retraction of the brake mounting seat and the moving member by the reset component is not limited to the first direction, but can also be at a certain angle to the first direction. The first direction is described in the present embodiment for ease of understanding only and is not the only limiting method.

[0179] In the process of implementing the push radar, the moving member 221a includes a first position and a second position arranged at intervals along a first direction, and the first position is closer to the brake mounting seat 223a than the second position. In this embodiment, the first direction can be the push direction of the switch body 221b.

[0180] In actual use, when the moving member 221a is subjected to pressure applied by the operator, it moves toward the first position under the pressure, and during the process, the reset assembly 222 is compressed by force until the moving member 221a reaches the first position. At this time, the moving member 221a triggers the switch body 221b, and the circuit is in a disconnected state. After the braking is completed, when the circuit needs to be turned on again, the operator needs to press a start button that is separately provided. Simply moving the moving member 221a away from the first position cannot achieve the conduction of the circuit.

[0181] When the moving member 221a is not subjected to pressure or is only touched by mistake, the reset assembly 222 always provides a thrust force for the moving member 221a to move away from the brake mounting seat 223a, so the moving member 221a moves away from the brake mounting seat 223a under the thrust of the reset assembly 222 and finally stabilizes at the second position. At this time, the moving member 221a is separated from the switch body 221b, and the circuit is in a conducting state.

[0182] The switch body 221b in the embodiment of the present application is a micro switch with low cost but very good robustness. The trigger stroke is only between 0.3mm-0.5mm, which is very easy to trigger and can quickly cut off the circuit once force is applied.

[0183] The reset assembly 222 includes a connector 222a connected between the trigger assembly 221 and the brake mounting seat 223a, and the connector 222a is arranged along the first direction. The connector 222a in the embodiment of the present application is a common axial screw, and only the upper half of the connector 222a has threads, and the lower half is a bare rod.

[0184] Specifically, the connecting member 222a includes a first end and a second end arranged relatively along a first direction, a matching hole is provided on the brake mounting seat 223a corresponding to the first end, and a through hole is provided on the moving member 221a corresponding to the second end along the first direction, so that the moving member 221a is movably connected with the connecting member 222a. The first end of the connecting member 222a is interference-fitted with the brake mounting seat 223a by means of the matching hole to achieve preliminary installation of the connecting member 222a, and the second end passes through the through hole and abuts against the inner wall of the through hole to further limit the position of the connecting member 222a.

[0185] Of course, in other embodiments, the connecting member 222a can also be a common screw, with the thread extending from the first end of the connecting member 222a to the second end, a threaded hole is provided on the brake mounting seat 223a corresponding to the first end, and a through hole is provided on the moving member 221a corresponding to the second end along the first direction, so that the moving member 221a is movably connected to the connecting member 222a. The first end of the connecting member 222a is threadedly connected to the brake mounting seat 223a by means of the threaded hole, and the preliminary installation of the connecting member 222a can also be achieved.

[0186] The reset assembly 222 also includes a bias reset member 222b sleeved on the side wall of the connecting member 222a. In the first direction, one end of the bias reset member 222b abuts against the moving member 221a, and the other end abuts against the brake mounting seat 223a. Under the elastic force of the bias reset member 222b, the moving member 221a always maintains a tendency to move toward the second position.

[0187] It is understandable that when the connecting member 222a is long enough, after the operator presses the moving member 221a, the connecting member 222a will not slip off the moving member 221a even if there is a reverse elastic force applied by the biasing reset member 222b.

[0188] The bias reset member 222b in the embodiment of the present application is specifically a spring, and the operating force required by the bias reset member 222b is between 30 and 50N, that is, the switch body 221b can only be triggered when the operating force required by the bias reset member 222b is reached, thereby reducing the situation where the moving member 221a is accidentally touched and the switch body 221b is accidentally touched to a certain extent.

[0189] In some embodiments, the reset assembly 222 further includes a guide member 222c sleeved on the connecting member 222a along the first direction, and the bias reset member 222b sleeved on the side wall of the guide member 222c along the first direction. Along the first direction, one end of the guide member 222c away from the brake mounting seat 223a can pass through the through hole on the moving member 221a, so that the moving member 221a is movably connected to the guide member 222c. The guide member 222c in the embodiment of the present application is specifically a guide pin shaft, which plays a guiding role in the telescopic process of the bias reset member 222b.

[0190] In addition, when the moving member 221a is moved under pressure, even if the force it receives does not come from the first direction, the bias reset member 222b may be slightly twisted. In severe cases, this may cause friction or collision between the bias reset member 222b and the threads on the side wall of the connecting member 222a, and even cause wear of the screw and obstruction of movement of the moving member 221a.

[0191] In the embodiment of the present application, a guide member 222c is provided between the bias reset member 222b and the connecting member 222a. The side wall of the guide member 222c is smooth, which can effectively reduce the situation where the moving member 221a is obstructed during movement, and further improve the reliability of the triggering of the braking structure 220.

[0192] In addition, in order to reduce the twisting phenomenon of the bias reset member 222b during the extension and retraction process, in some embodiments, the brake mounting assembly 223 further includes a brake limiter 223b, which is integrally formed on the end surface of the brake mounting seat 223a close to the bias reset member 222b. The brake limiter 223b can be used alone, or it can be used in conjunction with the guide member 222c in the previous embodiment to achieve the guiding function of the bias reset member 222b, so that the movement of the bias reset member 222b is more stable.

[0193] The brake limiting portion 223b in the embodiment of the present application adopts a ring-shaped structure design. The brake limiting portion 223b is arranged along the circumference of the bias reset member 222b. The outer ring of the bias reset member 222b at one end close to the brake mounting seat 223a abuts against the inner ring of the seat. The brake limiting portion 223b limits the movement of the bias reset member 222b on the brake mounting seat 223a, improves the stability of the bias reset member 222b during the extension and retraction process, and further improves the reliability of the triggering of the brake structure 220.

[0194] Combination Fig.26 and 27 As shown, in some embodiments, the braking structure 220 further includes a switch limit assembly 224, and the switch limit assembly 224 is used to limit the travel of the moving member 221a in the first direction.

[0195] The switch limit assembly 224 includes at least one first switch limit member 224a, and the first switch limit member 224a and the connecting member 222a are arranged in a one-to-one correspondence. The first switch limit member 224a in the embodiment of the present application is a common nut, and the second end of the connecting member 222a passes through the moving member 221a and is threadedly connected to the first switch limit member 224a, so that the moving member 221a is not easy to slip off the connecting member 222a during the movement process, thereby improving the stability of the moving member 221a during the movement process.

[0196] In addition, after being locked, the first switch limiter 224a can abut against one end of the guide member 222c facing away from the brake mounting seat 223a, thereby fixing the position of the guide member 222c in the first direction and improving the stability of the reset assembly 222 structure.

[0197] Continue reading Fig.26 In some embodiments, the switch limit assembly 224 also includes at least one second switch limit member 224b. In order to improve the stability of the braking structure 220 during the triggering process, all the limit members in the embodiment of the present application are evenly arranged along the periphery of the moving member 221a, so that the moving member 221a is evenly stressed.

[0198] Specifically, the second switch limiter 224b is arranged on one side of the brake mounting seat 223a close to the moving member 221a and is connected to the brake mounting seat 223a. The second switch limiter 224b protrudes from the end surface of the brake mounting seat 223a toward the moving member 221a, and a receiving groove for accommodating the second connecting member 222a is provided on the moving member 221a corresponding to the second switch limiter 224b.

[0199] When the moving member 221a is located at the first position, the second switch limiting member 224b is accommodated by the accommodating groove, and the second switch limiting member 224b abuts against the groove wall of the accommodating groove, so that the moving member 221a cannot continue to move toward the switch body 221b, thereby reducing the possibility of the switch body 221b being excessively abutted or even damaged, thereby extending the service life of the braking structure 220.

[0200] Furthermore, the moving member 221a in the embodiment includes a moving support portion 221c and at least one moving abutting portion 221d, and all the moving abutting portions 221d and all the switch bodies 221b are arranged in a one-to-one correspondence to each other to trigger the switch body 221b.

[0201] The movable contact portion 221d in the embodiment of the present application is made of a rubber material with a certain hardness, and the rubber hardness is controlled between 30 and 80 HSA, preferably 60 HSA. This avoids the situation where the rigid material directly contacts the switch body 221b, which affects the life of the switch body 221b, thereby further reducing the possibility of the switch body 221b being damaged by excessive contact.

[0202] In addition, the movable support portion 221c in the embodiment of the present application adopts a cylindrical structure, and all the movable abutment portions 221d and all the switch bodies 221b are evenly arranged along the circumference of the movable support portion 221c, thereby increasing the possibility of the braking structure 220 quickly pressing the switch body 221b during braking.

[0203] Combination Fig.26 and Fig. 27 In addition, in order to enhance the stability of the connection between the movable support portion 221c and the movable abutment portion 221d, an embedding space is provided on the movable support portion 221c in the embodiment of the present application. The embedding space penetrates the end surface of the movable support portion 221c toward the brake mounting seat 223a along the first direction. A portion of the movable abutment portion 221d is embedded in the embedding space, thereby increasing the contact area with the movable support portion 221c, thereby improving the stability of the connection between the two.

[0204] The remaining part of the movable abutment portion 221d passes through the installation space and protrudes from the movable support portion 221c toward the end face of the brake mounting seat 223a. During the movement of the movable member 221a, even if over-triggering occurs, only the flexible movable abutment portion 221d can always contact the brake mounting seat 223a and the switch body 221b. A gap is always left between the movable support portion 221c and the brake mounting seat 223a to extend the service life of the brake structure 220.

[0205] In addition, when the movable abutment portion 221d is installed, glue may be coated on the surface of the portion embedded in the embedding space to further enhance the stability of the connection between the movable abutment portion 221d and the movable support portion 221c.

[0206] In other embodiments, in order to improve the stability of the connection between the movable abutment portion 221d and the movable support portion 221c, a limiting rib may be provided in the mounting space, and the limiting rib is interference-connected with the movable abutment portion 221d by utilizing the elastic property of the movable abutment portion 221d.

[0207] In some embodiments, the quadruped robot also includes a signal transceiver for receiving and sending various signals. The signal transceiver in the embodiment of the present application is preferably a radar 91. The mobile support portion 221c of the braking structure 220 has a receiving space, and the signal transceiver is installed in the receiving space.

[0208] In the embodiment of the present application, the mobile support part 221c is covered on the signal transceiver, which can replace the protective shell of the signal transceiver, realize the integration between the mobile support part 221c and the protective shell of the signal transceiver, thereby reducing the number of parts required to manufacture the quadruped robot and reducing production costs.

[0209] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0210] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A robot, characterized in that: include: A trunk structure (10) having a mounting cavity (14); A controller (210) is installed in the installation cavity (14); A charging structure connected to the trunk structure (10) and electrically connected to the controller (210) for supplying power to the controller (210); and A drive assembly (410) and a walking structure (50), wherein the drive assembly (410) is electrically connected to a controller (210), the drive assembly (410) is mounted on a trunk structure (10), the walking structure (50) is connected to an output end of the drive assembly (410), and the drive assembly (410) is controlled by the controller (210) to drive the walking structure (50) to move.

2. The robot according to claim 1, characterized in that: The driving assembly (410) comprises a first actuator (411), a second actuator (412) and a third actuator (413); Wherein, the first actuator (411) is installed on the trunk structure (10), and the first actuator (411) is used to drive the robot hip joint to move; The output end of the first actuator (411) is connected to the input end of the second actuator (412), the output end of the second actuator (412) is connected to the thigh structure (510) of the walking structure (50), and the second actuator (412) is used to drive the thigh structure (510) to move; The output end of the second actuator (412) is also configured to move with the input end of the third actuator (413), the output end of the third actuator (413) is connected to the calf structure (520), and the third actuator (413) is used to drive the calf structure (520) to move, and the calf structure (520) is rotationally connected to the thigh structure (510).

3. The robot according to claim 2, characterized in that: The device further comprises a hidden wiring structure, wherein the hidden wiring structure is used to hide a first cable (421) between the third actuator (413) and the controller (210), and the hidden wiring structure comprises: A first limiting member (61) is arranged on a first surface of the second actuator (412), the first limiting member (61) being used to guide the first cable (421) to extend along the first surface; A second limiting member (62) is disposed on a second surface of the second actuator (412), and the second limiting member (62) is used to guide the first cable (421) to extend along the second surface; and / or, The invention also includes a hidden wiring structure, wherein the hidden wiring structure is used to hide a first cable (421) between the third actuator (413) and the controller (210) and / or to hide a second cable (422) between the second actuator (412) and the controller (210), and the hidden wiring structure includes: a third limiting member (63), the third limiting member (63) being connected to the trunk structure (10), the third limiting member (63) having a plurality of fixing portions for accommodating the first cable (421) and / or the second cable (422); and / or, The invention also includes a hidden wiring structure, wherein the hidden wiring structure also includes a joint shell (64), wherein the joint shell (64) is arranged between the walking structure (50) and the trunk structure (10), and the joint shell (64) is configured to cover the driving component (410) exposed outside the trunk structure (10), the first cable (421) between the third actuator (413) exposed outside the trunk structure (10) and the controller (210), and the second cable (422) between the second actuator (412) exposed outside the trunk structure (10) and the controller (210).

4. The robot according to claim 2, characterized in that: It also includes a transmission structure (430), which is arranged between the calf structure (520) and the third actuator (413). The transmission structure (430) includes a crank (431) and a pull rod (432). The crank (431) rotates coaxially with the output end of the third actuator (413). One end of the pull rod (432) is rotationally connected to the crank (431), and the other end is rotationally connected to the calf structure (520). Driven by the third actuator (413), the calf structure (520) rotates relative to the thigh structure (510).

5. The robot according to any one of claims 1 to 4, characterized in that: The walking structure (50) comprises a thigh structure (510), a calf structure (520) and a sole structure (530), wherein the thigh structure (510) is rotatably connected to the calf structure (520), the sole structure (530) is arranged on a side of the calf structure (520) away from the thigh structure (510), and the sole structure (530) comprises an insert (531) and a sole elastic member (532); Wherein, the insert (531) and the sole elastic member (532) are integrally formed; or, the insert (531) and the sole elastic member (532) are fixedly connected via a connecting member (222a); or, the sole elastic member (532) further comprises a first elastic body (5323) and a second elastic body (5324), the first elastic body (5323) and the insert (531) are fixedly connected, and the insert (531) and the first elastic body (5323) are fixedly connected, and the first elastic body (5323) and the second elastic body (5324) are made of different materials; and / or, The thigh structure (510) includes a thigh member (511), and the thigh member (511) includes a thigh support (511a) and an ear (511b) integrally connected to the thigh support (511a), the thigh support (511a) is provided with a first axial hole (511c), and the ear (511b) is provided with a second axial hole (511d) corresponding to the first axial hole (511c), and the first axial hole (511c) and the second axial hole (511d) are used for assembling driving components.

6. The robot according to any one of claims 1 to 4, characterized in that: The charging mechanism is mounted on the trunk structure (10), and comprises a battery component (31) and a charging connector (222a), the battery component (31) being used to store electrical energy, the battery component being connected to the controller (210), and the charging connector (222a) being used to be electrically connected to an external electrical connector (222a) to charge the battery component (31); or, The charging mechanism is mounted on the trunk structure (10), and comprises a battery component (31) and a charging connector (222a), wherein the battery component (31) is used to store electrical energy, the battery component is connected to the controller (210), the charging connector (222a) is used to electrically connect to an external electrical connector (222a) to charge the battery component (31), the trunk structure (10) comprises a battery component pressure plate, the mounting pressure plate (32) and the trunk structure (10) form a cavity for accommodating the battery component (31) of the charging mechanism, and the charging connector (222a) is arranged on the outer surface of the trunk structure (10).

7. The robot according to claim 6, characterized in that: It also includes a heat dissipation mechanism (80), the heat dissipation mechanism (80) is used to dissipate heat from the installation cavity (14), and the heat dissipation mechanism (80) includes: a first heat sink (810) and an air outlet structure (820), wherein the first heat sink (810) is arranged on the trunk structure (10) near the controller (210), the air outlet structure (820) has a first air outlet channel (821), and the first heat sink (810) is used to drive the gas outside the trunk structure (10) to enter the installation cavity (14) and drive the gas to be discharged from the housing through the first air outlet channel (821); and / or, A second heat sink (830), the second heat sink (830) is arranged close to the battery component (31), and the second heat sink (830) is used to dissipate heat from the battery component.

8. The robot according to any one of claims 1 to 4, characterized in that: It also includes environmental perception agencies, which include: at least one radar (91), the radar (91) being arranged on the trunk structure (10) or on the head structure (710) of the robot; and / or, at least one dynamic object detection component (92), the dynamic object detection component (92) being arranged on the trunk structure (10) or on the head structure (710) of the robot and being used for detecting surrounding dynamic moving objects; and / or, A distance detection component (97), the distance detection component (97) being arranged on the head structure (710) or the walking structure (50) or the trunk structure (10) of the robot, the position detection component being used for the walking robot to linearly perceive the surrounding environment; and / or, at least one temperature sensor, arranged on the head structure (710) or the trunk structure (10) or the walking structure (50) of the robot, and used to sense the temperature of the surrounding environment; and / or, at least one humidity sensor, arranged on the head structure (710) or the trunk structure (10) or the walking structure (50) of the robot, and used to sense the humidity of the surrounding environment; and / or, A camera (93) is arranged on the head structure (710) or the trunk structure (10) or the walking structure (50) of the robot and is used to capture an image of the surrounding environment and provide feedback to the controller (210); and / or, at least one touch sensor (94) disposed on the head structure (710) or the trunk structure (10) of the robot, the touch sensor (94) being used to feed back a touch signal to a controller (210) after being touched by an external object; and / or, at least one voice interaction component, arranged on the head structure (710) or the trunk structure (10) or the walking structure (50) of the robot, the voice interaction component being used for external voice input and / or the voice interaction component being used for external voice output; and / or, At least one display (96) is arranged on the head structure (710) or the trunk structure (10) of the robot, connected to the controller (210), and is used to display patterns or graphics externally.

9. The robot according to any one of claims 1 to 4, characterized in that: The robot further comprises at least one characteristic part (720), wherein the characteristic part (720) is arranged on the head structure (710) or the trunk structure (10) or the walking structure (50) of the robot, and the characteristic part (720) comprises a characteristic support part (721), a characteristic transition part (722) and a characteristic counterweight part (723) which are connected to each other, wherein the characteristic support part (721) is used to be connected to the trunk structure (10); one end of the characteristic transition part (722) is connected to the characteristic support part (721), and the other end of the characteristic transition part (722) is bent and connected to the characteristic counterweight part (723); the characteristic transition part (722) has the ability to generate elastic deformation under the action of an external force, so as to drive the characteristic counterweight part (723) to shake relative to the characteristic support part (721); and / or, It also includes at least one identification member (750), which is arranged on the head structure (710) or the trunk structure (10) or the walking structure (50) of the robot and is used to identify the robot; and / or, The trunk structure (10) comprises a chassis structure (110), wherein the chassis structure (110) comprises a bottom plate (115), at least one pair of oppositely arranged side plates (113) and at least one pair of oppositely arranged end plates (114), wherein the side plates (113) are connected to the bottom plate (115), and the end plates (114) are connected to the bottom plate (115), and the two ends of any side plate (113) are respectively connected to two end plates (114), and the end plates (114) are used to install moving parts, and all the side plates (113), all the end plates (114) and the bottom plate (115) together enclose the installation cavity (14) with at least one side open; and / or, It also includes a cover member (730), the cover member (730) covering the outer periphery of the chassis structure (110) and covering the opening of the accommodating cavity; and / or, It also includes a characteristic shell (740), which is covered on the outside of the cover member (730). The characteristic shell (740) includes an inner shell (741) and an outer shell (742) wrapped outside the inner shell (741). The softness of the outer shell (742) is greater than the softness of the outer peripheral surface of the cover member (730) or the chassis structure (110) or the trunk structure (10).

10. The robot according to any one of claims 1 to 4, characterized in that: The device further comprises a braking structure (220), wherein the braking structure (220) is driven by an external force to cut off the circuit, and the braking structure (220) comprises: A trigger assembly (221), comprising a movable member (221a) and at least one switch body (221b) arranged at intervals, wherein the switch body (221b) is connected to the trunk structure (10), and the movable member (221a) comprises a first position and a second position; in the first position, the movable member (221a) triggers the switch body (221b) and the circuit is disconnected; in the second position, the movable member (221a) is separated from the entire switch body (221b); and At least one reset component (222) is connected between the moving member (221a) and the trunk structure (10), and the reset component (222) applies a biasing force toward the second position to the moving member (221a).

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