Robot

Abstract

The utility model discloses a robot, relates to the technical field of intelligent equipment, and aims to solve the problem that energy consumption and stability of an existing robot in a moving process are affected due to the fact that a large space needs to be reserved for placing a battery in a structural design process of the existing robot. The robot comprises a robot body, two mechanical legs, a control mechanism, two driving mechanisms and a battery. The two mechanical legs are symmetrically arranged and rotationally connected to the machine body, and the mechanical legs can stretch out and draw back. The control mechanism is electrically connected with the driving mechanisms and the battery and used for controlling the two driving mechanisms, and the two driving mechanisms are used for driving the two mechanical legs to rotate relative to the robot body and further driving the mechanical legs to stretch out and draw back so as to assist the robot to keep self-balance when the robot advances or stands. The battery is installed on the machine body and located between the two mechanical legs. And therefore, extra reserved space for placing the battery is not needed, the structure of the robot is simplified, and energy consumption of the robot in the moving process can be reduced.

Description

Technical Field

[0001] This application relates to the field of intelligent device technology, and more particularly to a robot. Background Technology

[0002] With the advancement of technology, the application of robots is becoming increasingly widespread. Among them, robots with retractable legs are widely used in the field of automation.

[0003] Existing retractable-legged robots mainly use linkage structures, such as four-bar or five-bar linkages, to extend and retract the legs, thereby adjusting the distance between the body and the feet, enhancing its obstacle-crossing ability, and enabling the robot to walk.

[0004] However, in order to ensure that the robot has sufficient battery life during operation, the batteries used to power the robot's control and drive mechanisms are relatively large. This requires a large amount of space to be reserved in the robot's structural design, which affects the robot's energy consumption and stability during operation. Summary of the Invention

[0005] This application provides a robot designed to address the problem that existing robots require a large amount of space to accommodate batteries during structural design, which affects the robot's energy consumption and stability during movement.

[0006] In a first aspect, this application provides a robot, the robot comprising:

[0007] body;

[0008] Two mechanical legs are symmetrically arranged and rotatably connected to the body, and the mechanical legs are capable of telescopic movement;

[0009] The robot includes a control mechanism and two drive mechanisms, which are electrically connected. The control mechanism controls the drive of the two drive mechanisms, which respectively drive the two mechanical legs to rotate relative to the robot body and drive the mechanical legs to extend and retract, so as to help the robot maintain self-balance when walking or standing.

[0010] A battery is installed in the body and located between the two mechanical legs, and the battery is electrically connected to the control mechanism.

[0011] In some embodiments, the power sources of the two drive mechanisms are disposed opposite to each other on the robot's body.

[0012] In some embodiments, the body comprises a bottom plate, the bottom plate is provided with a battery mounting seat towards one side of the body, the battery mounting seat is provided with an opening towards a preset direction, and the battery is mounted in the battery mounting seat through the opening.

[0013] In some embodiments, the opening of the battery mounting seat is towards the back side of the robot along the advancing direction of the robot.

[0014] In some embodiments, the control mechanism comprises a circuit unit, and the circuit unit is placed on the bottom plate.

[0015] In some embodiments, the battery is arranged between the two driving mechanisms.

[0016] In some embodiments, the mechanical legs comprise a first leg assembly and a second leg assembly, and the driving mechanisms comprise a first driving member and a second driving member; the first leg assembly is rotationally connected to the body of the robot; the second leg assembly is slidingly connected with the first leg assembly, so that the second leg assembly can move linearly along the first direction relative to the first leg assembly, the first direction being the extension direction of the first leg assembly; the first driving member and the second driving member are used to cooperatively drive the first leg assembly and the second leg assembly as a whole to rotate relative to the body of the robot, and are also used to cooperatively drive the second leg assembly to move linearly along the first direction relative to the first leg assembly.

[0017] In some embodiments, the first driving member comprises a first motor and a first transmission assembly, and the second driving member comprises a second motor and a second transmission assembly; the first motor and the second motor are used to be connected to the body of the robot, and the first motor and the second motor are coaxially arranged, and the battery mounting seat is located between the second motors corresponding to the two mechanical legs; the first transmission assembly is connected to the output shaft of the first motor and connected with the second leg assembly, and the second transmission assembly is connected to the output shaft of the second motor and connected with the second leg assembly; the rotation axis of the first leg assembly is coaxial with the rotation axes of the first motor and the second motor.

[0018] In some embodiments, the mechanical leg further comprises a base plate and a first side plate and a second side plate connected to the base plate, the base plate is used to be mounted to the body; wherein the second side plate is mounted to the body close to the battery mounting seat, the first side plate and the second side plate are oppositely arranged along a direction perpendicular to the base plate, the first side plate is provided with a first mounting position for mounting the first motor, the second side plate is provided with a second mounting position for mounting the second motor, the first mounting position and the second mounting position are oppositely arranged so that the first motor and the second motor are coaxially arranged.

[0019] In some embodiments, the first leg assembly has a first side and a second side opposite in a second direction, the second direction being perpendicular to the first direction; the first motor and the second motor are oppositely arranged and respectively located at the first side and the second side of the first leg assembly, and the battery mounting position is close to the second side; wherein the first transmission assembly is arranged at the first side, and the second transmission assembly is arranged at the second side.

[0020] The application provides a robot, which comprises a body, two mechanical legs, a control mechanism, two driving mechanisms and a battery. The two mechanical legs are symmetrically arranged and rotationally connected to the body, and can perform telescopic movement. The control mechanism and the driving mechanisms are electrically connected, the control mechanism is used to control the two driving mechanisms, the two driving mechanisms are used to respectively drive the two mechanical legs to rotate relative to the body and drive the mechanical legs to perform telescopic movement, so as to assist the robot to maintain self-balance when walking or standing. The battery is mounted to the body and located between the two mechanical legs, and the battery is electrically connected with the control mechanism. The robot provided by the application places the battery between the two mechanical legs, so that the robot does not need to reserve additional space for placing the battery, which simplifies the structure of the robot and reduces the energy consumption of the robot during movement and improves the stability of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Figure 1 The first structure diagram of the robot provided by the embodiments of the application.

[0023] Figure 2 The first structure diagram of the body provided by the embodiments of the application.

[0024] Figure 3A second structure diagram of a body proposed by an embodiment of the present application.

[0025] Figure 4 A structure diagram of a mechanical leg proposed by an embodiment of the present application.

[0026] Figure 5 A structure diagram of a substrate provided by an embodiment of the present application.

[0027] Explanation of reference signs:

[0028] 10, robot; 11, body; 111, bottom plate; 112, battery mounting seat; 12, mechanical leg; 121, first leg assembly; 122, second leg assembly; 123, substrate; 124, first side plate; 1241, first mounting position; 125, second side plate; 1251, second mounting position; 13, control mechanism; 131, circuit unit; 14, driving mechanism; 141, first driving member; 1411, first motor; 1412, first transmission assembly; 142, second driving member; 1421, second motor; 1422, second transmission assembly; 15, battery. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0030] It should be understood that all directional indications, such as up, down, left, right, front, back, etc., in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture, and if the specific posture changes, the directional indications also change accordingly.

[0031] It should also be understood that when an element is referred to as being “fixed to” or “set on” another element, it can be directly on the other element or can have a middle element. When an element is referred to as being “connected” to another element, it can be directly connected to the other element or can be indirectly connected to the other element through a middle element.

[0032] The terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. Descriptions using terms such as "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0033] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0034] With the advancement of technology, the application of robots is becoming increasingly widespread. Among them, robots with retractable legs are widely used in the field of automation.

[0035] Existing retractable-legged robots mainly use linkage structures, such as four-bar or five-bar linkages, to extend and retract the legs, thereby adjusting the distance between the body and the feet, enhancing its obstacle-crossing ability, and enabling the robot to walk.

[0036] However, in order to ensure that the robot has sufficient battery life during operation, the batteries used to power the robot's control and drive mechanisms are relatively large. This requires a large amount of space to be reserved in the robot's structural design, which affects the robot's energy consumption and stability during operation.

[0037] To solve the above problem, please refer to Figure 1 , Figure 1 This is a schematic diagram of the first structural embodiment of the robot proposed in this application. Figure 1 As shown, the provided robot 10 includes a body 11, two mechanical legs 12, a control mechanism 14, two drive mechanisms 14, and a battery 15. The two mechanical legs 12 are symmetrically arranged and rotatably connected to the body 11, and are capable of telescopic movement. The control mechanism 13 is electrically connected to the drive mechanisms 14. The control mechanism 13 controls the two drive mechanisms 14, which respectively drive the two mechanical legs to rotate relative to the body and drive the mechanical legs 12 to telescopic movement, thereby assisting the robot 10 in maintaining self-balance when walking or standing. The battery 15 is installed in the body 11 and located between the two mechanical legs 12, and is electrically connected to the control mechanism 14.

[0038] The robot 10 provided in the embodiments of the present application drives the mechanical legs 12 to rotate relative to the body 11 and realize the extension and contraction of the mechanical legs 12 through the driving mechanism 14, so as to assist the robot 10 in keeping self-balancing when walking or standing, thereby facilitating the self-balancing control of the robot 10. Meanwhile, through the extension and contraction of the mechanical legs 12, sufficient extension and contraction amount can be realized without increasing the lateral volume of the robot 10, thereby effectively improving the activity ability of the robot 10 in limited space.

[0039] Meanwhile, the robot 10 provided in the embodiments of the present application sets the battery 15 between the two mechanical legs 12, so that the part of the body 11 of the robot 10 that is not utilized is reasonably utilized, thereby simplifying the structure of the robot 10 and reducing the total weight of the robot 10 to reduce the energy consumption of the robot 10 in the movement process. Meanwhile, the weight of the battery 15 itself can also reduce the gravity center of the robot 10 compared with the prior art of placing the battery 15 above the robot 10, thereby improving the stability of the robot.

[0040] For example, the rated voltage of the battery 15 provided in the embodiments of the present application can be 24V, the rated voltage of the battery 15 provided in the embodiments of the present application can be 32V, and the rated voltage of the battery 15 provided in the embodiments of the present application can be 48V. The actual specifications of the battery 15 are designed according to the working requirements of the robot 10, and the embodiments of the present application do not limit the specifications of the battery 15.

[0041] In some embodiments, the power source of the driving mechanism 14 is arranged on the body of the robot. For example, the power source of the driving mechanism 14 can adopt a motor, which can be installed on the body of the robot 10 through a frame. Compared with being installed on the mechanical legs 12, installing the power source for controlling the extension and contraction and rotation of the mechanical legs 12 on the body 11 of the robot 10 can reduce the moment of inertia, thereby reducing the power consumption and use cost.

[0042] In some embodiments, please refer to Figure 2 and Figure 3 , Figure 2 the first structure diagram of the body provided in the embodiments of the present application, Figure 3 the second structure diagram of the body provided in the embodiments of the present application. As shown in Figure 2 and Figure 3 , the body 11 includes a bottom plate 111, the bottom plate 111 is provided with a battery mounting seat 112 on one side of the body 11, the battery mounting seat 112 is provided with an opening facing a preset direction, and the battery 15 is mounted on the battery mounting seat 112 through the opening.

[0043] The robot 10 provided in the embodiments of the present application sets the battery mounting seat 112 in the body 11, which not only reduces the weight of the body 11 and simplifies the structure of the robot 10, but also reduces the energy consumption of the robot 10 in the movement process.

[0044] For example, the opening of the battery mounting seat 112 is directed to the rear side of the robot 10 along the advancing direction of the robot 10.

[0045] As shown in Figure 2 and Figure 3 , by setting the battery mounting seat 112 at the rear side along the advancing direction of the robot 10, the appearance of the robot can be made more concise, so that the robot can be more in line with the humanization and aesthetic requirements.

[0046] For example, the control mechanism 13 includes a circuit unit 131, which is placed on the bottom plate 111.

[0047] As shown in Figure 2 and Figure 3 , by placing the circuit unit 131, such as a circuit board, on the bottom plate 111, the circuit unit 131 and the battery 15 can be electrically connected by setting the connecting holes at the corresponding positions on the bottom plate 111, and the electrical connection between the circuit unit 131 and the driving mechanism 14 can also be realized inside the body 11. Simplifying the wiring structure of the robot 10 also makes the robot 10 more compact and beautiful.

[0048] It should be noted that in some embodiments, the circuit unit 131 is equipped with a micro control unit (MCU), and the circuit unit 131 can control the two driving mechanisms 14.

[0049] In some embodiments, the battery 15 is arranged between the two driving mechanisms 14. As shown in Figure 1 , by arranging the driving mechanisms 14 and the battery 15 corresponding to the two mechanical legs 12 adjacent to each other, for example, the two driving mechanisms 14 and the battery 15 are arranged on the same axis. Further, the appearance of the robot is more compact, which provides more freedom for the design of the appearance of the robot, so that the robot can be more in line with the humanization and aesthetic requirements.

[0050] For example, please refer to Figure 4 , Figure 4 the structural schematic diagram of the mechanical leg proposed in the embodiments of the present application. As shown in Figure 4As shown, the mechanical leg 12 comprises a first leg assembly 121 and a second leg assembly 122, and the driving mechanism 14 comprises a first driving member 141 and a second driving member 142. The first leg assembly 121 is rotatably connected to the body 11 of the robot 10. The second leg assembly 122 moves linearly along a first direction, which is the extension direction of the first leg assembly 121. The first driving member 141 and the second driving member 142 are configured to work together to drive the first leg assembly 121 and the second leg assembly 122 to rotate relative to the body 11, and to drive the second leg assembly 122 to move linearly relative to the first leg assembly 121 along the first direction.

[0051] The mechanical leg 12 provided by the present application can realize the extension and contraction of the mechanical leg 12 through the linear movement of the second leg assembly 122 relative to the first leg assembly 121, so that sufficient extension and contraction can be realized without increasing the lateral volume of the robot 10, effectively improving the activity ability of the robot 10 in a limited space. In addition, through the linear extension and contraction, the force arm of the load on the power source of the driving mechanism remains constant during the extension and contraction of the mechanical leg, which simplifies the control model, improves the accuracy and response speed of the robot movement, and in general, the force arm of the load on the power source is shorter, and the power consumption of the power source is lower. The first driving member 141 and the second driving member 142 drive the first leg assembly 121 to rotate relative to the body, and drive the second leg assembly to move linearly relative to the first leg assembly, which can assist the robot to maintain self-balance during walking or standing, thereby facilitating the self-balance control of the robot.

[0052] In addition, due to the linear extension and contraction between the first leg assembly 121 and the second leg assembly 122, the energy efficiency of the robot at any extension position is improved, thereby reducing the energy consumption.

[0053] It should be noted that in the prior art, the leg of the robot with a linkage structure changes in angle during the extension and contraction, and the force arm of the load on the power source changes all the time, so the control model is complex. In addition, the robot with a linkage structure is relatively energy-consuming during standing, walking, and extension and contraction, because the force arm of the robot is relatively short only when the leg is in the longest or nearly longest state, and the force arm is relatively long most of the time.

[0054] In addition, the linear extension and contraction make the appearance of the robot more compact, provide greater freedom for the appearance design of the robot, and make the robot more in line with humanization and aesthetic requirements.

[0055] When the robot 10 is walking normally, the mechanical legs 12 support the body 11 on a support surface, which can be the ground, a workbench surface or other support surface, to assist the robot 10 in walking or standing. During normal walking of the robot 10, the first leg assembly 121 is in contact with the support surface, so when the driving mechanism 14 drives the second leg assembly 122 to move linearly relative to the first leg assembly 121, the first leg assembly 121 moves up and down relative to the support surface, thereby adjusting the height of the mechanical leg 12.

[0056] When the robot is in a lying state or a sitting state, the mechanical legs 12 are parallel to the support surface, so when the driving mechanism 14 drives the second leg assembly 122 to move linearly relative to the first leg assembly 121, the second leg assembly 122 moves horizontally relative to the body, thereby adjusting the length of the mechanical leg 12.

[0057] When the robot 10 is walking or standing, the driving mechanism 14 can be controlled to continuously drive the first leg assembly 121 to rotate relative to the body 11 and / or drive the second leg assembly 122 to move linearly relative to the first leg assembly 121, to adjust the center of gravity of the robot 10, thereby maintaining the self-balance of the robot 10 to avoid the robot 10 from falling over. Thus, the robot 10 can maintain balance when encountering obstacles or uneven ground.

[0058] For example, the driving mechanism 14 has at least one of a first driving state, a second driving state and a third driving state, and the driving mechanism 14 can freely switch to one of the driving states; in the first driving state, the driving mechanism 14 is used to drive the first leg assembly 121 and the second leg assembly 122 to rotate relative to the body as a whole; in the second driving state, the driving mechanism 14 is used to drive the second leg assembly 122 to move linearly relative to the first leg assembly 121 in a first direction; in the third driving state, the driving mechanism 14 is used to drive the first leg assembly 121 and the second leg assembly 122 to rotate relative to the body 11 as a whole, while driving the second leg assembly 122 to move linearly relative to the first leg assembly 121 in the first direction.

[0059] Thus, the driving mechanism 14 can freely switch between the first driving state, the second driving state and the third driving state, to maintain the self-balance of the robot 10 in different scenarios.

[0060] Exemplarily, when the robot 10 walks on a flat road, the driving mechanism 14 can only drive the first leg assembly 121 to rotate relative to the second leg assembly 122 and the body 11 to adjust the gravity center of the robot 10 to assist in keeping the robot 10 self-balanced. When the robot 10 walks on a road with bumps or obstacles, the driving mechanism 14 needs to drive the first leg assembly 121 and the second leg assembly 122 to rotate relative to the body 11 as a whole while driving the second leg assembly 122 to move linearly relative to the first leg assembly 121 in the first direction to assist in keeping the robot 10 self-balanced.

[0061] Of course, in other special scenarios, the driving mechanism 14 can only drive the second leg assembly 122 to move linearly relative to the first leg assembly 121 in the first direction to assist in keeping the robot 10 self-balanced by adjusting the height of the mechanical leg 12.

[0062] Exemplarily, as shown in Figure 4 The first driving member 141 includes a first motor 1411 and a first transmission assembly 1412, and the second driving member 142 includes a second motor 1421 and a second transmission assembly 1422. The first motor 1411 and the second motor 1421 are used to be connected to the body 11, and the first motor 1411 and the second motor 1421 are coaxially arranged. The battery mounting seat 112 is located between the second motors 1421 corresponding to the two mechanical legs 12. The first transmission assembly 1412 is connected to the output shaft of the first motor 1411 and connected to the second leg assembly 122, and the second transmission assembly 1422 is connected to the output shaft of the second motor 1421 and connected to the second leg assembly 122. The rotation axis of the first leg assembly 121 is coaxial with the rotation axes of the first motor 1411 and the second motor 1421.

[0063] The robot 10 provided by the application can reduce the parameters required for motor driving, reduce errors, improve the running speed of the robot 10, and reduce the use cost by arranging the rotation axes of the first motor 1411 and the second motor 1421 coaxially with the rotation axis of the first leg assembly 121, so that the two motors can be connected in parallel to drive the first transmission assembly 1412 and the second transmission assembly 1422 to work together to drive the mechanical leg 12 to rotate and / or stretch. At the same time, the battery mounting seat 112 located between the second motors 1421 corresponding to the two mechanical legs 12 can also ensure that the battery 15 is located between the two mechanical legs 12.

[0064] It should be noted that, as Figure 4As shown, the second leg assembly 122 includes a foot, which includes a wheel, and the wheel is capable of driving the robot 10 to move forward by rotating the wheel. The foot of the second leg assembly 122 can also include a sole, and the sole is capable of walking by the mechanical leg 12. The embodiments of the present application do not limit the type of the foot of the second leg assembly 122 of the robot 10.

[0065] It should be noted that, in some embodiments, please refer to Figure 5 , Figure 5 A schematic diagram of a structure of a substrate provided by the embodiments of the present application is shown. As shown Figure 5 , the mechanical leg 12 further includes a substrate 123, and a first side plate 124 and a second side plate 125 connected to the substrate 123, the substrate 123 is used to be mounted to the body 11; wherein the second side plate 125 is mounted to the body 11 close to the battery mounting seat 112, the first side plate 124 and the second side plate 125 extend along a direction perpendicular to the substrate 123 and are oppositely arranged, the first side plate 124 is provided with a first mounting position 1241 for mounting the first motor 1411, the second side plate 125 is provided with a second mounting position 1251 for mounting the second motor 1421, the first mounting position 1241 and the second mounting position 1251 are oppositely arranged, so that the first motor 1411 and the second motor 1421 are coaxially and oppositely arranged. By arranging the substrate 123, the first side plate 124 and the second side plate 125, the first motor 1411 and the second motor 1421 arranged in parallel can be conveniently connected, thereby improving the stability of the rotation of the first leg assembly 121. Moreover, by mounting the substrate 123 to the body 11 of the robot 10, oppositely mounting the first motor 1411 and the second motor 1421 to the first side plate 124 and the second side plate 125, and coaxially arranging the output shafts of the first motor 1411 and the second motor 1421 by the positioning shaft, the body 11 can be stably supported, and the structural stability of the robot 10 is improved.

[0066] It should be noted that, in some embodiments, the first leg assembly 121 has a first side and a second side opposite in a second direction, the second direction being perpendicular to the first direction; the first motor 1411 and the second motor 1421 are oppositely arranged and respectively located at the first side and the second side of the first leg assembly 121, and the battery mounting position 112 is close to the second side; wherein the first transmission assembly 1412 is arranged at the first side, and the second transmission assembly 1422 is arranged at the second side. By the above arrangement, the first leg assembly 121 is arranged between the first motor 1411 and the second motor 1421, and the first transmission assembly 1412 and the second transmission assembly 1422 are respectively arranged at the two sides of the first leg assembly 121 in the second direction, so that the robot 10 is compact in structure and the volume is reduced.

[0067] It should be noted that the first motor 1411 and the second motor 1421 are not limited to being arranged on the first side and the second side respectively. For example, in other embodiments, the first motor 1411 and the second motor 1421 can also be arranged on the same side, that is, the output shafts of the first motor 1411 and the second motor 1421 face the same direction, wherein the output shaft of one is arranged through the output shaft of the other and extends out, that is, the output shafts of the first motor 1411 and the second motor 1421 are in a sleeved structure, so that the rotation axes of the first motor 1411 and the second motor 1421 are coaxially arranged.

[0068] In the case of not contradicting each other, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples.

[0069] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A robot, characterized in that, The robot comprises: a body; two mechanical legs, which are symmetrically arranged and rotationally connected to the body, and can perform telescopic movement; a control mechanism and two driving mechanisms, which are electrically connected, the control mechanism is used for controlling the two driving mechanisms, the two driving mechanisms are used for driving the two mechanical legs to rotate relative to the body and drive the mechanical legs to perform telescopic movement, so as to assist the robot to keep self-balancing when walking or standing; a battery, which is installed on the body and located between the two mechanical legs, and is electrically connected with the control mechanism.

2. The robot of claim 1, wherein, The power sources of the two driving mechanisms are oppositely arranged on the body of the robot.

3. The robot of claim 1, wherein, The body comprises a bottom plate, the bottom plate is provided with a battery mounting seat on one side of the body, the battery mounting seat is provided with an opening facing a preset direction, and the battery is installed in the battery mounting seat through the opening.

4. The robot of claim 3, wherein, In the advancing direction of the robot, the opening of the battery mounting seat faces the rear side of the robot.

5. The robot of claim 3, wherein, The control mechanism comprises a circuit unit, which is placed on the bottom plate.

6. The robot of claim 1, wherein, The battery is arranged between the two driving mechanisms.

7. The robot of claim 6, wherein, The mechanical leg comprises a first leg assembly and a second leg assembly, and the driving mechanism comprises a first driving member and a second driving member; The first leg assembly is rotationally connected to the body of the robot; The second leg assembly is slidingly connected with the first leg assembly, so that the second leg assembly can move linearly relative to the first leg assembly along a first direction, and the first direction is the extension direction of the first leg assembly; The first driving member and the second driving member are used for cooperating to drive the first leg assembly and the second leg assembly to rotate relative to the body as a whole, and are also used for cooperating to drive the second leg assembly to move linearly relative to the first leg assembly along the first direction.

8. The robot of claim 7, wherein, The first driving member comprises a first motor and a first transmission assembly, and the second driving member comprises a second motor and a second transmission assembly; The first motor and the second motor are used for being connected to the body, and the first motor and the second motor are coaxially arranged, and the battery mounting seat is located between the corresponding second motors of the two mechanical legs; The first transmission assembly is connected to the output shaft of the first motor and connected with the second leg assembly, and the second transmission assembly is connected to the output shaft of the second motor and connected with the second leg assembly; the rotation axis of the first leg assembly is coaxial with the rotation axes of the first motor and the second motor.

9. The robot of claim 8, wherein, The mechanical leg further comprises: a base plate and first and second side plates connected to the base plate, the base plate is used for being installed to the body; The second side plate is installed to the machine body close to the battery mounting seat, the first side plate and the second side plate are oppositely arranged along a direction perpendicular to the base plate, the first side plate is provided with a first mounting position for mounting the first motor, the second side plate is provided with a second mounting position for mounting the second motor, and the first mounting position and the second mounting position are oppositely arranged so that the first motor and the second motor are coaxially arranged.

10. The robot of claim 9, wherein, The first leg assembly has a first side and a second side opposite in a second direction, the second direction being perpendicular to the first direction; The first motor and the second motor are oppositely arranged and respectively located at the first side and the second side of the first leg assembly, and the battery mounting position is close to the second side; wherein the first transmission assembly is arranged on the first side, and the second transmission assembly is arranged on the second side.

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