Robot

Abstract

A robot, comprising: a trunk structure (10), a controller (210), a charging structure, a driving assembly (410), and a locomotion structure (50). The trunk structure (10) has a mounting cavity (14); the controller (210) is mounted in the mounting cavity (14); the charging structure is connected to the trunk structure (10) and is electrically connected to the controller (210) and is configured to supply power to the controller (210); and the driving assembly (410) is electrically connected to the controller (210), the driving assembly (410) is mounted on the trunk structure (10), the locomotion structure (50) is connected to an output end of the driving assembly (410), and the driving assembly (410) is controlled by the controller (210) to drive the locomotion structure (50) to move.

Description

robot

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on August 24, 2023, with application number 202311074484.X and invention name “Robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of robot automation technology, and in particular to a robot. Background Art

[0004] With the rapid development of science and technology, robots are increasingly being used to replace manual operations in more and more scenarios. As a result, robots with various functions have emerged, providing users with a variety of business services. Robots can be wheeled or legged robots. Furthermore, with the advancement of artificial intelligence technology, the interaction between humans and robots is becoming more intelligent and natural.

[0005] To this end, robots have strong mobility and adaptability, and are expected to be widely used in home, industry, rescue, detection and other fields.

[0006] Summary of the Invention

[0007] Based on this, it is necessary to provide a robot to address the problem of the single application field of existing robots.

[0008] The present application provides a robot, which includes a torso structure with an installation cavity; a controller installed in the installation cavity; a charging structure connected to the torso structure and electrically connected to the controller for powering the controller; a drive assembly and a walking structure, the drive assembly being electrically connected to the controller, the drive assembly being installed on the torso structure, the walking structure being connected to the output end of the drive assembly, and the drive assembly being controlled by the controller to drive the walking structure to move.

[0009] 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.

[0010] 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 torso structure, the third limiter has a number of fixed 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 torso structure, and the joint shell is configured to cover the drive component exposed outside the torso structure, the first cable between the third actuator and the controller exposed outside the torso structure, and the second cable between the second actuator and the controller exposed outside the torso structure.

[0011] In one embodiment, 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.

[0012] 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.

[0013] 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 the 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 the 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.

[0014] In one embodiment, 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 member and an air outlet structure, the first heat dissipation member is arranged on the trunk structure close to the controller, the air outlet structure has a first air outlet channel, the first heat dissipation member 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 member, the second heat dissipation member is arranged close to the battery component side, and the second heat dissipation member is used to dissipate heat from the battery component.

[0015] In one embodiment, an environment sensing mechanism is further included, 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 or walking structure or trunk structure of the robot, and the position detection component is used for the walking robot to linearly perceive the surrounding environment; and / or, at least one temperature sensor, which is arranged on the head structure or 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 or trunk structure or walking structure of the robot. structure, torso structure or walking structure, for sensing the humidity of the surrounding environment; and / or, a camera, arranged on the head structure, torso 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 torso 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, torso 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 torso structure of the robot, connected to the controller, for displaying patterns or graphics to the outside.

[0016] In one embodiment, 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 connected characteristic support part, a characteristic transition part and a characteristic counterweight part, and the characteristic support part is used to be connected to 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 the ability to generate 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 for identifying 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 wrapped around the outer periphery of the chassis structure and seals the opening of the accommodating cavity; and / or, it also includes a characteristic shell, the characteristic shell cover is arranged on the outside of the cover shell member, the characteristic shell includes an inner shell and an outer shell wrapped outside the inner shell, the softness of the outer shell is greater than the softness of the outer periphery of the cover shell member or the chassis structure or the trunk structure.

[0017] In one embodiment, a braking structure is further included, 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 torso 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 switch bodies; and at least one reset component is connected between the moving part and the torso structure, and the reset component applies a biasing force toward the second position to the moving part.

[0018] The above robot has the following advantages:

[0019] 1. The robot provided in this application has a charging structure that supplies power to the controller and the driving component. The driving component is controlled by the controller to drive the movement of the walking structure, thereby realizing the swinging or other forms of movement of the walking structure, such as the leg structure in a quadruped robot, 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.

[0020] 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

[0021] 3. For quadruped robots and humanoid robots, hidden cabling is particularly important. If 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.

[0022] To this end, in one embodiment, a hidden wiring structure is adopted, and through the cooperation of the first limiter and the second limiter, the first cable between the third actuator and the 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.

[0023] In another embodiment, the hidden wiring structure also includes a third limiter, which is fixedly connected to the torso structure. The third limiter accommodates the first cable and the second cable between the second actuator and the controller, ensuring a reliable connection between the first cable and the second cable and the controller, and further ensuring the reliability of the wiring.

[0024] In another embodiment, the hidden wiring structure also includes a joint shell, which can cover the drive component exposed outside the torso structure, and at the same time cover the first cable and the second cable exposed outside the torso structure, further ensuring the reliability of the wiring and effectively avoiding the first cable and the second cable from being exposed outside.

[0025] 4. The plantar structure includes an insert and an elastomer. The presence of the insert can enhance the hardness and support 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 molded with the insert or adhesively connected to the insert, with a simple structure, which is suitable for mass production.

[0026] 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. The first elastic body and the second elastic body are made of different materials.

[0027] For the thigh structure, the thigh bracket and ear are integrally arranged, and the first axial hole and the second axial hole on the thigh bracket and the ear are used to assemble the driving component. By simplifying the two components that are interlocked 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.

[0028] 6. In the heat dissipation mechanism, the gas outside the shell is sucked into the accommodating chamber through the first heat dissipation member, 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 kept within a safe charging temperature, thereby improving the safety performance of the robot.

[0029] 7. As 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, and 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 shoot the surrounding environment to ensure that the robot obtains the surrounding environment image according to needs; the setting of the touch sensor improves the human-computer interaction ability of the robot 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.

[0030] 8. Regarding the configuration of the characteristic components, when the robot walks or moves, the vibration of the robot body will be transmitted to the characteristic components, causing the transition portion on the characteristic components to elastically deform, causing the counterweight portion to oscillate relative to the support portion. At this time, the transition portion is in a oscillating state. The characteristic components can serve as ear structures on 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 tail structure will oscillate accordingly, achieving good and accurate human-machine interaction.

[0031] On the other hand, the cover part covers the torso structure, and the characteristic shell cover is arranged on the outside of the cover part. The characteristic shell and the cover part respectively serve as a form of robot bionics, further improving the robot's animal form or anthropomorphic form, and further improving human-computer interaction.

[0032] 9. In the braking mechanism, when an external force causes the moving member to contact the switch body, the robot brakes, thereby achieving the desired braking action in an emergency. A reset assembly is provided between the switch body and the moving member. Driven by the reset assembly, the moving member maintains a tendency to move from the first position to the second position. This ensures that even if the moving member is accidentally touched during robot operation, the reset assembly will push the moving member back to the second position, thereby reducing the possibility of the robot power being disconnected due to accidental touching of the circuit control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] FIG1 is a schematic structural diagram of a robot provided in one embodiment.

[0034] FIG2 is an exploded view of the robot structures excluding the head structure and the walking structure provided in one embodiment.

[0035] FIG3 is a schematic structural diagram of a chassis structure of a robot provided in one embodiment.

[0036] FIG4 is a schematic diagram showing the coordination of a driving component and a hidden wiring structure in one embodiment.

[0037] FIG5 is a schematic structural diagram of FIG4 from a top view after the walking structure is installed and the first cable is removed.

[0038] FIG6 is a schematic structural diagram 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.

[0039] FIG7 is a schematic structural diagram of the robot body after removing the local feature shell, the local cover shell and the braking structure in one embodiment.

[0040] FIG8 is a side view of the robot except for the head structure and the walking structure provided in one embodiment.

[0041] FIG. 9 is a cross-sectional view of FIG. 8 along the AA direction in one embodiment.

[0042] FIG. 10 is a cross-sectional view of FIG. 8 along a head-to-tail direction in one embodiment.

[0043] FIG. 11 is a cross-sectional view along the BB direction of FIG. 8 in one embodiment.

[0044] FIG12 is a schematic structural diagram of an embodiment after the head structure is connected to the mating component and the head structure is separated.

[0045] FIG. 13 is a schematic structural diagram of characteristic parts of a robot in one embodiment.

[0046] FIG14 is a schematic structural diagram of a thigh member, a calf structure and a transmission structure in one embodiment.

[0047] FIG15 is a schematic structural diagram of a thigh structure in one embodiment.

[0048] FIG16 is a schematic diagram of the structure of the thigh part and the appearance part after FIG15 is disassembled.

[0049] FIG17 is a cross-sectional view of the thigh member, the exterior member, and the thigh elastic member after being assembled in an embodiment from one perspective.

[0050] FIG. 18 is a cross-sectional view of the calf structure and the thigh structure after being assembled in an embodiment.

[0051] FIG19 is a schematic diagram of the structure of the calf structure and the sole structure after they are assembled in coordination in one embodiment.

[0052] 20 is a cross-sectional view of a lower leg structure in one embodiment.

[0053] FIG. 21 is a schematic structural diagram of a sole structure in one embodiment.

[0054] 22 is a cross-sectional view of a plantar structure according to one embodiment.

[0055] FIG23 is a schematic structural diagram of an insert at a certain viewing angle in one embodiment.

[0056] FIG. 24 is a schematic structural diagram of an insert in another perspective in one embodiment.

[0057] FIG. 25 is a cross-sectional view of a plantar structure according to another embodiment.

[0058] FIG26 is a schematic diagram of the structure of a braking structure in conjunction with a radar in one embodiment.

[0059] FIG27 is a cross-sectional view along the switch body in FIG26 .

[0060] 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-mounting 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 - limit portion; 224 - switch limit assembly; 224a - first switch limit member; 224b - second switch limit member; 31 - battery assembly 31; 32 - mounting plate; 410 - drive 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 part; 511a-thigh support; 511b-ear; 511c-first axis hole; 511d-second axis hole; 511e-second stopper; 511f-thigh slot; 511g-thigh through hole; 512-appearance part; 512a-first stopper; 512b-thigh buckle; 512c-thigh locking hole; 513-thigh elastic part; 520-calf structure; 521-calf limiter; 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; 5314-inlay limiter Positioning member; 5315-special-shaped protrusion; 5316-limiting block; 5317-inlay locking hole; 5318-glue groove; 532-plantar elastic member; 5321-cavity groove; 5322-elastic groove; 5323-first elastic body; 5324-second elastic body; 54-connecting pin; 55-rotating shaft locking member; 56-buckle cover; 57-protective cover; 60-hidden wiring structure; 61-first limiting member; 611-first fixing part; 62-second limiting member; 63-third limiting member; 64-joint shell; 710-head structure; 720-featured member; 721-support part; 722-transition part; 723-weight part; 730-cover member; 731-outer cover; 732-bottom cover; 740-featured shell;741 - Inner housing; 742 - Outer housing; 750 - Identification member; 751 - Collar body; 752 - Label; 80 - Heat dissipation mechanism; 810 - First heat dissipation member; 811 - Second air inlet; 812 - Second air outlet duct; 812a - Second air outlet; 820 - Air outlet structure; 821 - First air outlet duct; 830 - Second heat dissipation member; 831 - Third air outlet; 832 - Third air outlet duct; 840 - Third heat dissipation member; 850 - Fourth heat dissipation member; 860 - First guide member; 861 - Air inlet duct; 91 - Radar; 92 - Dynamic object detection member; 93 - Camera; 94 - Touch sensor; 95 - Microphone; 96 - Display; 97 - Distance detection member; 98 - Speaker. DETAILED DESCRIPTION

[0061] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0062] In the description of this 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 this 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 this application.

[0063] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0064] 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 an intermediate 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 an intermediate element. 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 embodiment.

[0065] This embodiment provides a robot, as shown in Figures 1 to 27, comprising: a trunk structure 10, a controller 210, a charging structure, a drive assembly 410, and a walking structure 50. The trunk structure 10 has an installation cavity 14, in which the controller 210 is installed. The charging structure is connected to the trunk structure 10 and electrically connected to the controller 210 for supplying power to the controller 210. The drive assembly 410 is electrically connected to the controller 210 and mounted on the trunk structure 10. The walking structure 50 is connected to the 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. In the robot provided in this application, the charging structure supplies power to the controller and the drive assembly, and the drive assembly is controlled by the controller to drive the walking structure to move, thereby enabling the walking structure, such as the leg structure of a quadruped robot, to swing or move in other forms, and to achieve multi-modal movements of the robot, such as walking, backward, rolling, and crouching, thereby meeting the requirements for applications in various fields such as home, industry, rescue, and detection, and realizing the wide application of the robot. For understanding, FIG1 in this embodiment shows a quadruped robot, and in other optional implementations, a humanoid robot or other multi-legged robot may also be used.

[0066] In this embodiment, as shown in Figures 1, 14 and 19, the walking structure 50 includes a thigh structure 510, a calf structure 520 and a plantar structure 530. The thigh structure 510 is rotatably connected to the calf structure 520, and the plantar structure 530 is arranged on the side of the calf structure 520 away from the thigh structure 510. The walking movement of the robot is realized through the cooperation of the thigh structure 510, the calf structure 520 and the plantar structure 530.

[0067] As shown in Figure 9, 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 torso 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, and 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, and 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.

[0068] As shown in Figures 3 and 10, the trunk structure 10 comprises three parts: a chassis structure 110 and a frame structure connected to the actuators. The frame structure includes a first connecting frame 12 and a second connecting frame 13 (described later) for securing the third actuator 413 and the second actuator 412. The chassis structure 110 defines a mounting cavity 14 with an opening on one side. The mounting cavity 14 is used to accommodate components such as the battery 31, heat sink, speaker, controller 210, and first actuator 411.

[0069] As shown in FIG2 , a cover member 730 and a characteristic shell 740 are provided on the outside of the trunk structure 10. The cover member 730 covers the periphery of the chassis structure 110 and seals the opening of the accommodating cavity. The characteristic shell 740 covers the outside of the cover member 730. The characteristic shell 740 includes an inner shell 741 and an outer shell 742 wrapped around the inner shell 741. The outer shell 742 has a greater softness than the outer surface of the cover member 730, the chassis structure 110, or the trunk structure 10. The cover member 730 covers the trunk structure 10, and the characteristic shell 740 covers the outside of the cover member 730. The characteristic shell 740 and the cover member 730 each serve as a form of robot biomimetic, further enhancing the robot's anthropomorphic or anthropomorphic form, and further improving human-machine interaction.

[0070] Specifically, in one implementation of this 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 snapping or threaded locking, and of course, they can also be connected in the form of 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.

[0071] As shown in Figures 1 and 12, the head structure 710 has two detachable shells, each with a cavity inside for accommodating multiple sensors. The head structure 710 also has a mounting portion for mounting the feature 720 and a mounting portion for mounting with the trunk structure 10. The mounting method for the trunk structure 10 is not specifically defined. As long as the connection between the two can be achieved, the connection can be achieved using a detachable connection method such as threads or snaps, or by integrating the head structure and the trunk structure 10. The sensors within the head structure are described in detail in the following section on the environmental sensing structure.

[0072] As shown in Figure 1, the robot also includes at least one identification part 750, which is arranged on the head structure, torso structure or walking structure of the robot to identify the robot; specifically, the identification part 750 can be a connecting accessory such as a collar, a coat, etc. of the robot, which covers the outside of the torso, head or walking structure, so that the user can find or highlight the position of the robot. As shown in Figure 1, taking the collar as an identification part as an example, the collar includes a collar body 751 and a sign 752 set on the collar. The collar body can be made of a flexible material. Of course, the material selection can also be other materials and is not limited here. Identification words can be printed on the sign 752 to facilitate external identification or naming of the robot.

[0073] The controller 210 is the core component of the entire robot, capable of controlling various functions and behaviors of the robot, such as walking, running, turning, and jumping. The controller 210 can receive and process information from other sensors and, based on this information, direct the robot's movements and behaviors. The controller 210 enables human-machine interaction with the robot. Specifically, in this embodiment, the controller 210 is the robot's main control chip. The controller 210 can be connected to the chassis structure 110 via a mounting plate. In some embodiments, it can also be directly connected to the trunk structure 10.

[0074] As shown in FIG2 , the charging mechanism is mounted on the trunk structure 10 and includes a battery unit 31 and a charging connector 222a (the viewing angle is not shown in the figure and the position may be set on the abdomen). The battery unit 31 is used to store electrical energy and 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 unit 31. The charging connector 222a may be two electrode sheets or a wireless charging coil. The specific form of the charging connector 222a is not limited here. The battery unit 31 is the power source of the robot. The stored electrical energy released by the battery unit 31 is used to increase the power of various parts of the robot, enabling the robot to function normally, such as walking, running, jumping, turning, etc. There is no limitation on the specific form of the battery component. Any battery form that can satisfy the method of storing electrical energy can be used. The installation of the battery component 31 can adopt a structure such as an installation pressure plate 32 to achieve the installation and fixation of the battery component 31. Of course, in other methods, the battery component 31 can also be directly limited by installing slots in the chassis structure 110, as long as the installation of the battery component 31 is satisfied.

[0075] For easier understanding, the following are detailed descriptions of specific components:

[0076] Regarding the chassis structure 110 of the robot, FIG2 shows an exploded view of the other structures of the robot provided in an embodiment except the head structure 710 and the walking structure 50, and FIG3 shows a structural schematic diagram of the chassis structure 110 of the robot provided in an embodiment; 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, 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 the two end plates 114, and the end plates 114 are used to install moving parts, and all side plates 113, all end plates 114 and the bottom plate 115 together enclose an installation 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 torsional resistance of the bottom plate 115. In this embodiment, a mounting cavity 14 with an opening at the top is employed. In other optional embodiments, multiple openings in other directions may be employed, as long as the strength of the chassis structure 110 is ensured. This embodiment, formed by the side panels 113, end panels 114, and bottom panel 115, provides an open mounting space for the various functional components of the robot, facilitating assembly and maintenance of the robot. Furthermore, by providing the weight-reducing portion 111 and the reinforcing portion 112 on the bottom panel 115, the robot's overweight problem is addressed while ensuring the load-bearing capacity of the chassis structure 110.

[0077] As shown in FIG3 , the reinforcement portion 112 provided in this embodiment is connected between the two end plates 114 and extends perpendicularly to the torsion direction of the moving component to achieve relatively good torsional resistance; however, this is not limited to this. For example, when there are multiple reinforcement portions 112, the extension direction of each reinforcement portion 112 can also be arranged at a non-90-degree angle to the torsion direction of the moving component, as long as the reinforcement portions 112 work together to generate good torsional resistance. The moving component of this embodiment can be a drive assembly 410, that is, multiple actuators connected in series. Of course, this is not a limitation here, and any solution for achieving movement can be a moving component.

[0078] As one embodiment of the present invention, the reinforcement portion 112 includes ribs whose cross-sectional dimensions gradually decrease from the end plate 114 toward the direction away from the moving parts, thereby achieving better torsional resistance. The ribs include an axial rib 112a and two side ribs 112b. The axial rib 112a is located between the two side ribs 112b. The side ribs 112b are connected to the adjacent side plates 113 to enhance the stability of the connection between the bottom plate 115 and the side plates 113.

[0079] To further reduce weight, the reinforcing ribs provided in this embodiment are further provided with a plurality of weight-reducing grooves 115 a . As a variation of the weight-reducing grooves 115 a , all or part of the weight-reducing grooves 115 a may be replaced with weight-reducing holes.

[0080] 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 weight-reducing portions 111 can be set according to the needs of the robot. In this embodiment, there are four weight-reducing portions 111, and the four weight-reducing portions 111 are arranged in a centrally symmetrical manner; this embodiment, through the ingenious arrangement of the structures of the weight-reducing portion 111 and the reinforcement portion 112, satisfies the requirements of robot movement, support strength and stiffness from a mechanical point of view while meeting the requirements of weight reduction.

[0081] 3 , in the technical solution of the present invention, the chassis structure 110 further includes a fourth connecting frame 116 , the two ends of which are connected to two oppositely disposed end plates 114 , which can further reinforce and support the overall chassis structure.

[0082] 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 arms 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 snap, 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. Mounting holes are provided on the tops of the two end plates 114, and the fourth connecting frame 116 is installed on the mounting holes on the tops of the two end plates 114 by first bolts, which is convenient for assembly and disassembly. Of course, the connection method between the connecting structure and the end plate 114 can also be a snap connection or welding, which is not limited here.

[0083] 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 a straight line design, that is, the edge of the side panel 113 is provided with multiple 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.

[0084] In this embodiment, the bottom plate 115 also includes a first chassis mounting portion 117a for mounting the 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, and the speaker 98 is conveniently disassembled and assembled with the chassis structure 110 through a second mounting bolt matching the second mounting hole.

[0085] 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; a plurality of mounting holes are provided on the second chassis mounting portion 117b, and the battery component 31 is conveniently disassembled and assembled with the chassis structure 110 by threaded fastening.

[0086] 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. During assembly, the mounting through hole is engaged with the outer shell 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.

[0087] As shown in Figures 2 and 3, in one embodiment, side panel 113 further includes at least one third chassis mounting portion 117c, which is used to mount a human-machine interaction panel. Third chassis mounting portion 117c is a second through-hole, through which the human-machine interaction panel is clipped onto side panel 113 and electrically connected to the internal circuit structure. In this embodiment, the human-machine interaction panel can be a switch button, a charging port, or the like.

[0088] In some other embodiments, each side panel 113 is provided with a third chassis mounting portion 117 c, which can be used to mount a robot control panel and a charging panel, respectively.

[0089] As described above regarding the drive assembly 410, in addition, the components that cooperate with the drive assembly 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 in turn affects the external force sender or the robot itself, and even causes injuries to the user or damage to the robot. Figure 4 shows a schematic diagram of the cooperation of the drive assembly 410 and the hidden wiring structure in one embodiment; Figure 5 shows a schematic diagram of the structure of Figure 4 from a top-down perspective after the walking structure 50 is installed and the first cable 421 is removed; Figure 6 shows a schematic diagram of the structure of the drive assembly 410, the first cable 421, the second cable 422, and the third cable 423 in cooperation with the first limiter 61 and the second limiter 62 in one embodiment;

[0090] As shown in Figures 4 and 5, the output end of the first actuator 411 can drive the walking structure 50 to rotate about the Y axis, while the output ends of the second actuator 412 and the output ends of the third actuator 413 both rotate about the X axis. Optionally, a first cable 421 is led out from the third actuator 413 and extends toward the controller 210, connecting to the controller 210 to transmit power and electrical signals, thereby achieving control and actuation. A second cable 422 is led out from the second actuator 412 and extends toward the controller 210, connecting to the controller 210 to transmit power and electrical signals, thereby achieving control and actuation. A third cable 423 is led out from the first actuator 411 and extends toward the controller 210, connecting to the controller 210 to transmit power and electrical signals, thereby achieving control and actuation. Of course, the aforementioned X-axis and Y-axis are merely illustrative. In this embodiment, the X-axis and Y-axis are perpendicular to each other. In some alternative embodiments, they can also be arranged at a certain angle.

[0091] 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 drive assembly 410 and includes a fixing portion configured to fix the outlet section.

[0092] Optionally, 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. 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. 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 provide locations for mounting the third actuator 413 and the second actuator 412 .

[0093] As shown in Figure 5, the first connecting frame 12 also includes an edge portion 12b and a transition portion. 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.

[0094] When the third actuator 413 rotates in the positive direction about the X-axis driven by the second actuator 412, the winding segments wound on the winding portion 12a become loose. When the third actuator 413 rotates in the negative direction about the first axis X driven by the second actuator 412, the loosely wound winding segments on the winding portion 12a gradually become tightened around the winding portion 12a as the third actuator 413 rotates. The winding segments can be made of slingshot wire to accommodate continuous loosening and tightening.

[0095] In some embodiments, the number of winding turns of the winding segment is at least two. Optionally, the number of winding turns of the winding segment is 2-10 turns. Optionally, 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, the diameter change of looseness or tightness shared by each turn of the winding segment corresponding to the same angular motion range of the third actuator 413 is smaller, and the design of the connecting frame and drive assembly 410 of the trunk structure 10 is improved. If the number of winding turns is too large, the distance between the second actuator 412 and the third actuator 413 will increase, which will cause the size of the robot dog along the X-axis to become wider, increasing the load of the drive assembly 410, which is not conducive to the robot dog's movement ability. If the number of winding turns is within the above reasonable range, the distance between the two drive components can be reduced, thereby giving the robot dog excellent movement ability and ensuring the rational design of the connecting frame in the trunk structure 10.

[0096] In some embodiments, as shown in Figures 2 and 4 , the concealed wiring structure 60 includes a third stopper 63 for limiting the position of the second cable 422 of the second actuator 412 and the first cable 421 of the third actuator 413. The third stopper 63 limits the position of the first and second cables 421, 422. The third stopper 63 defines at least one mounting cavity for accommodating the first and second cables 421, 422. Specifically, the third stopper 63 includes two mounting slots that match the first and second cables 421, 422, and the mounting slots provide for mounting and guiding the cables. The third stopper 63 is fixedly connected to the trunk structure 10 and accommodates the second cable 422 between the first and second actuators 412 and the controller 210, ensuring a reliable connection between the first and second cables 421, 422 and the controller 210 and further ensuring reliable wiring.

[0097] 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 .

[0098] In one embodiment, as shown in FIG1 , the hidden wiring structure further includes a joint housing 64. The joint housing 64 can cover the drive assembly 410 exposed outside the trunk structure 10, and simultaneously cover the first cable 421 and the second cable 422 exposed outside the trunk structure 10, further ensuring reliable wiring and effectively preventing the first cable 421 and the second cable 422 from being exposed. The joint housing 64 can specifically be in the form of two mutually interlocking and fixed covers. Of course, the joint housing 64 can also be in other forms, such as a soft shell made of elastic material covering the outside of the actuator, as long as the external cables and other structures can be hidden.

[0099] To dissipate heat from the mounting cavity 14, in one embodiment, the robot is further provided with a heat dissipation mechanism 80, as shown in Figures 7 to 9. Figure 7 shows a schematic diagram of the robot body structure after removing the local feature shell 740, the partial cover, and the brake structure 220. Figure 8 shows a side view of the robot structure excluding the head structure 710 and the walking structure 50. Figure 9 shows a cross-sectional view along line AA in Figure 8, Figure 10 shows a cross-sectional view from head to tail in Figure 8, and Figure 9 shows a cross-sectional view along line BB in Figure 8. Heat dissipation mechanism 80 is used to dissipate heat during charging and use, thereby extending the robot's service life.

[0100] 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, making it difficult to dissipate heat within the mounting cavity 14. 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 disposed within the mounting cavity 14. The trunk structure 10 is provided with a first air inlet 118a. The first heat dissipation member 810 can drive air outside the trunk structure 10 into the mounting cavity 14 through the first air inlet 118a. The positions of the first air inlet 118a and the third air outlet 118b indicated in FIG3 can be interchanged, allowing air to enter from the head side and exit from the tail side, or from the tail side and exit from the head. In some embodiments, the heat dissipation solution of this embodiment can also be achieved by opening air inlets or outlets on the side panels of the chassis structure or other trunk structure locations.

[0101] Optionally, the first heat sink 810 is a volute fan. The volute fan adopts a centrifugal design and can draw air at high speed and deliver it at high pressure through the rotating volute and impeller. This reduces air turbulence, produces low noise when running at high speed, and can quickly and effectively dissipate heat from the installation cavity 14. Optionally, the volute fan has a compact design, occupies little space, and is easy to install in the installation cavity 14.

[0102] As shown in Figure 7, 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 dissipation component 810. The first heat dissipation component 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.

[0103] 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 hot and cold gases, completing the dissipation of heat inside the installation cavity 14, and improving the heat dissipation effect.

[0104] 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 .

[0105] 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 can allow 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 promptly and effectively discharged from the installation cavity 14, and the cold air is continuously replenished into the installation cavity 14 through the first air inlet 118a, so that the installation cavity 14 always maintains a lower temperature, thereby improving the heat dissipation effect of the robot and increasing the service life of the robot. Optionally, because the installation cavity 14 ensures a lower temperature, the heat of the battery component 31 can be discharged in time, and there is no need to wait for the battery component 31 to cool down during charging, thereby improving the safety of use and user experience.

[0106] Optionally, multiple first air inlets 118a are provided, arranged along the periphery of the battery assembly 31 or controller 210. This allows cool air entering through the first air inlets 118a to flow over the surfaces of components such as the battery assembly 31 or controller 210 that generate heat, thereby providing additional heat dissipation for these components. The provision of multiple first air inlets 118a can increase the amount of cool air entering the mounting cavity 14, thereby improving the heat dissipation of the battery assembly 31, controller 210, and mounting cavity 14.

[0107] Specifically in the embodiment, the battery component 31 can be arranged at the bottom of the installation cavity 14, and 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.

[0108] 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.

[0109] In other embodiments, the first air outlet portion 118c is configured as a connection hole for connecting to the air outlet structure 820. The air outlet structure 820 is inserted into the connection hole, and the air in the mounting 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 may be circular, square, or irregular in shape. The extension direction of the air outlet structure 820 is also not limited, as long as the air drawn by the first heat dissipation element 810 can be discharged from the trunk structure 10.

[0110] Optionally, the cross-sectional dimensions of the air outlet structure 820 increase in size as the gas flows outward, thereby reducing resistance to gas flow, facilitating gas discharge, improving ventilation, and reducing wind speed and noise, thereby enhancing the user comfort of the robot. It should be noted that in actual use, the cross-sectional dimensions of the air outlet structure 820 can be varied as needed, and can be set to a constant cross-sectional dimension or to increasingly smaller cross-sectional dimensions.

[0111] In some embodiments, the first heat sink 810 includes a second air inlet portion having a second air inlet 811 and a second air outlet portion having a second air outlet channel 812. The second air inlet portion is disposed toward the mounting cavity 14, and the second air outlet portion is connected to the air outlet structure 820, such that the second air outlet channel 812 communicates with the first air outlet channel 821. The first heat sink 810 can drive the air within the mounting 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 within the first heat sink 810, preventing the hot air from flowing back into the mounting cavity 14 and affecting the heat dissipation effect of the mounting cavity 14.

[0112] 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.

[0113] Optionally, the first heat sink 810 is arranged 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.

[0114] 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.

[0115] Normally, the battery component 31 generates heat when in use or charging, and the heat will diffuse 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.

[0116] Because the battery assembly 31 is mounted at the bottom of the mounting cavity 14, heat from the bottom of the battery assembly 31 is difficult to dissipate. Optionally, air from the second air outlet 812a can pass through the trunk structure 10 to reach the bottom of the battery assembly 31, disrupting the flow of hot air from the bottom of the battery assembly 31 and improving heat dissipation from the bottom of the battery assembly 31. In a feasible embodiment, the trunk structure 10 has a curved design. This curved design can reduce power loss during air flow from the second air outlet 812a and disrupt the flow of hot air from the bottom of the battery assembly 31.

[0117] In other embodiments, the second air outlet channel 812 includes a first air outlet and a second air outlet 812a (not shown), the first air outlet being connected to the first air outlet channel 821. The heat dissipation mechanism 80 further includes a spoiler tube (not shown), which is disposed in the mounting cavity 14 and has a spoiler channel formed therein. One end of the spoiler tube is connected to the second air outlet portion, so that the second air outlet 812a is connected to the spoiler channel, and the other end of the spoiler tube is disposed 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. Optionally, the spoiler tube extends from the second air outlet 812a to 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.

[0118] The provision of the spoiler tube ensures that the air from the second air outlet 812a can interfere with the normal 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 and enhancing the heat dissipation effect of the battery component 31.

[0119] In some embodiments, the heat dissipation mechanism 80 further includes a second heat sink 830 , which is used to dissipate heat from the battery assembly 31 . The second heat sink 830 is connected to the trunk structure 10 and disposed between the battery assembly 31 and the trunk structure 10 . The second heat sink 830 can specifically dissipate heat from the battery assembly 31 , accelerating the dissipation of heat generated by the battery assembly 31 , effectively and promptly reducing the temperature of the battery assembly 31 , and improving the heat dissipation effect on the battery assembly 31 . Optionally, the second heat sink 830 also utilizes a volute fan.

[0120] In the embodiment disclosed in the present application, the battery component 31 is arranged at the bottom of the installation cavity 14, and the second heat dissipation component 830 is arranged 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.

[0121] 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.

[0122] 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.

[0123] 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 temperature increase of the battery component 31 during use, and ensuring that the battery component 31 can be kept 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 confined 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 set 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 promptly 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.

[0124] The fourth heat sink 850 is connected to the battery cell 31 and can be a heat sink with strong thermal conductivity and thermal diffusion properties. It is used to collect and dissipate heat generated by the battery cell 31, such as heat generated during use or charging. This reduces the operating temperature of the battery cell 31, ensures normal operation of the battery cell 31, and extends the service life of the battery cell 31. Typically, the fourth heat sink 850 transfers heat from the battery cell 31 to the fourth heat sink 850 via a thermally conductive material, and the large surface area of ​​the fourth heat sink 850 improves heat dissipation.

[0125] In other embodiments, the third air inlet is disposed opposite the first air inlet 118a, the third air outlet 831 is disposed toward the battery assembly 31, and the third air outlet 831 is communicated with the air inlet side of the first heat sink 810. The second heat sink 830 can drive air outside the trunk structure 10 into the battery assembly 31 through the first air inlet 118a and the third air inlet, exhausting the air toward the battery assembly 31 and finally toward the air inlet side of the first heat sink 810. Thus, cold air outside the trunk structure 10 can be blown directly toward the battery assembly 31, directly cooling the battery assembly 31 and improving the heat dissipation effect on the battery assembly 31.

[0126] In other embodiments, the third air inlet is disposed opposite the first air inlet 118a, the third air outlet 831 is disposed toward the battery assembly 31, and the third air outlet 831 is further configured to be disposed opposite the third air outlet 118b of the trunk structure 10. The second heat sink 830 can drive air outside the trunk structure 10 into the trunk structure 10 through the first and third air inlets and exhaust it toward the battery assembly 31 until it is discharged out of the mounting cavity 14 through the third air outlet 118b. Thus, heat from the battery assembly 31 can be directly discharged from the mounting cavity 14, improving the heat dissipation effect on the battery assembly 31.

[0127] In some embodiments, as shown in Figure 11, the heat dissipation mechanism 80 also includes a first guide member 860, 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, the first air inlet portion is provided with a first air inlet 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 outside the trunk structure 10 can enter the third air inlet through the first air inlet 118a and the air inlet duct 861.

[0128] Optionally, as shown in FIG11 , the first guide members 860c are two ribs provided on the trunk structure 10, forming an air inlet duct 861 between the two ribs. It should be noted that the first guide members 860c can be provided separately or integrally formed with the trunk structure 10. In the embodiment disclosed herein, two first air inlets 118a are provided, and accordingly, two first guide members 860c are provided, one on each side of the second heat sink 830, to facilitate heat dissipation from the battery assembly 31.

[0129] In a feasible embodiment, the air inlet duct 861 gradually narrows along the flow path of the cold air, thereby allowing the air in the air inlet duct 861 to cover the battery component 31 as much as possible, while also entering the third air inlet and being discharged by the second heat sink 830. Optionally, the first guide member 860c is provided between the fourth heat sink 850 and the trunk structure 10 to allow the heat collected by the fourth heat sink 850 to be discharged.

[0130] By setting up the air inlet duct 861, the cold air from the first air inlet 118a can flow in an orderly manner along the surface of the battery component 31 under the action of the second heat sink 830, dissipate heat to the battery component 31, form heat convection with the battery component 31, exchange the 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 to the battery component 31 by heat conduction, and thereby ensure 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.

[0131] In some embodiments, the heat dissipation mechanism 80 further includes a second guide member (not shown) having an exhaust duct formed therein. The second guide member is disposed between the battery assembly 31 and the trunk structure 10 and is connected to the third air outlet 831. Through the third air outlet 832 and the exhaust duct, heat discharged from the second heat dissipation member 830 is easily absorbed by the first heat dissipation member 810, thereby continuously dissipating heat from the battery assembly 31 and improving the heat dissipation effect on the battery assembly 31.

[0132] Optionally, the air inlet duct 861 is arranged along the length of the battery assembly 31, and the air outlet duct is arranged along the width of the battery assembly 31. This prevents mixing of cold air from the air inlet duct 861 and hot air from the air outlet duct, which would affect the heat dissipation effect of the second heat sink 830 on the battery assembly 31. Furthermore, the arrangement of the air inlet duct 861 and the air outlet duct can dissipate heat generated in both the length and width directions of the battery assembly 31, thereby accelerating heat dissipation from the battery assembly 31.

[0133] The heat dissipation mechanism 80 includes a third heat sink 840. The third heat sink 840 is connected to the controller 210 and is used to collect and dissipate heat generated by the controller 210, preventing overheating during use, ensuring normal operation of the controller 210, and extending the lifespan of the controller 210. The provision of the third heat sink 840 effectively reduces the temperature of the controller 210, preventing performance degradation or failure due to overheating, and increasing the stability and reliability of the controller 210.

[0134] 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 mounting cavity 14 by the third heat sink 840 and the fourth heat sink 850, respectively.

[0135] 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 arrangement of the third heat sink 840, the fourth heat sink 850, the first heat sink 810 and the second heat sink 830, thereby avoiding 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 at the same time maintaining a low temperature in the installation cavity 14, 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.

[0136] As for the head structure 710 and the environmental sensing mechanism, FIG12 shows a schematic structural diagram of an embodiment in which the head structure 710 is connected to a matching component and the head structure 710 is separated, and reference should be made to FIG1 to FIG3 for common understanding.

[0137] 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 also be selected for implementation. Of course, it can also be expanded according to actual usage needs, as long as it ensures that the robot's perception of the external world is met.

[0138] In this embodiment, the radar 91 is arranged on the trunk structure 10, as shown in Figure 1, and is arranged on the back position of the robot. 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, a plurality of TOF sensors (Time of Flight) are provided. The distance detection is realized by using a structure of flight time; any other existing structure may be used in other feasible embodiments; the temperature sensor is arranged on the head structure 710 or the trunk structure 10 or the walking structure 50 of the robot 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 to sense the humidity of the surrounding environment. In this embodiment, 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 images of the surrounding environment and provide feedback to the controller 210. The touch sensor 94 is arranged on the head structure 710 or the trunk structure 10 of the robot. The touch sensor 94 is used to provide feedback to the controller 210 after being touched by the outside world. One or more touch sensors 94 can be provided, as long as the user's touch feedback is achieved. The touch sensor 94 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 the feedback is achieved, no additional restrictions are imposed here. The voice interaction component is arranged on the head structure 710, the trunk structure 10 or the walking structure 50 of the robot. 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. As shown in Figures 2 and 11, 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 set on the head structure 710 or the torso structure 10 of the robot and is connected to the controller 210 for displaying patterns or graphics externally. Multiple displays 96 can be set, and the number is not limited.

[0139] In order to achieve motion feature effects and enhance the anthropomorphism of the robot, the robot further includes a feature part 720 as shown in FIG1 , FIG12 and FIG13 . FIG13 is a schematic structural diagram of the feature part 720 of the robot in one embodiment.

[0140] Specifically, as shown in Figure 13, 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. 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.

[0141] As shown in Figure 13, a characteristic connecting seat is provided at the lower end of the characteristic support portion 721, and 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.

[0142] In this embodiment, the characteristic member 720 is made of TPE, TPU, or rubber, and the characteristic counterweight portion 723 weighs 10%-90% of the overall weight of the characteristic member 720; further, it can be 30%-40%. It is understood that in other embodiments, as shown in FIG3 , the entire bend of the characteristic member 720 can be understood as the characteristic counterweight portion 723. Alternatively, the characteristic transition portion 722 can also be part of the characteristic counterweight portion 723, that is, the right side of the characteristic support portion 721 is configured as the characteristic counterweight portion 723, in which case the characteristic counterweight portion 723 itself is partially bent.

[0143] In this embodiment, the characteristic member 720 is flat and, when in use, is connected to the quadruped robot's head structure 710 via a characteristic connection seat at the lower end of the characteristic support portion 721. Two characteristic members 720 are provided as the quadruped robot's ear 511b structure. Because the TPE, TPU, or rubber material undergoes elastic deformation under stress, and the characteristic transition portion 722 bends toward the characteristic support portion 721, during the movement of the quadruped robot, vibrations from the robot body and the head structure 710 are transmitted to the characteristic member 720 thereon, causing the characteristic transition portion 722 on the characteristic member 720 to elastically deform, driving the characteristic counterweight portion 723 to oscillate relative to the characteristic support portion 721. At this time, the characteristic transition portion 722 is in an oscillating state. By providing two characteristic members 720 as the ear 511b structure of the quadruped robot's head structure 710, the ear 511b structure oscillates accordingly during the movement of the quadruped robot, thereby achieving a good and accurate human-machine interaction effect. Among them, the characteristic connecting seat is connected to the head structure 710 of the quadruped robot using the clamping method in the existing technology. The bottom of the characteristic connecting seat includes several protrusions for inserting into several limiting holes of the head structure 710 of the quadruped robot.

[0144] In this embodiment, as shown in FIG13 , interconnected cavities are provided inside the characteristic support portion 721 and the characteristic transition portion 722, 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 thereof, so that there is a great difference in the tension between the two surfaces, 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.

[0145] 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 area, 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.

[0146] To achieve the walking function, the walking structure 50 specifically includes the following components, which are sequentially illustrated in Figures 14 to 25. Figure 14 shows a schematic diagram of the structure of the thigh member 511, the shank structure 520, and the transmission structure 430. The transmission structure 430 is disposed between the shank 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 rotatably connected to the crank 431, and the other end is rotatably connected to the shank structure 520. Driven by the third actuator 413, the shank structure 520 rotates relative to the thigh structure 510.

[0147] Figure 15 is a schematic diagram of the structure of a thigh structure 510 in one embodiment; Figure 16 is a schematic diagram of the structure of the thigh part 511 and the appearance part 512 after Figure 15 is disassembled; this embodiment provides a thigh structure 510, including a thigh part 511 and an appearance part 512, which are interlocked and connected. Of course, the connection method is not limited here. The appearance part 512 can protect the thigh part 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 exercise.

[0148] As shown in Figure 16, specifically, the thigh member 511 includes a thigh support 511a and an ear portion 511b integrally connected to the thigh support 511a; wherein the thigh support 511a is provided with a first axial hole 511c, and the ear portion 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 coaxially mounting a rotating component. The thigh structure 510 provided by the present invention simplifies the two thigh components in the prior art into a single 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 difficulty of assembly, facilitating mass production, and at the same time, reducing motion collisions between components and improving noise issues.

[0149] In this embodiment, as shown in Figure 1, the thigh support 511a and the ear portion 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 portion 511b can also be connected to form a Y-shaped or V-shaped structure, and the cavity formed therein is used to install the calf.

[0150] As shown in Figure 16, the exterior member 512 has a first stop 512a, and the thigh member 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. The male and female stops mate and plug together. The exterior member 512 is provided with multiple sets of thigh buckles 512b, and the thigh member 511 has thigh slots 511f corresponding to the thigh buckles 512b. The thigh buckles 512b and thigh slots 511f interlock with each other. When the exterior member 512 and the thigh member 511 are assembled, the first stop 512a and the second stop 511e mate and plug together, and the thigh buckles 512b snap into the thigh slots 511f, thereby achieving convenient assembly and reliable connection between the exterior member 512 and the thigh member 511.

[0151] In this embodiment, the first stop 512a and the second stop 511e are double stop structures, which form a reliable connection 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.

[0152] As shown in Figure 17, a thigh elastic member 513 is disposed between the first stop 512a and the second stop 511e. The material of the thigh elastic member 513 can be an elastic material such as foam or rubber. Placing the thigh elastic member 513 at the stop structure can isolate the exterior member 512 from the thigh member 511, effectively reducing vibration noise.

[0153] As shown in Figure 16, 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.

[0154] 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.

[0155] This embodiment provides a leg component, including the above-mentioned thigh structure 510, as well as the calf structure 520 and a pin assembly. The thigh component 511 and the calf structure 520 are rotatably connected by the pin assembly installed in the first shaft hole 511c and the second shaft hole 511d.

[0156] As shown in Figure 18, 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 bolt.

[0157] In this embodiment, the connecting pin 54 is installed from the side of the second axis hole 511d through the second axis hole 511d and the first axis hole 511c, respectively. The rotating shaft locking member 55 is installed through the first axis hole 511c. The thigh support 511a is provided with a snap cover 56 that covers the exterior of the rotating shaft locking member 55, and the ear portion 511b is provided with a protective cover 57 that covers the exterior of the connecting pin 54. Specifically, the first axis hole 511c is a stepped hole, including a first step portion and a second step portion. The first step portion is used to mount the rotating shaft locking member 55, and the second step portion is used to mount the snap cover 56. The outer wall of the snap cover 56 is flush with the outer wall of the thigh support 511a, which not only protects the rotating shaft locking member 55 but also provides aesthetics. Specifically, the second axis hole 511d is a stepped hole, including a third step portion, which is used to mount the connecting pin 54. The protective cover 57 is made of an elastic material such as foam or rubber sheet and is attached to the outer wall of the ear portion 511b by adhesive. The protective cover 57 protects the connecting pin 54 and also adds aesthetic appeal. In other embodiments, the pin is installed sequentially through the first and second shaft holes 511c and 511d from the side of the first shaft hole 511c, while the second locking member is installed through the second shaft hole 511d. Accordingly, the thigh support 511a is provided with a buckle cover 56 that covers the exterior of the pin, and the ear portion 511b is provided with a protective cover 57 that covers the exterior of the second locking member.

[0158] As shown in FIG. 14 and FIG. 16 , 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 .

[0159] As shown in Figures 19 and 21 to 25, Figure 21 is a schematic structural diagram of the plantar structure 530; Figure 22 is a cross-sectional view of the plantar structure 530; Figure 23 is a schematic structural diagram of the insert 531 at a certain perspective; Figure 24 is a schematic structural diagram of the insert 531 at another perspective; and Figure 25 is a cross-sectional view of the plantar structure 530;

[0160] The sole structure 530 provided in this embodiment, as shown in Figures 21 and 22, includes an insert 531 and a sole elastic member 532. In one achievable embodiment, the sole elastic member 532 and the insert 531 are integrally formed, and the sole elastic member 532 is provided with one or more cavities 5321; the insert 531 is provided with one or more through-holes, and each through-hole of the insert 531 is connected to each cavity 5321 in a one-to-one correspondence.

[0161] In one implementation of this embodiment, the outer surface of the sole elastic member 532 is provided with one or more rows of elastic grooves 5322, which increase elastic force, friction, and weight. The sole elastic member 532 can be made of an elastic material such as rubber or silicone. When manufacturing the sole structure 530 provided in this embodiment, the insert 531 is placed into a mold for the sole elastic member 532 and vulcanized together with the raw material of the sole elastic member 532. The mold for the sole elastic member 532 has protrusions corresponding to the through-holes of the insert 531. Therefore, after vulcanization, the sole elastic member 532 forms cavities 5321 in the sole elastic member 532, each corresponding to each through-hole of the insert 531. After vulcanization, the insert 531 and the sole elastic member 532 have a strong bond. Furthermore, while increasing the hardness of the material itself, the cavities 5321 can reduce the overall hardness of the sole structure 530, achieving both wear resistance and noise reduction.

[0162] In another possible implementation of a sole structure 530, as shown in FIG25 , the insert 531 and the sole elastic member 532 are not integrally formed. 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.

[0163] As shown in Figures 23 and 24, the insert 531 includes an inlay body 5311, the bottom surface of which is provided with a special-shaped protrusion 5315 and a stopper 5316. The top surface of the first elastic body 5323 is provided with a first adhesive surface that mates with 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. The bottom surface of the first elastic body 5323 is provided with a second adhesive surface in the form of a circular arc. 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 special-shaped groove surface and the limiting groove surface of the first elastomer 5323 are matched and bonded one by one with the bottom surface of the inlay body 5311, the surface of the special-shaped protrusion 5315 and the surface of the limiting block 5316 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.

[0164] In one implementation of this embodiment, as shown in FIG25 , the first elastomer 5323 and the second elastomer 5324 are made of different materials. The first elastomer 5323 is made of a material with high elasticity, soft material, and good noise reduction, and the second elastomer 5324 is made of a material with high hardness and good wear resistance, such as rubber or silicone. The hardness of the second elastomer 5324 is greater than that of the first elastomer 5323, the elasticity of the first elastomer 5323 is greater than that of the second elastomer 5324, and the wear resistance of the second elastomer 5324 is greater than that of the first elastomer 5323. By combining the first elastomer 5323 and the second elastomer 5324, the functional requirements of the sole structure 530 for both wear resistance and noise reduction are achieved.

[0165] In one implementation of this embodiment, as shown in the several transverse slots at the bottom of Figure 21, the outer surface of the sole elastic member 532 is provided with one or more rows of elastic grooves 5322, which have the effect of increasing elastic force, increasing friction and reducing weight.

[0166] As shown in Figures 19 and 20, Figure 20 shows a cross-sectional view of the calf structure 520; in the calf structure 520, the calf structure 520 is a hollow structure, and the inner wall of the calf structure 520 is provided with two or more ribs 522. The design of the calf cavity 523 can reduce the weight of the leg structure, and the design of the ribs 522 can enhance the strength and rigidity of the leg structure to meet usage requirements.

[0167] In one implementation of this embodiment, the rib 522 extends along the length of the calf structure 520 and is provided with a calf stopper 521 extending out of the calf structure 520 at its rear end. The insert 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, with the buckle and slot interlocking. This structural form of the calf stopper 521 and inlay stopper 5314 is a concealed interface, with no fasteners on the exterior surface of the leg structure, preserving the exquisite design requirements of the product to the greatest extent possible.

[0168] 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 extended into the slot of the inlay 531 to achieve mutual locking, and the edge of the calf structure 520 close to the sole structure 530 is smoothly connected to the outer contour of the inlay 531 and the sole elastic member 532, so that the installation of the calf structure 520 and the sole structure 530 can be completed, and the operation is simple.

[0169] 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, which can realize the installation of the calf and the sole structure 530.

[0170] 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 parts are installed in the calf locking hole 524 and the inlay locking hole 5317.

[0171] 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.

[0172] 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; among the inlay guide 5313 and the calf guide, one of them is a guide protrusion, and the other is a guide groove, and the guide protrusion and the guide groove are plugged into each other to realize the guided plug-in between the calf and the insert 531, thereby improving the convenience of installation.

[0173] In this embodiment, the inlay guide 5313 is a guide bump, and the calf guide is a guide groove.

[0174] In other specific embodiments, the first guide member 860c may be a guide groove, and the calf guide member may be a guide protrusion.

[0175] The guide protrusions in this embodiment are three curved protrusions that can be directly inserted into the guide grooves formed between the ribs 522 on the inner wall of the shank structure 520. In other embodiments, the guide protrusions can also be a complete raised ring, or two or more curved protrusions or shaped protrusions 5315 spaced apart to achieve guided insertion between the insert 531 and the inner wall of the shank structure 520.

[0176] In one implementation of this embodiment, the mating surfaces of the inlay guide 5313 and / or 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 protrusions of the insert 531 to conveniently accommodate the glue and facilitate the curing of the glue between the calf structure 520 and the mating surfaces of the insert 531. This assembly method provides excellent assembly performance and can meet the needs of large-scale assembly production.

[0177] Figures 1, 2, 26, and 27 illustrate a brake mechanism 220 within the robot. Figure 26 is a schematic diagram of the brake mechanism 220 in conjunction with the radar 91 in one embodiment; Figure 27 is a cross-sectional view of the switch body 221b in Figure 26. The brake mechanism 220 is used to control the on / off state of a circuit connected to the brake mechanism 220. In this application, the brake mechanism 220, in conjunction with the radar 91, achieves braking. It can also be located elsewhere within the trunk structure 10, or on the head structure 710 or the walking structure 50. A separate button structure can be used to achieve push-button braking, or it can be located on a feature, such as a feature that can be pulled to achieve braking. The specific implementation method and location are not limited herein, as long as the braking function is achieved. For understanding, the following description will be based on the use of a push-button trigger located on the radar housing on the back of the quadruped robot to achieve braking.

[0178] 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, multiple reset assemblies 222 can be provided, with all reset assemblies 222 evenly arranged along the circumference of the trigger assembly 221, effectively enhancing the reset capability of the reset assemblies 222. This embodiment of the present application illustrates the example of two reset assemblies 222 per brake structure 220.

[0179] As shown in Figure 26, 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 achieving a detachable connection between the brake structure 220 and the trunk structure 10, allowing the same brake structure 220 to be used on different trunk structures 10.

[0180] As shown in FIG26 , the trigger assembly 221 includes a moving member 221a and at least one switch body 221b. All switch bodies 221b are evenly arranged along the circumference of the moving member 221a. All switch bodies 221b are connected in parallel. During triggering, even if the switch body 221a is pressed to an offset position, as long as the moving member 221a can press one of the switch bodies 221b, triggering can still be achieved, thereby achieving emergency braking. In this embodiment of the present application, the provision of multiple switch bodies 221b can effectively reduce the possibility of failure to press the switch body 221b in time during braking, resulting in braking failure, thereby improving the reliability of the triggering of the brake structure 220.

[0181] Specifically, the movable 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 direction of pressing the switch, which can be understood as a vertical direction. In fact, the above-mentioned vertical direction is not the only way to implement it in this embodiment. As long as the direction in which the switch can be pressed 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 movable member 221a and can be extended and retracted along the first direction. The reset component 222 always provides a thrust for the movable 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 movable 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 this embodiment for ease of understanding only and is not the only limiting method.

[0182] In the implementation process of the push radar, the moving member 221a includes a first position and a second position spaced apart 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.

[0183] During actual use, when the operator applies pressure to the movable member 221a, it moves toward the first position under the action of the pressure. During this process, the reset assembly 222 is compressed until the movable member 221a reaches the first position. At this point, the movable member 221a triggers the switch body 221b, and the circuit is disconnected. After the braking is completed, to reconnect the circuit, the operator needs to press a separate start button. Simply moving the movable member 221a away from the first position will not reconnect the circuit.

[0184] When the movable member 221a is not subjected to pressure or is only accidentally touched, the reset assembly 222 continuously provides a pushing force for the movable member 221a to move away from the brake mounting seat 223a. Therefore, the movable member 221a moves away from the brake mounting seat 223a under the pushing force of the reset assembly 222 and eventually stabilizes in the second position. At this time, the movable member 221a is separated from the switch body 221b, and the circuit is in the conducting state.

[0185] 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.

[0186] The reset assembly 222 includes a connector 222a connected between the trigger assembly 221 and the brake mounting seat 223a. The connector 222a extends along the first direction. In the embodiment of the present application, the connector 222a is a common axial screw, with only the upper half of the connector 222a having threads and the lower half being a polished rod.

[0187] Specifically, connector 222a includes a first end and a second end positioned opposite each other along a first direction. Brake mounting seat 223a includes a mating hole corresponding to the first end, and movable member 221a includes a through hole extending along the first direction corresponding to the second end, allowing movable member 221a to be movably connected to connector 222a. The first end of connector 222a forms an interference fit with brake mounting seat 223a via the mating hole, achieving initial installation of connector 222a. The second end, after passing through the through hole, abuts against the inner wall of the through hole, further restricting the position of connector 222a.

[0188] Of course, in other embodiments, the connecting member 222a may also be a common screw, with threads extending from a first end to a second end of the connecting member 222a. The brake mounting seat 223a may have a threaded hole corresponding to the first end, and the movable member 221a may have a through hole extending along the first direction corresponding to the second end, so that the movable member 221a and the connecting member 222a are movably connected. The first end of the connecting member 222a is threadedly connected to the brake mounting seat 223a via the threaded hole, thereby similarly achieving preliminary installation of the connecting member 222a.

[0189] The reset assembly 222 further includes a biased reset member 222b mounted on the sidewall of the connecting member 222a. In the first direction, one end of the biased reset member 222b abuts against the movable member 221a, and the other end abuts against the brake mounting seat 223a. Under the elastic force of the biased reset member 222b, the movable member 221a always maintains a tendency to move toward the second position.

[0190] 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 biased reset member 222b.

[0191] 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 30-50N, 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.

[0192] In some embodiments, the reset assembly 222 further includes a guide member 222c that is sleeved onto the connecting member 222a along a first direction, and a biasing reset member 222b that is sleeved onto the sidewall of the guide member 222c along the first direction. Along the first direction, the end of the guide member 222c distal from the brake mounting seat 223a can pass through a through-hole in the movable member 221a, thereby movably connecting the movable member 221a to the guide member 222c. In the embodiments of the present application, the guide member 222c is specifically a guide pin that serves as a guide during the extension and retraction of the biasing reset member 222b.

[0193] In addition, when the moving part 221a is moved under pressure, even if the force it receives does not come from the first direction, the biased reset part 222b may be slightly twisted. In severe cases, this may cause friction or collision between the biased reset part 222b and the threads on the side wall of the connecting part 222a, and even cause wear of the screw and obstruction of the movement of the moving part 221a.

[0194] 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.

[0195] Furthermore, to reduce the possibility of torsion of the bias return member 222b during extension and retraction, in some embodiments, the brake mounting assembly 223 further includes a brake stopper 223b integrally formed on the end surface of the brake mounting base 223a adjacent to the bias return member 222b. The brake stopper 223b can be used alone or in conjunction with the guide member 222c of the previous embodiment to guide the bias return member 222b, thereby ensuring more stable movement of the bias return member 222b.

[0196] 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 close to one end of 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.

[0197] 26 and 27 , in some embodiments, the braking structure 220 further includes a switch limiting assembly 224 , and the switch limiting assembly 224 is used to limit the travel of the moving member 221 a in the first direction.

[0198] The switch limit assembly 224 includes at least one first switch limiter 224a, which is provided in a one-to-one correspondence with the connecting member 222a. In the embodiment of the present application, the first switch limiter 224a is a common nut. The second end of the connecting member 222a passes through the moving member 221a and is threadedly connected to the first switch limiter 224a. This prevents the moving member 221a from slipping off the connecting member 222a during movement, thereby improving the stability of the moving member 221a during movement.

[0199] In addition, after being locked, the first switch limiter 224a can abut against the 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.

[0200] Continuing to refer to Figure 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.

[0201] Specifically, the second switch limiter 224b is arranged on the 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 face of the brake mounting seat 223a toward the moving member 221a. A receiving groove for accommodating the second connecting member 222a is provided on the moving member 221a corresponding to the second switch limiter 224b.

[0202] When the moving member 221a is in 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.

[0203] Optionally, the moving member 221a in this 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.

[0204] In the embodiment of the present application, the movable contact portion 221d is made of a rubber material having a certain hardness, with the hardness controlled between 30-80 HSA, and a hardness of 60 HSA being an option. This avoids direct contact between the rigid material and the switch body 221b, which could shorten the life of the switch body 221b, thereby further reducing the possibility of damage to the switch body 221b due to excessive contact.

[0205] 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 the braking process.

[0206] In combination with Figures 26 and 27, in addition, in order to enhance the stability of the connection between the movable support part 221c and the movable abutment part 221d, an embedding space is provided on the movable support part 221c in the embodiment of the present application. The embedding space passes through the end face of the movable support part 221c toward the brake mounting seat 223a along the first direction, and a part of the movable abutment part 221d is embedded in the embedding space, thereby increasing the contact area between the movable support part 221c, thereby improving the stability of the connection between the two.

[0207] The remaining part of the movable abutment portion 221d passes through the installation space and protrudes 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.

[0208] In addition, when the movable abutting portion 221d is installed, glue may be applied to the surface of the portion embedded in the mounting space to further enhance the stability of the connection between the movable abutting portion 221d and the movable supporting portion 221c.

[0209] 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 embedded space, and the limiting rib is interference-connected with the movable abutment portion 221d by utilizing the elastic properties of the movable abutment portion 221d.

[0210] 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 can be optionally a radar 91. The mobile support part 221c of the braking structure 220 has a receiving space, and the signal transceiver is installed in the receiving space.

[0211] 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, realizing 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.

[0212] The technical features of the above embodiments can 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.

[0213] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the scope of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of this patent application shall be determined by the appended 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 elastomer (5323) is fixedly connected to the insert (531), and the insert (531) is fixedly connected to the first elastomer (5323), and the first elastomer (5323) and the second elastomer (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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