robot

Abstract

The application provides a robot, which comprises a trunk shell and a leg device, the leg device comprising a double-output motor, a leg link assembly and a foot assembly; the double-output motor is fixedly connected with the trunk shell, a first input end of the leg link assembly is connected with a first output shaft of the double-output motor, a second input end of the leg link assembly is connected with a second output shaft of the double-output motor, and an output end of the leg link assembly is hingedly connected with the foot assembly; wherein the first output shaft and the second output shaft of the double-output motor can respectively drive the first input end and the second input end of the leg link assembly to rotate, thereby changing the support state of the leg link assembly. The robot provided by the application can drive the two input ends of the leg link assembly to rotate by using one double-output motor, thereby changing the support state of the leg link assembly, and the volume of the robot can be made more compact, and the control is more convenient.

Description

Technical Field

[0001] This application relates to the technical field of multi-legged mobile devices, and more specifically to a robot. Background Technology

[0002] Existing robots, such as bipedal or quadrupedal robot dogs, can include multiple motion mechanisms, such as legs. The robot can move through multiple motion mechanisms, each of which can include multiple limbs, such as thighs and calves. However, each limb requires a motor drive, which results in high robot costs and excessive weight. Summary of the Invention

[0003] This application provides a robot, the robot comprising:

[0004] Torso shell and leg assembly;

[0005] The leg device includes a dual-output motor, a leg linkage assembly, and a foot assembly;

[0006] The dual-output motor is fixedly connected to the torso housing. The first input end of the leg linkage assembly is connected to the first output shaft of the dual-output motor. The second input end of the leg linkage assembly is connected to the second output shaft of the dual-output motor. The output end of the leg linkage assembly is hinged to the foot assembly.

[0007] The first and second output shafts of the dual-output motor can respectively drive the first and second input ends of the leg linkage assembly to rotate, thereby changing the support state of the leg linkage assembly.

[0008] The robot provided in this application embodiment can drive the two input ends of the leg linkage assembly to rotate by using a dual-output motor, thereby changing the support state of the leg linkage assembly, making the robot lighter and easier to control. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the robot of this application;

[0011] Figure 2 for Figure 1 A schematic diagram showing a partial structural breakdown of the robot in the embodiment;

[0012] Figure 3 This is a schematic diagram of the structure of a dual-output motor provided in an embodiment of this application;

[0013] Figure 4 for Figure 3 A schematic diagram of the cross-section of the motor shown;

[0014] Figure 5 for Figure 3 The diagram shows the structure of the linkage component in the motor.

[0015] Figure 6 for Figure 5 An exploded view of the linked components shown;

[0016] Figure 7 for Figure 3 The exploded view of the motor shown;

[0017] Figure 8 This is a schematic diagram of the overall structure of another embodiment of the robot of this application;

[0018] Figure 9 for Figure 8 A partial structural breakdown diagram of a set of leg devices in the robot in the embodiment. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0020] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or components inherent to these processes, methods, products, or devices.

[0021] The first embodiment of this application provides a bipedal robot, which can be referred to in conjunction with the following: Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the overall structure of an embodiment of the robot of this application. Figure 2 yes Figure 1 The schematic diagram shows a partial structural breakdown of the robot in this embodiment. The robot in this embodiment includes a torso shell 20 and leg devices 10. It should be noted that the robot in this embodiment may also include a control circuit board, etc., disposed within the torso shell 20. Detailed features of this part are beyond the understanding of those skilled in the art and will not be elaborated here. The torso shell 20 can be any structure capable of supporting and connecting the leg devices 10, and is not limited to a closed or open frame structure.

[0022] Optionally, the robot in this embodiment includes two sets of leg devices 10, each set of leg devices 10 including a dual-output motor 100, a leg linkage assembly 200, and a foot assembly 300. The dual-output motor 100 is fixedly connected to the torso housing 20. The first input end of the leg linkage assembly 200 is connected to the first output shaft of the dual-output motor 100, and the second input end of the leg linkage assembly 200 is connected to the second output shaft of the dual-output motor 100. The output end of the leg linkage assembly 200 is hinged to the foot assembly 300. The first and second output shafts of the dual-output motor 100 can respectively drive the first and second input ends of the leg linkage assembly 200 to rotate, thereby changing the support state of the leg linkage assembly.

[0023] Specifically, please refer to Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of the structure of the dual-output motor provided in an embodiment of this application. Figure 4 for Figure 3 The diagram shows a cross-sectional view of the motor. The motor 100 includes a housing 110, a first drive module 120, a second drive module 130, a linkage assembly 140, a first output shaft 150, and a second output shaft 160.

[0024] The housing 110 can form the overall frame of the motor 100 and serve as a support for other components.

[0025] The first drive module 120 is disposed within the housing 110. Exemplarily, the first drive module 120 can be a first stator-rotor module, which may include a first rotor, magnets, a first stator, etc. The rotor can rotate relative to the stator, and the stator may include magnetic sheets and coils, etc. The second drive module 130 is disposed within the housing 110 and spaced apart from the first drive module 120. Exemplarily, the second drive module 130 can be a second stator-rotor module, which may include a rotor, magnets, a stator, etc. The rotor can rotate relative to the stator, and the stator may include magnetic sheets and coils, etc. The second stator-rotor module may have the same structure as the first stator-rotor module (specifically including a second rotor, magnets, a second stator, etc.; detailed structure details are within the understanding of those skilled in the art and will not be elaborated here). In some other embodiments, the first drive module 120 and the second drive module 130 may also have different structures, which are not specifically limited here.

[0026] The linkage assembly 140 is disposed within the housing 110 and is connected to the first drive module 120 and the second drive module 130. The linkage assembly 140 may include different numbers and types of gears as needed. The linkage assembly 140 is connected to and can drive the first output shaft 150 to rotate, and is also connected to and can drive the second output shaft 160 to rotate.

[0027] In this design, the first drive module 120 and the second drive module 130 drive the first output shaft 150 and the second output shaft 160 to rotate via a linkage component 140, and the rotational speeds of the first output shaft 150 and the second output shaft 160 are adjustable. For example, the rotational speed of the first output shaft 150 can be set to a first speed, and the rotational speed of the second output shaft 160 can be set to a second speed, both of which can be adjusted as needed. Thus, two output shafts with adjustable speeds can be obtained from a single motor 100, equivalent to two motors 100 with only one output shaft each. In addition, by driving the first output shaft 150 and the second output shaft 160 through the same linkage component 140, the motor 100 has a high degree of integration. Compared to the solution of two motors 100 with only one output shaft each, the motor 100 with two output shafts occupies less space and is lighter in weight.

[0028] For ease of understanding, assume the input speed of the first drive module 120 is n1, the input speed of the second drive module 130 is n2, the output speed of the first output shaft 150 is n3, and the output speed of the second output shaft 160 is n4. Then, their corresponding input-output relationship is:

[0029] n3 = k1*n1 + k2*n2;

[0030] n4 = k3*n1 + k4*n2;

[0031] Among them, k1, k2, k3, and k4 are four fixed coefficients, which are determined based on the parameters of the corresponding gears in the linkage assembly 140. For example, the four coefficients can be determined by combining the values ​​of the gear module, number of teeth, gear center distance, and gear displacement coefficient of the corresponding gears in the linkage assembly 140. It can be understood that the first part of the gears in the linkage assembly 140 drives the first output shaft 150 to rotate, and the second part of the gears in the linkage assembly 140 drives the second output shaft 160 to rotate. The first part of the gears and the second part of the gears are at least partially different, which leads to the difference between coefficients k1 and k3, and between coefficients k2 and k4.

[0032] It should be noted that the rotational speeds n3 and n4 can be independent of each other, or they can be disproportionate. They can be adjusted arbitrarily, and their directions can be the same or opposite. Their values ​​can also be configured arbitrarily, simply by allocating the rotational speeds n3 and n4 according to the calculated coupling speed formula. Therefore, the rotation direction of the first output shaft 150 can switch between being in the same direction as and opposite to the rotation direction of the second output shaft 160. For example, if the rotation direction of the first output shaft 150 is clockwise, the rotation direction of the second output shaft 160 can be clockwise or can be switched to counterclockwise as needed.

[0033] Furthermore, according to the formula Power = Torque × Speed, the output power obtained by a single output shaft of the motor in this embodiment can be greater than the output of a single drive module. In the most extreme case, the output power of both drive modules can be concentrated on one output shaft. For example, when one output shaft is not rotating (or rotating but with zero output torque) and the other output shaft is rotating (or not rotating with zero output speed), it is equivalent to the power of both drive modules (distributed through the linkage component 140 to adjust speed and torque) being output to a single rotating output shaft. In short, the power (including speed and torque) of the two drive modules can be distributed, facilitating the formation of a combined force, and the output power (distribution of torque and speed between the two output shafts) is more flexible. By selecting appropriate speed and torque directions, it is possible to distribute the power of both motors to a single output shaft, resulting in an output greater than that of a single drive module.

[0034] Please combine Figure 5 and Figure 6 , Figure 5 for Figure 3 The diagram shows the structure of the linkage component in the motor. Figure 6 for Figure 5 The exploded view shows the linkage assembly. The linkage assembly 140 may include a central shaft 140a (serving as an input end of the linkage assembly 140) and a gear set 140b. A first drive module 120 is connected to the central shaft 140a and is capable of driving the central shaft 140a to rotate. The central shaft 140a drives the first output shaft 150 to rotate through the gear set 140b. A second drive module 130 is connected to the gear set 140b and drives the second output shaft 160 to rotate through the gear set 140b.

[0035] A central shaft 140a can be inserted into a first drive module 120, which can drive the central shaft 140a to rotate. The central shaft 140a drives the gears in the linkage assembly 140 to rotate, thereby rotating the first output shaft 150. The inner surface of the rotor of the first drive module 120 is fixedly connected to the central shaft 140a. For example, the central shaft 140a is positioned and pressed against a circumferential protrusion and groove structure on the inner surface of the rotor to achieve a fixed connection. A second drive module 130 can drive one gear in the gear set 140b to rotate, which in turn drives the other gears to rotate, thereby rotating the second output shaft 160.

[0036] The structure of the linkage assembly 140 can be configured as needed. For example, the end of the central shaft 140a (i.e., the connecting shaft of the first drive gear) has teeth 140a1 (i.e., the first drive gear); the gear set 140b (gear module) may include a first gear 141 (i.e., the second drive gear, i.e., an input end of the linkage assembly 140), multiple second gears 142, multiple third gears 143, a gear ring 144, and a rear planetary carrier 145. The first gear 141 is fitted onto the central shaft 140a and is rotatable relative to the central shaft 140a. Multiple second gears 142 are arranged around the first gear 141 and all mesh with the first gear 141. Multiple third gears 143 are arranged around the central shaft 140a and mesh with the teeth 140a1 of the central shaft 140a; the multiple third gears 143 also mesh with the multiple second gears 142 in a one-to-one correspondence. Multiple second gears 142 are disposed within and mesh with the gear ring 144, and the gear ring 144 is fixedly connected to the first output shaft 150. The rear planetary carrier 145 is sleeved on the central shaft 140a and is fixedly connected to the second output shaft 160. The rear planetary carrier 145 is provided with multiple first mounting parts 1452 and multiple second mounting parts 1454. The multiple first mounting parts 1452 are installed one-to-one with the multiple second gears 142, and the multiple second mounting parts 1454 are installed one-to-one with the multiple third gears 143.

[0037] The teeth of the central shaft 140a can drive the third gear 143 to rotate, the third gear 143 drives the second gear 142 to rotate, the second gear 142 drives the gear ring 144 to rotate, and the gear ring 144 drives the first output shaft 150 to rotate. The second drive module 130 drives the first gear 141 to rotate, the first gear 141 drives the second gear 142 to rotate, the second gear 142 rotates inside the gear ring 144, the second gear 142 drives the rear planetary carrier 145 to rotate, and the rear planetary carrier 145 drives the second output shaft 160 to rotate. The first gear 141, the second gear 142, the gear ring 144 and the rear planetary carrier 145 form a gear module.

[0038] The linkage component 140 can cooperate with the first drive module 120 and the second drive module 130 to drive the first output shaft 150 and the second output shaft 160 to rotate, and the rotational speeds of the first output shaft 150 and the second output shaft 160 can be adjusted as needed. Multiple gears of the linkage component 140 are all housed within the gear ring 144. The linkage component 140 has a compact structure, high integration, and small size, thus reducing the overall size of the motor 100. In this embodiment, both the first output shaft 150 and the second output shaft 160 are annular structures, and their axes coincide.

[0039] Optionally, the linkage assembly 140 may further include a first bearing 146, a second bearing 147, and a third bearing 148. The first bearing 146 is disposed between the central shaft 140a and the first gear 141, allowing the first gear 141 to rotate around the central shaft 140a via the first bearing 146. The second bearing 147 is disposed between the second gear 142 and the first mounting portion 1452, allowing the second gear 142 to rotate around the first mounting portion 1452 via the second bearing 147. The third bearing 148 is disposed between the third gear 143 and the second mounting portion 1454, allowing the third gear 143 to rotate around the second mounting portion 1454 via the third bearing 148. Through the first bearing 146, the second bearing 147, and the third bearing 148, the first gear 141 can rotate more effectively around the central shaft 140a, the second gear 142 can rotate more effectively around the first mounting portion 1452, and the third gear 143 can rotate more effectively around the second mounting portion 1454.

[0040] The central shaft 140a can be a hollow structure with a hollow cavity. The motor 100 also includes connecting wires that pass through the hollow cavity. The first drive module 120 and the second drive module 130 are connected to an external circuit through the connecting wires. Utilizing the hollow cavity in the middle of the central shaft 140a for the connecting wires facilitates their installation, effectively protects them, and prevents them from being exposed and tangled.

[0041] The connecting wires within the hollow cavity of the central shaft 140a can also be used to connect the first external circuit and the second external circuit. For example, the first external circuit can be a control circuit for controlling a motor, and the second external circuit can be a sensor for detection. The control circuit is connected to the sensor via the connecting wires passing through the central shaft 140a. The central shaft 140a can effectively protect the connecting wires, and the connecting wires are not easily exposed or tangled.

[0042] The first output shaft 150 and the second output shaft 160 are located on the same side of the housing 110. Both output shafts are at the outermost end and on the same side, which facilitates the connection of external rotating parts, while reducing load inertia and power consumption.

[0043] To facilitate a better understanding of the motor in this embodiment, the overall structure of the motor will be described in detail below. Please refer to... Figure 7 , Figure 7 for Figure 3The diagram shows an exploded view of the motor. The motor 100 in this embodiment may further include a first main board 170 and a second main board 180, a first output bearing 150a, and a second output bearing 160a. The housing 110 includes a rear housing 112, a main housing 114, and a front cover 116. The rear housing 112 and the front cover 116 are disposed on both sides of the main housing 114. The main housing 114, the rear housing 112, and the front cover 116 constitute the main structure of the motor 100 and are used to support other structures. The first drive module 120 and the second drive module 130 are both mounted on the main housing 114. The first main board 170 and the second main board 180 are disposed within the main housing 114 and are corresponding to the first drive module 120 and the second drive module 130. For example, the first drive module 120 has a hollow structure, and the first main board 170 is disposed within the hollow structure of the first drive module 120. The second drive module 130 has a hollow structure, and the second main board 180 is disposed within the hollow structure of the second drive module 130 and adjacent to the first main board 170. The first bearing 146 is disposed within the main housing 114, and the central shaft 140a passes through the first drive module 120, the second drive module 130, the first main board 170, the second main board 180, and the first bearing 146. The motor 100 may also include a fourth bearing 120a and a fifth bearing 130a. The fourth bearing 120a is disposed between the main housing 114 and the first drive module 120, and the fifth bearing 130a is disposed between the main housing 114 and the rear planetary carrier 145.

[0044] To better understand the motor 100 in this embodiment, the assembly process of the motor 100 is described in detail below:

[0045] First, using the main shell 114 as the supporting base, which has a hollow structure, the first drive module 120 is installed into the main shell 114 and positioned therewith. Then, the first motherboard 170 and the second motherboard 180 are assembled into the inner cavity of the main shell 114.

[0046] Next, the second drive module 130 is installed into the main housing 114 and positioned therewith; wherein, the first motherboard 170 is located in the hollow area of ​​the first drive module 120 and the second motherboard 180 is located in the hollow area of ​​the second drive module 130.

[0047] Third, the central shaft 140a, the first bearing 146, and the first gear 141 are pre-assembled, for example, the first gear 141 is installed on the central shaft 140a through the first bearing 146; after this assembly, the module is installed into the main housing 114, and the end of the central shaft 140a away from the first gear 141 is passed through the second drive module 130, the first drive module 120, the first main board 170, and the second main board 180, and the circumferential protrusions and grooves on the rotor of the first drive module 120 are positioned and pressed together.

[0048] Fourth, first, assemble the three second gears 142 with the three second bearings 147, and the three third gears 143 with the three third bearings 148 in a one-to-one correspondence. Then, assemble the rear planetary carrier 145 into the main housing 114 and sleeve it on the central shaft 140a. Next, assemble the three sets of second gears 142 with the second bearings 147, and the three sets of third gears 143 with the third bearings 148 onto the rear planetary carrier 145. The teeth on the end face of the central shaft 140a mesh with the three third gears 143, the three third gears 143 mesh with the three second gears 142 respectively, and the first gear 141 meshes with the three second gears.

[0049] Fifth, install the second output shaft 160 and use screws to lock the second output shaft 160 to the rear planetary carrier 145.

[0050] Sixth, first assemble the gear ring 144 with the first output shaft 150, such as by tightening with screws, and then mesh the gear ring 144 with the three second gears 142.

[0051] Seventh, assemble the first output bearing 150a and the second output bearing 160a so that the first output shaft 150 is connected to the main housing 114 through the first output bearing 150a, and the second output shaft 160 is connected to the inner ring of the first output shaft 150 through the second output bearing 160a.

[0052] Eighth, install the front cover 116 into the side of the main housing 114 near the first output shaft and lock the front cover 116 to the main housing 114; install the rear housing 112 into the side of the main housing 114 away from the first output shaft and lock the rear housing 112 to the main housing 114.

[0053] Please continue reading. Figure 2In this embodiment, the leg linkage assembly 200 includes a first thigh linkage 210, a second thigh linkage 220, a first lower leg linkage 230, and a second lower leg linkage 240. One end of the first thigh linkage 210 is connected to the first output shaft 150 of the dual-output motor (specifically, it can be fixedly connected by screws), and the other end is hinged to the first lower leg linkage 230 (specifically, it can be connected by a pin 201, allowing relative rotation between the two with only one degree of freedom in this direction). The other end of the first lower leg linkage 230 is hinged to the foot assembly 300. One end of the second thigh linkage 220 is connected to the first output shaft 150 of the dual-output motor. The second output shaft 160 of the output motor is connected (specifically, it can be fixed by screws), and the other end is hinged to the second lower leg link 240 (specifically, it can be connected by pin 202, so that the two can rotate relative to each other, and there is only one degree of freedom in this direction). The other end of the second lower leg link 240 is hinged to the foot assembly 300. The first output shaft 150 and the second output shaft 160 of the dual output motor can respectively drive the first thigh link 210 and the second thigh link 220 to rotate around the axis of the dual output motor 100, thereby changing the support state of the four-bar structure formed by the leg link assembly 200.

[0054] Alternatively, please continue reading Figure 2 In this embodiment, the foot assembly 300 includes a foot motor 310 and foot wheels 320. The foot wheels 320 are hinged to the first lower leg link 230 and the second lower leg link 220 of the leg link assembly 200 via pins 301. The foot wheels 320 can rotate under the drive of the foot motor 310, enabling forward and backward movements. When the foot wheels 320 on both sides rotate at different speeds, the robot can also achieve rotational movements.

[0055] Optionally, in this embodiment, the first thigh link 210 and the second thigh link 220 can be the same length, and the first lower leg link 230 and the second lower leg link 240 can be the same length. Of course, in some other embodiments, the first thigh link 210 and the second thigh link 220 can be different lengths, and the first lower leg link 230 and the second lower leg link 240 can also be different lengths, as long as the four can form a four-bar linkage structure.

[0056] During movement, when the first and second output shafts of the dual-output motor rotate relative to each other, the angle between the first thigh link 210 and the second thigh link 220 changes accordingly, causing the first lower leg link 230 and the second lower leg link 240 to rotate. In this embodiment, the angle 'a' between the first lower leg link 230 and the second lower leg link 240 is the same as the angle 'b' between the first thigh link 210 and the second thigh link 220. By controlling the two sets of leg link assemblies separately, the robot can perform actions such as body pitch and height changes.

[0057] Please refer to the following: Figure 8 and Figure 9 , Figure 8 This is a schematic diagram of the overall structure of another embodiment of the robot of this application. Figure 9 yes Figure 8 This embodiment shows a partial structural breakdown diagram of a group of leg devices in the robot. This embodiment is a quadruped robot, which includes a torso shell 20 and leg devices 10. Specifically, the robot in this embodiment includes four groups of leg devices 10. Each group of leg devices 10 includes a dual-output motor 100, a leg link assembly 200, and a foot assembly 300. For detailed structures of the dual-output motor 100 and the leg link assembly 200, please refer to the aforementioned embodiment; they will not be repeated here.

[0058] Unlike the previous embodiments, the foot assembly 300 in this embodiment includes a foot sole connector 330 and a foot sole 340. The foot sole connector 330 is hinged to the first lower leg link 230 and the second lower leg link 240 of the leg link assembly 200 via pins 302. The foot sole 340 is fixedly connected to the foot sole connector 330. The foot sole 340 can be made of rubber or silicone. Because the robot in this embodiment has a quadrupedal structure, the foot soles do not require motor drive. By controlling the four sets of leg devices separately, the robot can perform functions such as walking, pitching (changing height), and jumping.

[0059] The robot in this embodiment can drive the two input ends of the leg linkage assembly to rotate by using a dual-output motor, thereby changing the support state of the leg linkage assembly. This makes the robot lighter and easier to control, and features high integration, low load inertia, and reduced power consumption, thus improving the robot's stability and reliability.

[0060] It should be noted that the embodiments of this application only illustrate two structural forms of robots (quadruped and bipedal). In some other embodiments, the structure can also be a triped or multi-legged robot, which will not be listed and described in detail here.

[0061] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or direct or indirect application in other related technical fields, are similarly included in the patent protection scope of this application.

Claims

1. A robot, characterized in that, The robot includes: Torso shell and leg assembly; The leg device includes a dual-output motor, a leg linkage assembly, and a foot assembly; The dual-output motor is fixedly connected to the torso housing. The first input end of the leg linkage assembly is connected to the first output shaft of the dual-output motor. The second input end of the leg linkage assembly is connected to the second output shaft of the dual-output motor. The output end of the leg linkage assembly is hinged to the foot assembly. The first and second output shafts of the dual-output motor can respectively drive the first and second input ends of the leg linkage assembly to rotate, thereby changing the support state of the leg linkage assembly. The leg linkage assembly includes a first thigh linkage, a second thigh linkage, a first calf linkage, and a second calf linkage. One end of the first thigh linkage is connected to the first output shaft of the dual-output motor, and the other end is hinged to the first calf linkage. The other end of the first calf linkage is hinged to the foot assembly. One end of the second thigh linkage is connected to the second output shaft of the dual-output motor, and the other end is hinged to the second calf linkage. The other end of the second calf linkage is hinged to the foot assembly. The first and second output shafts of the dual-output motor can respectively drive the first thigh linkage and the second thigh linkage to rotate, thereby changing the support state of the four-bar linkage structure of the leg linkage assembly. The dual-output motor includes: First drive module; Second drive module; A linkage component is connected to the first drive module and the second drive module; The first output shaft can be driven to rotate by the linkage component; The second output shaft can be driven to rotate by the linkage component; The first drive module and the second drive module respectively adjust the rotational speed of the first output shaft and the second output shaft, and the output power of the first drive module and the second drive module can be distributed on the first output shaft and / or the second output shaft through the linkage component.

2. The robot according to claim 1, characterized in that, The robot includes two sets of leg devices. Each set of leg devices includes a foot motor and a foot wheel. The foot wheel is hinged to the first lower leg link and the second lower leg link of the leg link assembly, respectively. The foot wheel can rotate under the drive of the foot motor.

3. The robot according to claim 1, characterized in that, The robot includes three or more sets of the leg devices. Each set of the leg devices includes a foot connector and a foot sole. The foot connector is hinged to the first lower leg link and the second lower leg link of the leg link assembly, and the foot sole is fixedly connected to the foot connector.

4. The robot according to claim 1, characterized in that, The linkage component includes a central shaft and a gear set. The first drive module is connected to the central shaft and can drive the central shaft to rotate. The central shaft drives the first output shaft to rotate through the gear set, and the second drive module is connected to the gear set and can drive the second output shaft to rotate through the gear set.

5. The robot according to claim 4, characterized in that, The end of the central shaft has teeth; the gear set includes: A first gear, which is sleeved on the central shaft; A plurality of second gears are arranged around the first gear and all of them mesh with the first gear; Multiple third gears; the multiple third gears are arranged around the central axis and respectively mesh with the teeth of the central axis, and the multiple third gears also mesh with multiple second gears in a one-to-one correspondence; A gear ring, a plurality of second gears disposed within and meshing with the gear ring, the gear ring being fixedly connected to the first output shaft; and A rear planetary carrier is sleeved on the central shaft and fixedly connected to the second output shaft. A plurality of second gears and a plurality of third gears are respectively mounted on the rear planetary carrier. The teeth of the central shaft can drive the third gear to rotate, the third gear can drive the second gear to rotate, the second gear can drive the gear ring to rotate, and the gear ring can drive the first output shaft to rotate. The second drive module can drive the first gear to rotate, the first gear can drive the second gear to rotate, the second gear can revolve within the gear ring and thus drive the rear planetary carrier to rotate, and the rear planetary carrier can drive the second output shaft to rotate.

6. The robot according to claim 5, characterized in that, The linkage component also includes: A first bearing is disposed between the central shaft and the first gear, so that the first gear rotates around the central shaft via the first bearing; A second bearing is disposed between the second gear and the rear planetary carrier, such that the second gear rotates about the rear planetary carrier via the second bearing; and A third bearing is disposed between the third gear and the rear planetary carrier, so that the third gear rotates around the rear planetary carrier via the third bearing.

7. The robot according to claim 6, characterized in that, The central shaft has a hollow structure and a hollow cavity. The dual-output motor also includes a connecting wire that passes through the hollow cavity. The first drive module and the second drive module are connected to an external circuit through the connecting wire.

8. The robot according to claim 5, characterized in that, The central shaft has a hollow structure and a hollow cavity. The dual-output motor also includes a connecting wire that passes through the hollow cavity and is used to connect a first external circuit and a second external circuit.

9. The robot according to claim 5, characterized in that, The first drive module includes a first stator and a first rotor, the first rotor being sleeved on the central shaft and used to drive the central shaft to rotate; the second drive module includes a second stator and a second rotor, the second rotor being used to drive the first gear to rotate.

10. The robot according to claim 1, characterized in that, The first output shaft and the second output shaft are disposed on the same side, and the first output shaft is sleeved on the second output shaft.

11. The robot according to claim 10, characterized in that, Both the first output shaft and the second output shaft are ring-shaped structures, and their axes coincide.

12. The robot according to claim 1, characterized in that, The rotation direction of the first output shaft can be switched between being in the same direction as and opposite to the rotation direction of the second output shaft.

13. The robot according to claim 1, characterized in that, The dual-output motor also includes a first Hall sensor and a second Hall sensor. The first Hall sensor is used to detect the first magnetic flux of the first drive module, and the second Hall sensor is used to detect the second magnetic flux of the second drive module.

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