Multi-legged robot

Abstract

The invention relates to a multi-legged robot, and relates to the technical field of robots, when the multi-legged robot is in a power-on state, current output by a power supply module is used for supplying power to at least one driving motor and at least one encoder in a mechanical leg; and when the multi-legged robot is in a power-off state, the current output by the power supply module is used for supplying power to at least one encoder in the mechanical leg. Thus, the power supply module is installed on the robot body, the power supply module is used for supplying power to the driving motor and the encoder in the power-on state, the power supply module is used for supplying power to the encoder in the power-off state, the number of standby batteries needing to be arranged in the multi-legged robot is reduced, and then the manufacturing cost of the multi-legged robot can be reduced; and moreover, the power supply module is mounted in the robot body, so that the power supply module is prevented from being influenced by heating of the driving motor, the power supply module is prevented from being damaged, the service life is prolonged, and compact structural design of the mechanical legs is facilitated.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to multi-legged robots. Background Art

[0002] In the related art, when a multi-legged robot uses a reduction motor, an encoder is required to record the rotation angle. When the multi-legged robot is powered on, the main battery is used to power the encoder to record the rotation angle. In the off state, the backup battery of each encoder is used to power the corresponding encoder to record the angle rotated during the power outage. When the robot is powered on again, it starts working with the recorded angle. Since the multi-legged robot has a main battery and multiple legs, each leg has multiple motors, and each motor has at least one corresponding encoder; for example, a quadruped robot has four legs, each leg is equipped with three motors, that is, the quadruped robot is equipped with at least twelve encoders, and each encoder requires a corresponding backup battery.

[0003] Obviously, the number of backup batteries required in the multi-legged robot of the related technology is relatively large, which will lead to a high production cost of the multi-legged robot. In addition, the simultaneous operation of multiple batteries will cause the temperature of the robot's legs to be too high, and the backup batteries are prone to failure if they are in a high temperature environment for a long time. Summary of the Invention

[0004] Based on this, it is necessary to provide a multi-legged robot that can reduce the number of backup batteries and avoid the problem of backup batteries easily failing in order to solve the problem of too many backup batteries in the multi-legged robot.

[0005] The present application provides a multi-legged robot, comprising a robot body and a plurality of mechanical legs movably connected to the robot body;

[0006] Each of the mechanical legs is provided with at least two drive motors and at least two encoders, and each of the drive motors is correspondingly provided with and electrically connected to at least one of the encoders;

[0007] A power supply module is provided in the robot body; when the multi-legged robot is in the power-on state, the current output by the power supply module is used to power at least one of the drive motors and at least one of the encoders in the mechanical leg; when the multi-legged robot is in the power-off state, the current output by the power supply module is used to power at least one of the encoders in the mechanical leg.

[0008] In one embodiment, the mechanical leg further includes a comparison control circuit, a high-voltage circuit, and a first power conversion circuit matched with each of the drive motors, wherein: the input end of the comparison control circuit is electrically connected to the output end of the power supply module, the output end of the comparison control circuit is electrically connected to the input end of the high-voltage circuit and the input end of the encoder respectively, the output end of the high-voltage circuit is electrically connected to the input end of the first power conversion circuit and the input end of the drive motor respectively, and the output end of the first power conversion circuit is electrically connected to the input end of the encoder;

[0009] When the multi-legged robot is in a powered-on state, the current output by the power supply module passes through the comparison control circuit to the high-voltage circuit to power at least one of the drive motors and at least one of the encoders in the robotic leg;

[0010] When the multi-legged robot is in a power-off state, the current output by the power supply module passes through the comparison control circuit to the encoder to power at least one of the encoders in the robotic legs.

[0011] In one embodiment, the power supply module includes a power battery and a standby power supply unit;

[0012] When the multi-legged robot is in a powered-on state, the operating voltage of the power battery is greater than the operating voltage of the standby power supply unit, and the current output by the power battery is transmitted to the high-voltage circuit via the comparison control circuit; wherein the high-voltage circuit transmits the current to the electrically connected drive motor, and the high-voltage circuit transmits the current to the encoder via the first power conversion circuit;

[0013] When the multi-legged robot is in a power-off state, the operating voltage value of the power battery is lower than the operating voltage value of the standby power supply unit, and the current output by the standby power supply unit is transmitted to the encoder via the comparison control circuit.

[0014] In one embodiment, the comparison control circuit includes a low voltage shutdown circuit and a high voltage shutdown circuit;

[0015] The input ends of the low-voltage shutdown circuit and the high-voltage shutdown circuit are both electrically connected to the output end of the power supply module, the output end of the low-voltage shutdown circuit is electrically connected to the input end of the high-voltage circuit, and the output end of the high-voltage shutdown circuit is electrically connected to the input end of the encoder;

[0016] When the multi-legged robot is in a powered-on state, the current output by the power battery is transmitted to the high-voltage circuit via the low-voltage shutdown circuit;

[0017] When the multi-legged robot is in a power-off state, the current output by the standby power supply unit is transmitted to the encoder via the high-voltage shutdown circuit.

[0018] In one embodiment, the power supply module and the comparison control circuit are electrically connected at a first node;

[0019] The power supply module further includes:

[0020] a first unidirectional conductive unit, electrically connected between the power battery and the first node; wherein the conductive direction of the first unidirectional conductive unit is the direction from the power battery to the first node;

[0021] A second unidirectional conductive unit is electrically connected between the standby power supply unit and the first node; wherein the conductive direction of the second unidirectional conductive unit is the direction in which power flows from the standby power supply unit to the first node.

[0022] In one embodiment, input terminals of at least two comparison control circuits in the same mechanical leg are electrically connected to the same set of drive signal lines, and the drive signal lines are electrically connected to the first node.

[0023] In one embodiment, the mechanical leg also includes at least two drive boards arranged in one-to-one correspondence with at least two drive motors, and the comparison control circuit, the high-voltage circuit, the first power conversion circuit and the encoder matched with the same drive motor are arranged on the same drive board.

[0024] In one embodiment, the device further includes a voltage detection element electrically connected to the power battery and the standby power supply unit;

[0025] When the voltage detection element detects that the operating voltage value of the power battery is lower than the operating voltage value of the standby power supply unit, the power battery is stopped from supplying power to the drive motor and the encoder, and the standby power supply unit is controlled to supply power to the encoder.

[0026] In one embodiment, the output terminal of the power battery is electrically connected to the input terminal of the standby power supply unit, and the standby power supply unit is a rechargeable battery;

[0027] When the operating voltage value of the power battery is greater than the operating voltage value of the standby power supply unit, the power battery supplies power to the rechargeable battery.

[0028] In one embodiment, a charging control unit is further included.

[0029] The charging control unit is electrically connected between the power battery and the rechargeable battery.

[0030] In one embodiment, the power supply module further includes a second power conversion circuit, and the power battery supplies power to the rechargeable battery through the second power conversion circuit.

[0031] The multi-legged robot provided by the present application is provided with at least two drive motors and at least two encoders in each mechanical leg of the robot, and each drive motor can be electrically connected to one or more encoders; when the multi-legged robot is in the power-on state, the current output by the power supply module is used to power at least one drive motor and at least one encoder in the mechanical leg; when the multi-legged robot is in the power-off state, the current output by the power supply module is used to power at least one encoder in the mechanical leg. In this way, the power supply module is installed on the robot body, and the drive motor and encoder are powered by the power supply module in the power-on state, and the encoder is powered in the power-off state, which reduces the number of backup batteries required to be provided in the multi-legged robot, thereby reducing the production cost of the multi-legged robot; and, installing the power supply module in the robot body prevents the power supply module from being affected by the heat generated by the drive motor, avoids damage to the power supply module, prolongs the service life, and is also conducive to the compact structural design of the mechanical leg. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic structural diagram of a multi-legged robot in one embodiment of the present application is shown;

[0033] Figure 2 shows a circuit topology diagram of a multi-legged robot in one embodiment of the present application;

[0034] Figure 3 A schematic diagram of the circuit structure of a multi-legged robot in one embodiment of the present application is shown;

[0035] Figure 4 A schematic diagram of a high voltage shutdown circuit in an embodiment of the present application is shown;

[0036] Figure 5 Shows this application Figure 3 Another circuit structure diagram of the AA area in the illustrated embodiment. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0040] 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.

[0041] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0042] 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.

[0043] In the related art, a multi-legged robot has a main battery and multiple mechanical legs. For example, a quadruped robot has four mechanical legs, each of which is equipped with three drive motors. If each drive motor has an encoder, then the quadruped robot will be equipped with twelve encoders, and each encoder requires a corresponding backup battery. In other words, the mechanical legs of the multi-legged robot will be equipped with at least twelve backup batteries. As can be seen, the existing multi-legged robots have multiple backup batteries, which makes the number of backup batteries required in the multi-legged robot relatively large, which will lead to high production costs of the multi-legged robot. In addition, the operation of the drive motors will cause the temperature of the robot legs to be too high. Especially in summer, when the multi-legged robot is used, the temperature of the drive motors can exceed 90°C, and the backup batteries are prone to failure or damage in high temperature environments. Furthermore, the operating time of the multi-legged robot encoder in the power-off state is closely related to the power of the backup battery. To increase the operating time of the encoder, a larger backup motor is required. However, a larger battery will also be larger in size. The large backup battery is not conducive to the compact structure of the mechanical legs and will also affect the aesthetics of the multi-legged robot.

[0044] Based on the problem of a large number of backup batteries required in the multi-legged robot of the prior art, it is urgent to provide a multi-legged robot that can reduce the number of backup batteries and avoid the backup batteries from failing easily while ensuring that multiple encoders of the multi-legged robot can still work normally in a power-off state.

[0045] See also Figure 1-Figure 3 , Figure 1 FIG. 1 shows a schematic structural diagram of a multi-legged robot in an embodiment of the present application. Figure 2 FIG. 1 shows a circuit topology diagram of a multi-legged robot in an embodiment of the present application. Figure 3 A circuit structure diagram of a multi-legged robot in an embodiment of the present application is shown. The present application provides a multi-legged robot 100 , comprising a robot body 10 and a plurality of mechanical legs 11 movably connected to the robot body 10 .

[0046] Each robotic leg 11 is provided with at least two drive motors 20 and at least two encoders 21 , and each drive motor 20 is correspondingly provided with and electrically connected to at least one encoder 21 .

[0047] It should be noted that the encoder 21 is used to detect and record the rotation angle of the corresponding drive motor 20 during use. The encoder 21 can detect the rotation angle by direct detection or indirect detection, which is not limited here.

[0048] A power supply module 30 is provided in the robot body 10. When the multi-legged robot 100 is powered on, the current output by the power supply module 30 is used to power at least one drive motor 20 and at least one encoder 21 in the robotic leg 11. When the multi-legged robot 100 is powered off, the current output by the power supply module 30 is used to power at least one encoder 21 in the robotic leg 11. Thus, by installing the power supply module 30 on the robot body 10, the power supply module 30 is used to power the drive motor 20 and encoder 21 in the powered-on state, and to power the encoder 21 in the powered-off state. This reduces the number of backup batteries required in the multi-legged robot 100, thereby reducing the manufacturing cost of the multi-legged robot 100. Furthermore, by installing the power supply module 30 in the robot body 10, the power supply module 30 is protected from being affected by the heat generated by the drive motor 20, preventing damage to the power supply module 30, extending its service life, and also facilitating a compact structural design for the robotic leg 11.

[0049] In one embodiment, the robotic leg 11 further includes a comparison control circuit 50, a high-voltage circuit 51, and a first power conversion circuit 52, which are matched with each drive motor 20. The input end of the comparison control circuit 50 is electrically connected to the output end of the power supply module 30, the output end of the comparison control circuit 50 is electrically connected to the input end of the high-voltage circuit 51 and the input end of the encoder 21, respectively, the output end of the high-voltage circuit 51 is electrically connected to the input end of the first power conversion circuit 52 and the input end of the drive motor, and the output end of the first power conversion circuit 52 is electrically connected to the input end of the encoder 21.

[0050] When the multi-legged robot is in the power-on state, the current output by the power supply module 30 passes through the comparison control circuit 50 to the high-voltage circuit 51 to power at least one drive motor 20 and at least one encoder 21 in the robotic leg 11;

[0051] When the multi-legged robot is in a power-off state, the current output by the power supply module 30 passes through the comparison control circuit 50 to the encoder 21 to power at least one encoder 21 in the robotic leg 11 .

[0052] Specifically, the present application provides a multi-legged robot 100, which may include a robot body 10 and multiple mechanical legs 11, each of which is movably connected to the robot body 10 to ensure that the mechanical leg 11 can move flexibly relative to the robot body 10 and drive the robot body 10 to move; further, each mechanical leg 11 may be provided with multiple movably connected mechanical joints 12, for example, each mechanical leg 11 includes two movably connected mechanical joints 12, or 3, 4 or more mechanical joints 12 movably connected in sequence, such as Figure 1 The three mechanical joints 121 , 122 , and 123 shown are movably connected in sequence to ensure that the mechanical legs 11 of the multi-legged robot 100 have good mobility.

[0053] The present application provides an optional embodiment in which each mechanical leg 11 includes at least two drive motors 20 and at least two encoders 21, and each drive motor 20 can be optionally configured to correspond to and be electrically connected with one encoder 21, or each drive motor 20 can be optionally configured to correspond to and be electrically connected with multiple encoders 21; further, as Figure 1 、 Figure 2 As shown, each leg mechanical joint 12 of the multi-legged robot 100 can be provided with a set of drive motors 20 and encoders 21 with matching electrical connections, or multiple sets of drive motors 20 and encoders 21 can be integrated in one leg mechanical joint 12. The encoder 21 is used to record the corresponding rotation angle of the drive motor 20 when the multi-legged robot 100 uses the drive motor 20.

[0054] Based on the above structure of the multi-legged robot 100 provided in the present application, the present application provides a power supply module 30 for powering the drive motor 20 and the encoder 21 in the mechanical leg 11 of the multi-legged robot 100. The power supply module 30 can be optionally set in the robot body 10, and the power supply equipment for providing electrical energy to the encoder 21 is not set in the mechanical leg 11; as for how the current provided by the power supply module 30 can realize the power supply for the drive motor 20 and the encoder 21, the present application provides a related circuit set in the mechanical leg 11, and the circuit structure includes at least a comparison control circuit 50, a high-voltage circuit 51 and a first power conversion circuit 52 matched with each drive motor 20, and the electrical connection relationship of the related circuits can be set as that the input end of the comparison control circuit 50 is connected to the power supply module 30. The output end of the group 30 is electrically connected to receive the current output by the power supply module 30, and the output end of the comparison control circuit 50 is electrically connected to the input end of the high-voltage circuit 51 and the input end of the encoder 21 respectively. The comparison control circuit 50 is used to transmit the received current to the high-voltage circuit 51 or the encoder 21 as required. The output end of the high-voltage circuit 51 is electrically connected to the input end of the first power conversion circuit 52 and the input end of the drive motor 20 respectively, that is, the high-voltage circuit 51 can transmit the received current to the drive motor 20 and the first power conversion circuit 52 electrically connected thereto respectively, and the output end of the first power conversion circuit 52 is electrically connected to the input end of the encoder 21 to transmit the current received by the first power conversion circuit 52 to the encoder 21 corresponding to the drive motor 20.

[0055] That is, the present application realizes the electrical connection between the power supply module 30 and the drive motor 20 and the encoder 21 by providing relevant circuits including a comparison control circuit 50, a high-voltage circuit 51 and a first power conversion circuit 52, so as to realize the transmission of the current signal output by the power supply module 30 to the drive motor 20 and / or the encoder 21 when required.

[0056] It should be added that the relevant circuits between the power supply module 30 and the drive motor 20 and the encoder 21 provided in this application are provided with a comparison control circuit 50, a high-voltage circuit 51 and a first power conversion circuit 52. This is only an optional implementation method provided by this application, but this application is not limited to this. Circuit structures can be added to related circuits as needed.

[0057] The electrical connection between the power supply module 30 and the drive motor 20 and the encoder 21 realized based on the above circuit can specifically be used to realize the electrical connection between the power supply module 30 and each drive motor 20 and each encoder 21 provided in the multi-legged robot 100, so as to be used to power all drive motors 20 and all encoders 21 when the multi-legged robot 100 is in the power-on state or other required conditions, and can also be used to power part or all encoders 21 when the multi-legged robot 100 is in the power-off state or other required conditions.

[0058] Specifically, for example, when the multi-legged robot 100 is in the power-on state, the drive motor 20 and the encoder 21 provided in the mechanical leg 11 may both have power requirements. The current output by the power supply module 30 may be transmitted to the drive motor 20 through the comparison control circuit 50 and the high-voltage circuit 51, and further transmitted to the encoder 21 through the first power conversion circuit 52, thereby realizing power supply to the drive motor 20 and the encoder 21 in the mechanical leg 11 through the power supply module 30. For example, when the multi-legged robot 100 is in the power-off state, the drive motor 20 provided in the mechanical leg 11 may not have power requirements, and only the encoder 21 has power requirements. The current output by the power supply module 30 may be directly transmitted to the encoder 21 through the comparison control circuit 50, thereby realizing power supply to the encoder 21 in the mechanical leg 11 through the power supply module 30 in the power-off state.

[0059] It can be seen that the power supply module 30 provided in the present application is electrically connected to the drive motor 20 and the encoder 21 through the comparison control circuit 50, and can be used to realize reasonable and fast power supply to the drive motor 20 and / or the encoder 21 according to the different power usage states of the multi-legged robot 100, thereby meeting the diversified power requirements of the multi-legged robot 100.

[0060] The multi-legged robot 100 provided in the present application may, for example, be configured such that one of the robot's mechanical legs 11 includes at least two mechanical joints 12, such as Figure 1The figure shows three mechanical joints 121, 122, and 123 that are movably connected in sequence. Each mechanical joint 12 matches an electrically connected drive motor 20 and an encoder 21. Furthermore, a power supply module 30 is provided in the robot body, and a comparison control circuit 50 electrically connected to the power supply module 30 is provided. The first output end of the comparison control circuit 50 is electrically connected to the drive motor 20 through a high-voltage circuit 51, and the output end of the high-voltage circuit 51 is electrically connected to the encoder 21 corresponding to the drive motor 20 through a first power conversion circuit 52. The second output end of the comparison control circuit 50 is electrically connected to the encoder 21. Based on the arrangement of this circuit structure, when the multi-legged robot 100 is in the power-on state, the output end of the power supply module 30 arranged in the fuselage 10 is used to power all the drive motors 20 and all the encoders 21 in all the mechanical legs 11; when the multi-legged robot 100 is in the power-off state, the output end of the power supply module 30 arranged in the fuselage 10 is used to power all the encoders 21, so that the power supply module 30 arranged in the fuselage 10 can power the drive motors 20 and the encoders 21 in the power-on state of the multi-legged robot 100, so as to ensure that the multi-legged robot 10 0 can be operated normally, and the encoder 21 can be powered when the multi-legged robot 100 is powered off, so that the encoder 21 can continuously record the rotation angle of the drive motor 20; that is, by setting the power supply module 30 in the body 10 of the multi-legged robot 100, the encoder 21 in the leg of the multi-legged robot 100 can be continuously powered when the multi-legged robot 100 is powered on and powered off, avoiding the need to set a separate backup battery for each encoder 21 in the mechanical leg 11, which not only greatly reduces the number of batteries required to be set in the multi-legged robot 100, but also helps to reduce The production cost of the multi-legged robot 100 is low; and the power supply module 30 for supplying power to the drive motor 20 and the encoder 21 is arranged in the robot body, which can prevent the power supply equipment from being affected by the heat generated by the drive motor 20, thereby helping to avoid the problem of damage to the power supply module 30 due to excessively high working environment temperature, thereby helping to extend the service life of the power supply module 30 in the multi-legged robot 100, and also helping to extend the service life of the multi-legged robot 100. In addition, it is also beneficial to the compact structural design of the mechanical legs 11 to meet the aesthetic design requirements of the multi-legged robot 100.

[0061] It should also be added that the above-mentioned power supply module 30 supplies power to all the drive motors 20 and all the encoders 21 provided therein when the multi-legged robot 100 is in the powered-on state, and supplies power to all the encoders 21 provided therein when the power is off. This is only an optional implementation method provided by the present application, and it is also possible to supply power to some of the drive motors 20 and / or encoders 21 provided in the multi-legged robot 100 in different states as required.

[0062] Please continue to refer to Figure 1-Figure 3 In an exemplary embodiment, the present application further provides an optional configuration of a multi-legged robot 100 , wherein the power supply module 30 includes a power battery 31 and a standby power supply unit 32 ;

[0063] When the multi-legged robot 100 is in the power-on state, the operating voltage of the power battery 31 is greater than the operating voltage of the standby power supply unit 32, and the current output by the power battery 31 is transmitted to the high-voltage circuit 51 via the comparison control circuit 50; wherein, the high-voltage circuit 51 transmits the current to the electrically connected drive motor 20, and the high-voltage circuit 51 transmits the current to the encoder 21 via the first power conversion circuit 52;

[0064] When the multi-legged robot 100 is in a power-off state, the operating voltage of the power battery 31 is lower than the operating voltage of the standby power supply unit 32 , and the current output by the standby power supply unit 32 is transmitted to the encoder 21 via the comparison control circuit 50 .

[0065] Specifically, the present application provides an optional implementation method in which the power supply module 30 includes a power battery 31 and a standby power supply unit 32. It should be noted that this is only an optional structural setting method of the power supply module 30 provided by the present application, but the present application is not limited to this; the power battery 31 here can be a separate battery pack or a battery group according to needs, and the standby power supply unit 32 can also be a separate battery pack or a battery group according to needs.

[0066] It should be noted that the multi-legged robot 100 is in the power-on state, which means that the multi-legged robot 100 is in a normal working state. At this time, the energy required for the operation of the multi-legged robot 100 is provided by the main power source. Returning to the embodiment of the present application, the main power source of the multi-legged robot 100 when it is in the power-on state includes the power battery 31. The multi-legged robot 100 is in the power-off state, which means that the multi-legged robot 100 is in an abnormal working state. At this time, the main power source of the multi-legged robot 100 stops providing electrical energy and needs to use a backup power source to provide electrical energy. Returning to the embodiment of the present application, the multi-legged robot 100 is provided with electrical energy by the standby power supply unit 32 when it is in the power-off state.

[0067] The multi-legged robot 100 provided in the present application has different power requirements in the power-on state and the power-off state. For example, when the multi-legged robot 100 is in the power-on state, it requires sufficient electric energy to drive its normal operation, and the power battery 31 provided therein can receive sufficient electric energy from the outside. At this time, the power battery 31 in the power supply module 30 can be controlled to be in a working state. At this time, the working voltage value of the power battery 31 will be greater than the working voltage value of the standby power supply unit 32, or the standby power supply unit 32 is in a non-working state, that is, the working voltage value of the standby power supply unit 32 can be 0. At this time, the current output by the power battery 31 can be transmitted to the high-voltage circuit 51 through the comparison control circuit 50, and the high-voltage circuit 51 transmits the received current to the electrically connected drive motor 20. Further, the high-voltage circuit 51 transmits the received current to the encoder 21 through the electrically connected first power conversion circuit 52, so as to meet the power requirements of the drive motor 20 and the encoder 21 when the multi-legged robot 100 is in the power-on state, so as to realize the normal operation of all drive motors 20 and encoders 21. At the same time, the standby power supply unit 32 does not output power to the outside when the multi-legged robot 100 is in the power-on state, and only supplies power to each encoder 21 in the power-off state, which is beneficial to improving the power supply time of the standby power supply unit 32.

[0068] Correspondingly, when the multi-legged robot 100 is in a power-off state, it only needs electric energy to drive the encoder 21 to maintain normal operation. When the multi-legged robot 100 is in a power-off state, the working voltage value of the power battery 31 provided therein is less than the working voltage value of the standby power supply unit 32, or the power battery 31 is in a non-working state, and the voltage value of the power battery 31 can even be 0. At this time, the current output by the standby power supply unit 32 can be directly transmitted to the encoder 21 after the comparison control circuit 50, so that when the multi-legged robot 100 is in a power-off state, only the standby power supply unit 32 is used to provide driving power for all encoders 21 provided in the multi-legged robot 100, so as to meet the power demand of the encoder 21 and realize the normal operation of the encoder 21.

[0069] It can be seen that for the multi-legged robot 100 in the power-on state and the power-off state, the present application provides two electrical signal providing methods and two electrical signal flow methods respectively, which is conducive to improving the power supply efficiency of the power supply module 30, and can also meet the power requirements in different states. In addition, adopting different electrical signal flow methods according to the needs is also conducive to improving the transmission efficiency of the electrical signal and improving the power matching of the multi-legged robot 100. It is also conducive to avoiding the transmission of electrical signals to other components (such as the drive motor 21) when only the encoder 21 has power requirements, which is conducive to avoiding the waste of electric energy and extending the power supply time in the power-off state.

[0070] It should also be added that the standby power supply unit 32 of the power supply module 30 provided in the present application can be used only to provide driving power to the encoder 21 when the multi-legged robot 100 is in a power-off state. Therefore, the standby power supply unit 32 is equivalent to the backup battery matched with the encoder 21 in the prior art; that is, the structural setting of the multi-legged robot 100 provided in the present application greatly reduces the number of backup batteries required in the multi-legged robot 100 compared to the prior art. For example, for the quadruped robot in the above-mentioned prior art, the technical solution provided by the present application only needs to add a standby power supply unit 32 to the robot body 10, which can save 11 backup batteries compared to the prior art design that requires 12 backup batteries.

[0071] In addition, powering all encoders 21 provided in the mechanical legs 11 of the multi-legged robot 100 through the same standby power supply unit 32 is also conducive to ensuring power balance, and avoiding the situation where, when the multi-legged robot 100 is in a power-off state, some encoders 21 have power support to record the rotation angle of the matching connected drive motor 20, but some encoders 21 do not have sufficient power support to record the rotation angle of the matching connected drive motor 20.

[0072] Figure 4 A schematic diagram of a high voltage shutdown circuit in an embodiment of the present application is shown. Figure 1-Figure 4 In an exemplary embodiment, the comparison control circuit 50 includes a low voltage shutdown circuit 53 and a high voltage shutdown circuit 54;

[0073] The input ends of the low-voltage shutdown circuit 53 and the high-voltage shutdown circuit 54 are both electrically connected to the output end of the power supply module 30 , the output end of the low-voltage shutdown circuit 53 is electrically connected to the input end of the high-voltage circuit 51 , and the output end of the high-voltage shutdown circuit 54 is electrically connected to the input end of the encoder 21 ;

[0074] When the multi-legged robot is in the power-on state, the current output by the power battery is transmitted to the high-voltage circuit 51 via the low-voltage shutdown circuit 53;

[0075] When the multi-legged robot is in a power-off state, the current output by the standby power supply unit is transmitted to the encoder via the high-voltage shutdown circuit 54 .

[0076] Specifically, the present application also provides a specific setting mode that can be selected for the comparison control circuit 50, which is that the comparison control circuit 50 is composed of a low-voltage shutdown circuit 53 and a high-voltage shutdown circuit 54. Further, for the electrical connection mode between the comparison control circuit 50 and the power supply module 30, the encoder 21 and the high-voltage circuit 51, it can be specifically set to that the input ends of the low-voltage shutdown circuit 53 and the high-voltage shutdown circuit 54 are both electrically connected to the output end of the power supply module 30 to receive the current output by the power supply module 30, the output end of the low-voltage shutdown circuit 53 is electrically connected to the input end of the high-voltage circuit 51, and the low-voltage shutdown circuit 5 3 is used to prevent the low-voltage electrical signal from being further transmitted to the high-voltage circuit 51 when receiving the low-voltage electrical signal. The low-voltage electrical signal is insufficient to drive the drive motor 20. Therefore, preventing the low-voltage electrical signal from being further transmitted to the high-voltage circuit 51 can avoid wasting the electrical energy carried by the low-voltage electrical signal, so that the low-voltage electrical signal can be transmitted to the encoder 21 after passing through the high-voltage shutdown circuit 54, thereby providing electrical energy to the encoder 21; that is, when the multi-legged robot 100 is in the power-off state, the current of the low-voltage signal output by the standby power supply unit 32 is transmitted to the encoder 21 through the high-voltage shutdown circuit 54.

[0077] The output end of the high-voltage shutdown circuit 54 is electrically connected to the input end of the encoder 21. The high-voltage shutdown circuit 54 is used to prevent the high-voltage electrical signal from being directly transmitted to the encoder 21 when receiving a high-voltage electrical signal. The high-voltage electrical signal may damage the encoder 21 if it is not processed, which is beneficial to protecting the safety and stability of the encoder 21, thereby improving the service life of the encoder 21, so that the high-voltage electrical signal can be transmitted to the high-voltage circuit 51 after passing through the low-voltage shutdown circuit 53, and then the high-voltage electrical signal can be used to drive the drive motor 20, and the high-voltage electrical signal is further processed by the first power conversion circuit 52 to generate an electrical signal suitable for the encoder 21, avoiding damage to the encoder 21 caused by high-voltage surges, that is, it is used to realize simultaneous power supply to the encoder 21; that is, when the multi-legged robot 100 is in the power-on state, the current of the high-voltage signal output by the power battery 31 is transmitted to the high-voltage circuit 51 after passing through the low-voltage shutdown circuit 53.

[0078] It should be added that the present application does not limit the specific circuit structure of the low-voltage shutdown circuit 53 and the high-voltage shutdown circuit 54. The low-voltage shutdown circuit 53 and the high-voltage shutdown circuit 54 formed by appropriate circuit structures can be selected according to needs, as long as the selected low-voltage shutdown circuit 53 can be used to block low-voltage electrical signals and be used for the passage of high-voltage electrical signals, and the selected high-voltage shutdown circuit 54 can be used to block high-voltage electrical signals and be used for the passage of low-voltage electrical signals; the present application does not make any specific limitation on the difference between the low-voltage electrical signal and the high-voltage electrical signal. For example, the voltage value of the high-voltage electrical signal can be set to 3-10 times the voltage value of the low-voltage electrical signal, or the difference between the voltage value of the high-voltage electrical signal and the voltage value of the low-voltage electrical signal can be set to between 20V-50V, and so on.

[0079] In addition, the present application provides an optional embodiment in which the low-voltage shutdown circuit 53 is composed of, for example, two voltage-dividing resistors, which are used to control the low-voltage shutdown circuit 53 to be in an off state when the voltage value of the received electrical signal is lower than a preset value, thereby preventing the flow of the electrical signal. When the voltage value of the received electrical signal is greater than or equal to the preset value, the low-voltage shutdown circuit 53 is in an on state, allowing the electrical signal to flow. The size of the preset value here can be set as required, and the present application does not impose specific limitations on this.

[0080] The present application also provides an optional implementation method in which the high voltage shutdown circuit 54 can be selectively composed of a resistor R1, a resistor R2, a driving tube PMOS, a transistor PNP and a diode D electrically connected. The specific electrical connection method is as follows: Figure 4 As shown, in the high-voltage shutdown circuit 54, when a high-voltage electrical signal passes through the DC bus, the voltage-stabilizing diode D starts working and generates a rated voltage at the negative electrode of the diode D, causing a voltage difference to be generated across the resistor R1. This voltage difference will cause the base potential of the PNP transistor to be lower than the emitter potential, causing the PNP transistor to be turned on. The conduction of the PNP transistor will cause the PMOS to be turned off, realizing the output being turned off when the bus voltage is higher than the voltage-stabilizing diode D; when the bus voltage is lower than the rated voltage of the voltage-stabilizing diode D, the PNP transistor will not be turned on, causing the PMOS to be turned on, and the DC bus voltage will be output to the subsequent circuit, realizing the bus low-voltage open output. It should also be added that the DC bus and the traces electrically connected to the PMOS are used to be electrically connected to the drive signal line, and the other two traces are used to be electrically connected to the encoder 21.

[0081] Please refer to Figure 1-Figure 3 In an exemplary embodiment, the power battery 31 is a high-voltage power battery, and the standby power supply unit 32 is a low-voltage power supply unit.

[0082] Specifically, the power battery 31 can transmit electric energy to the outside only when the multi-legged robot 100 is in the power-on state, and does not transmit electric energy to the outside when the multi-legged robot 100 is in the power-off state. Therefore, the use of the power battery 31 in the robot body 10 in this application can easily realize the control of the power battery 31 in the power-on state and the power-off state, which is conducive to avoiding the unnecessary waste of electric energy of the power supply module 30.

[0083] Based on this, the present application also provides an optional embodiment in which the power battery 31 in the power supply module 30 is specifically a high-voltage power battery, and the standby power supply unit 32 in the power supply module 30 is specifically a low-voltage power supply unit. Such an arrangement is conducive to ensuring that when the multi-legged robot 100 is in the power-on state, the high-voltage power battery transmits sufficient driving power to the drive motor 20 and the encoder 21, so that the encoder 21 can record the rotation angle of the drive motor 20 in real time; and when the multi-legged robot 100 is in the power-off state, the low-voltage power supply unit is sufficient to support the power required by the encoder 21 to record the rotation angle of the drive motor 20. Such an arrangement is conducive to significantly reducing the number of standby power supply units 32 required to be set in the robot while ensuring the driving requirements of the encoder 21 of the multi-legged robot 100, thereby reducing the production cost of the multi-legged robot 100 and avoiding the problem that the standby power supply units 32 set in the mechanical legs 11 of the multi-legged robot 100 are damaged due to excessive working environment temperature.

[0084] In addition, the present application also provides an optional embodiment in which the operating voltage value of the power battery 31 of the multi-legged robot 100 in the power-on state is V1, 25V≤V1≤60V; and the operating voltage value of the standby power supply unit 32 of the multi-legged robot 100 in the power-off state is V2, 5V≤V2≤12V. That is, when the multi-legged robot 100 is in the power-on state, the power battery 31 can be set to be in the working state, and the voltage value transmitted to the drive motor 20 and the encoder 21 can be in the range of 25V-60V, for example, any one of 25V, 28V, 36V, 45V and 60V; when the multi-legged robot 100 is in the power-off state, the standby power supply unit 32 can be set to be in the working state, and the voltage value transmitted to the encoder 21 can be in the range of 5V-12V, for example, any one of 5V, 8V, 11V and 12V. This arrangement ensures that when the robot is powered on, the power battery 31 can deliver sufficient driving power to the electrically connected drive motor 20 and encoder 21, while when the robot is powered off, the standby power supply unit 32 can deliver power to the electrically connected encoder 21 to record the rotation angle of the drive motor 20. Of course, in other embodiments, V1 and V2 can also have other values, which are not limited here.

[0085] Please continue to refer to Figure 1-Figure 3 In an exemplary embodiment, the power supply module 30 and the comparison controller are electrically connected at a first node N1;

[0086] The power supply module 30 further includes:

[0087] The first unidirectional conductive unit 33 is electrically connected between the power battery 31 and the first node N1; wherein the conductive direction of the first unidirectional conductive unit 33 is the direction from the power battery 31 to the first node N1;

[0088] The second unidirectional conductive unit 34 is electrically connected between the standby power supply unit 32 and the first node N1 . The conductive direction of the second unidirectional conductive unit 34 is the direction from the standby power supply unit 32 to the first node N1 .

[0089] Specifically, the circuit where the power supply module 30, the drive motor 20, and the encoder 21 are electrically connected is taken as the first node N1 as an example for explanation. That is, the first node N1 here is specifically located between the output end of the power supply module 30 and the input end of the comparison control circuit 50. The present application also provides an optional setting of the power supply module 30, in which a first unidirectional conductive unit 33 can be further provided between the power battery 31 and the first node N1, and a second unidirectional conductive unit 34 can be further provided between the standby power supply unit 32 and the first node N1. The conductive direction of the first unidirectional conductive unit 33 is the direction from the power battery 31 to the first node N1, and the conductive direction of the second unidirectional conductive unit 34 is the direction from the standby power supply unit 32 to the first node N1. Therefore, when the robot is powered off, as the voltage of the main battery (power battery 31) decreases, at the parallel end (first node N1) of the power battery 31 and the standby power supply unit 32, when the voltage of the power battery 31 is lower than the voltage of the standby power supply unit 32, the power supply module 30 switches to the standby power supply unit 32 for power supply. At this time, the circuit electrically connecting the drive motor 20 and the encoder 21 enters a low power consumption mode after detecting the low voltage of the power supply circuit, and only supplies power to the encoder 21 for the encoder 21 to record the angle. The drive motor 20 may not be powered, thereby extending the power supply time.

[0090] After the robot is powered on again, as the voltage of the power battery 31 increases, when the voltage of the power battery 31 at the parallel connection end (first node N1) exceeds the voltage of the standby power supply unit 32, the power supply circuit switches to the power battery 31. At this point, the drive motor 20 and encoder 21 detect the high voltage in the power supply circuit and enter normal operation mode, supplying power to the drive motor 20 and encoder 21.

[0091] Please continue to refer to Figure 2In an exemplary embodiment, at least one of the first unidirectional conductive unit 33 and the second unidirectional conductive unit 34 is a diode or an insulated gate field effect transistor.

[0092] Specifically, the present application also provides an optional implementation scheme, in which the first unidirectional conductive unit 33 in the power supply module 30 is specifically set to a diode or an insulated gate field effect transistor. Similarly, the second unidirectional conductive unit 34 in the power supply module 30 can be selected to be specifically set to a diode or an insulated gate field effect transistor; the present application does not limit the specific components used by the first unidirectional conductive unit 33 and the second unidirectional conductive unit 34 to be the same. The types of specific components used by the first unidirectional conductive unit 33 and the second unidirectional conductive unit 34 can be selected according to design requirements, as long as the first unidirectional conductive unit 33 and the second unidirectional conductive unit 34 can ensure that the electrical signal passing through them is unidirectional, thereby helping to avoid, for example, when the power battery 31 transmits an electrical signal to the first node N1, the electrical signal flows back to the standby power supply unit 32; at the same time, it can also avoid the situation where the electrical signal flows back to the power battery 31 when the standby power supply unit 32 transmits an electrical signal to the first node N1.

[0093] Among them, the diode can be selected as a unidirectional diode, and the negative terminal of the unidirectional diode is electrically connected to the first node N1. Specifically, the present application also provides an optional embodiment in which the diodes used by the first unidirectional conductive unit 33 and the second unidirectional conductive unit 34 are specifically unidirectional diodes to ensure that the electrical signal passing through them is unidirectional; when the unidirectional diode is set in the power supply module 30, it can be specifically set to have the negative terminal of the unidirectional diode electrically connected to the first node N1, the unidirectional diode electrically connected to the power battery 31 is the positive terminal electrically connected to the power battery 31, and the unidirectional diode electrically connected to the standby power supply unit 32 is the positive terminal electrically connected to the standby power supply unit 32; such a setting can ensure that the electrical signal passing through the unidirectional diode is unidirectional, which can prevent the current output by the standby power supply unit 32 to the encoder 21 from flowing back to the power battery 31 side, and prevent the current output by the power battery 31 to the drive motor 20 and the encoder 21 from flowing back to the standby power supply unit 32 side.

[0094] Please continue to refer to Figure 1-Figure 3 In an exemplary embodiment, the input terminals of at least two comparison control circuits 50 in the same robotic leg 11 are electrically connected to the same set of drive signal lines; the drive signal lines are electrically connected to the first node.

[0095] Specifically, it is possible to selectively set, for example, the input ends of all comparison control circuits 50 in the same robotic leg 11 to be electrically connected to the same group of drive signal lines. By so setting, all encoders 21 provided in the same robotic leg 11 can be electrically connected to the same group of drive signal lines; that is, the multiple drive motors 20 provided in the same robotic leg 11 can selectively transmit drive electrical signals based on the same group of drive signal lines, and the multiple encoders 21 provided in the same robotic leg 11 are also electrically connected to the same group of drive signal lines; in this way, the number of drive signal lines required to be set in the robotic leg 11 can be reduced, the manufacturing process of the multi-legged robot 100 can be simplified, the wiring structure in the multi-legged robot 100 can be reduced, and the manufacturing cost of the multi-legged robot 100 can be reduced.

[0096] It can be seen that the technical solution provided by the present application can realize the time-sharing multiplexing transmission of high-voltage electrical signals and low-voltage electrical signals of the drive motor 20 and encoder 21 provided in the same mechanical leg 11 without changing the current electrical connection, thereby ensuring continuous power supply to the encoder 21 through a simple circuit structure.

[0097] Please continue to refer to Figure 1-Figure 3 In an exemplary embodiment, the system further includes a voltage detection element (not shown) electrically connected to the power battery 31 and the standby power supply unit 32 ;

[0098] When the voltage detection element detects that the operating voltage value of the power battery 31 is lower than the operating voltage value of the standby power supply unit 32 , the power battery 31 is stopped from supplying power to the drive motor 20 and the encoder 21 , and the standby power supply unit 32 is controlled to supply power to the encoder 21 .

[0099] Specifically, for example, a voltage detection element can be electrically connected between the power battery 31 and the standby power supply unit 32, and a preset voltage critical value is set in the voltage detection element. The preset voltage critical value can be the maximum voltage value of the standby power supply unit 32 under normal working conditions. When the voltage detection element detects that the working voltage value of the power battery 31 is less than the preset voltage critical value, that is, less than the maximum voltage value of the standby power supply unit 32 under normal working conditions, the power battery 31 can be controlled to suspend supplying power to the drive motor 20 and the encoder 21, and only the standby power supply unit 32 can be controlled to supply power to the encoder 21 at this time, so as to ensure that the encoder 21 has sufficient electrical energy to drive its normal operation at all times.

[0100] In addition, the present application also provides an optional implementation method, in which a voltage detection element is set to be electrically connected to the output ends of the power battery 31 and the standby power supply unit 32, so as to simultaneously receive the output voltages output by the power battery 31 and the standby power supply unit 32, and compare their voltage values. When the voltage detection element detects that the working voltage value of the power battery 31 is less than the working voltage value of the standby power supply unit 32, the power battery 31 can be controlled to suspend supplying power to the drive motor 20 and the encoder 21, and only the standby power supply unit 32 can be controlled to supply power to the encoder 21 at this time, so as to ensure that the encoder 21 has sufficient electrical energy to drive its normal operation at all times.

[0101] Please continue to refer to Figure 1-Figure 3 In an exemplary embodiment, the output terminal of the power battery 31 is electrically connected to the input terminal of the standby power supply unit 32 , and the standby power supply unit 32 is a rechargeable battery;

[0102] When the operating voltage value of the power battery 31 is greater than the operating voltage value of the standby power supply unit 32 , the power battery 31 supplies power to the rechargeable battery.

[0103] Specifically, the present application also provides an optional embodiment in which the standby power supply unit 32 in the power supply module 30 can be configured as a rechargeable battery, and the output end of the power battery 31 is electrically connected to the input end of the standby power supply unit 32. This allows the power battery 31, when in the on state, to simultaneously charge the rechargeable battery when the operating voltage of the power battery 31 is greater than the operating voltage of the standby power supply unit 32, thereby ensuring that the standby power supply unit 32 (rechargeable battery) has sufficient power. At the same time, the use of the first unidirectional conductive unit 33 and the second unidirectional conductive unit 34 can help prevent, for example, the electrical signal from flowing back to the standby power supply unit 32 when the power battery 31 transmits the electrical signal to the first node N1. It can also prevent the electrical signal from flowing back to the power battery 31 when the standby power supply unit 32 transmits the electrical signal to the first node N1.

[0104] Please continue to refer to Figure 1-Figure 3 In an exemplary embodiment, the system further includes a charging control unit (not shown).

[0105] The charging control unit is electrically connected between the power battery 31 and the rechargeable battery (standby power supply unit 32 ).

[0106] Specifically, the present application also provides an optional implementation scheme in which a charging control unit may be further provided between the power battery 31 and the rechargeable battery (standby power supply unit 32 ), and the charging control unit is used to control the power battery 31 to charge the rechargeable battery.

[0107] Figure 5 Shows this application Figure 3Another circuit structure diagram of the AA area in the embodiment shown is shown in conjunction with Figure 1-Figure 3 Reference Figure 5 In an exemplary embodiment, the power supply module 30 further includes a second power conversion circuit 35 , and the power battery 31 supplies power to the rechargeable battery 32 through the second power conversion circuit 35 .

[0108] Specifically, the present application also provides an optional implementation method, in which a second power conversion circuit 35 can be further set between the power battery 31 and the rechargeable battery (standby power supply unit 32). The second power conversion circuit 35 is used to convert an electrical signal with a larger voltage value into an electrical signal with a smaller voltage value, and then use the obtained electrical signal with a smaller voltage value to supply power to the rechargeable battery 32 to meet the charging needs of the rechargeable battery 32, avoid the situation where the electrical signal with a larger voltage value is directly transmitted to the rechargeable battery 32 to cause damage to it, which is beneficial to protecting the safe use of the power supply module 30 and also beneficial to improving the service life of the power supply module 30.

[0109] Please refer to Figure 1-Figure 3 In an exemplary embodiment, the robotic leg 11 further includes at least two drive boards corresponding to at least two drive motors 20, and the comparison control circuit 50, the high-voltage circuit 51, the first power conversion circuit 52 and the encoder 21 matched with the same drive motor 20 are arranged on the same drive board.

[0110] Specifically, the present application provides an optional embodiment in which a multi-legged robot 100 includes four mechanical legs 11, each mechanical leg 11 includes three mechanical joints 12, each mechanical joint 12 is provided with a matching electrically connected drive motor 20 and an encoder 21, the output end of the power battery 31 is electrically connected to the input end of the standby power supply unit 32, and the output end of the power battery 31 and the output end of the standby power supply unit 32 are both electrically connected to the drive board in the mechanical joint 12 of each mechanical leg 11 that is directly connected to the robot body 10, and the drive board is used to transmit the required electrical energy to the drive motor 20 and the encoder 21; further, each drive board is provided with a comparison control circuit 50, a high-voltage circuit 51 and a first power conversion circuit 52, and the input ends of the comparison control circuit 50 in all the drive boards in a mechanical leg 11 are electrically connected to the same group of drive signal lines, that is, the first drive board electrically connected to the power supply module 30 in each mechanical leg 11, and the subsequent multiple remaining drive boards are all electrically connected to the same group of drive signal lines, that is, multiple drive boards in the same mechanical leg 11 can be connected through Figure 3 The circuit structures shown are electrically connected in sequence.

[0111] It should also be added that the present application does not limit the setting relationship between the encoder 21 and the driving board. The encoder 21 can be fixedly electrically connected to the driving board, or the encoder 21 can be movably electrically connected to the driving board. For example, the encoder 21 can be set as a component of the driving board itself; that is, the setting relationship between the encoder 21 and the driving board can be selected according to needs.

[0112] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0113] The above-described embodiments merely represent 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 spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A multi-legged robot, characterized in that: It includes a robot body and a plurality of mechanical legs movably connected to the robot body; Each of the mechanical legs is provided with at least two drive motors and at least two encoders, and each of the drive motors is correspondingly provided with and electrically connected to at least one of the encoders; A power supply module is provided in the robot body; When the multi-legged robot is in the power-on state, the current output by the power supply module is used to power at least one of the drive motors and at least one of the encoders in the robotic leg; when the multi-legged robot is in the power-off state, the current output by the power supply module is used to power at least one of the encoders in the robotic leg.

2. The multi-legged robot according to claim 1, characterized in that: The mechanical leg further includes a comparison control circuit, a high-voltage circuit and a first power conversion circuit matched with each of the drive motors, wherein; The input end of the comparison control circuit is electrically connected to the output end of the power supply module, the output end of the comparison control circuit is electrically connected to the input end of the high-voltage circuit and the input end of the encoder respectively, the output end of the high-voltage circuit is electrically connected to the input end of the first power conversion circuit and the input end of the drive motor respectively, and the output end of the first power conversion circuit is electrically connected to the input end of the encoder; When the multi-legged robot is in a powered-on state, the current output by the power supply module passes through the comparison control circuit to the high-voltage circuit to power at least one of the drive motors and at least one of the encoders in the robotic leg; When the multi-legged robot is in a power-off state, the current output by the power supply module passes through the comparison control circuit to the encoder to power at least one of the encoders in the robotic legs.

3. The multi-legged robot according to claim 2, characterized in that: The power supply module includes a power battery and a standby power supply unit; When the multi-legged robot is in a powered-on state, the operating voltage of the power battery is greater than the operating voltage of the standby power supply unit, and the current output by the power battery is transmitted to the high-voltage circuit via the comparison control circuit; wherein the high-voltage circuit transmits the current to the electrically connected drive motor, and the high-voltage circuit transmits the current to the encoder via the first power conversion circuit; When the multi-legged robot is in a power-off state, the operating voltage value of the power battery is lower than the operating voltage value of the standby power supply unit, and the current output by the standby power supply unit is transmitted to the encoder via the comparison control circuit.

4. The multi-legged robot according to claim 3, characterized in that: The comparison control circuit includes a low voltage shutdown circuit and a high voltage shutdown circuit; The input ends of the low-voltage shutdown circuit and the high-voltage shutdown circuit are both electrically connected to the output end of the power supply module, the output end of the low-voltage shutdown circuit is electrically connected to the input end of the high-voltage circuit, and the output end of the high-voltage shutdown circuit is electrically connected to the input end of the encoder; When the multi-legged robot is in a powered-on state, the current output by the power battery is transmitted to the high-voltage circuit via the low-voltage shutdown circuit; When the multi-legged robot is in a power-off state, the current output by the standby power supply unit is transmitted to the encoder via the high-voltage shutdown circuit.

5. The multi-legged robot according to claim 3, characterized in that: The power supply module and the comparison control circuit are electrically connected at a first node; The power supply module further includes: a first unidirectional conductive unit, electrically connected between the power battery and the first node; wherein the conductive direction of the first unidirectional conductive unit is the direction from the power battery to the first node; A second unidirectional conductive unit is electrically connected between the standby power supply unit and the first node; wherein the conductive direction of the second unidirectional conductive unit is the direction in which power flows from the standby power supply unit to the first node.

6. The multi-legged robot according to claim 5, characterized in that: Input terminals of at least two comparison control circuits in the same mechanical leg are electrically connected to the same set of drive signal lines, and the drive signal lines are electrically connected to the first node.

7. The multi-legged robot according to claim 3, characterized in that: The mechanical leg also includes at least two drive boards arranged in one-to-one correspondence with at least two drive motors, and the comparison control circuit, the high-voltage circuit, the first power conversion circuit and the encoder matched with the same drive motor are arranged on the same drive board.

8. The multi-legged robot according to claim 3, characterized in that: Also included is a voltage detection element electrically connected to the power battery and the standby power supply unit; When the voltage detection element detects that the operating voltage value of the power battery is lower than the operating voltage value of the standby power supply unit, the power battery is stopped from supplying power to the drive motor and the encoder, and the standby power supply unit is controlled to supply power to the encoder.

9. The multi-legged robot according to any one of claims 3 to 8, characterized in that: The output end of the power battery is electrically connected to the input end of the standby power supply unit, and the standby power supply unit is a rechargeable battery; When the operating voltage value of the power battery is greater than the operating voltage value of the standby power supply unit, the power battery supplies power to the rechargeable battery.

10. The multi-legged robot according to claim 9, characterized in that: Also includes a charging control unit, The charging control unit is electrically connected between the power battery and the rechargeable battery.

11. The multi-legged robot according to claim 9, characterized in that: The power supply module further includes a second power conversion circuit, and the power battery supplies power to the rechargeable battery through the second power conversion circuit.

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