Modular robot dog

Abstract

The utility model relates to the technical field of robotic dogs, in particular to a modular robotic dog which comprises a frame assembly. The frame assembly comprises an outer layer, a first middle layer is arranged in an inner cavity of the outer layer, a second middle layer is arranged in an inner cavity of the first middle layer, a first inner layer is arranged in an inner cavity of the second middle layer, and a second inner layer is arranged in an inner cavity of the first inner layer. The robot dog has the advantages of being resistant to impact, good in flexibility and good in performance, in the actual using process, high-strength materials and an optimized structure are adopted, impact force can be effectively absorbed and dispersed, and damage of external impact to joints of the robot dog is reduced; through the improved joint design, the gravity center of the robot dog can be better kept in the walking and moving process, and overturning caused by impact is prevented; an advanced control algorithm is integrated, joint movement can be adjusted in real time, the robot dog adapts to the complex and dynamic environment, and the flexibility and adaptability of the robot dog are enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of robot dogs, in particular to a modular robot dog. Background Art

[0002] A robot dog is a robot dog that imitates a real dog and usually has movement, perception and interaction capabilities. They can be used for a variety of purposes, such as companionship, security, search and rescue, and education.

[0003] The robot dogs on the market have the following disadvantages when in use:

[0004] 1. Since the materials used cannot withstand high-intensity impact, structural damage or fatigue failure may occur in extreme environments;

[0005] Second, the flexibility of the joints was not fully considered, resulting in the robot dog being unable to quickly adjust its posture when faced with sudden impacts, thereby increasing the risk of tipping over;

[0006] Third, the robot failed to fully consider its adaptability to different terrains and environments, resulting in suboptimal impact resistance under certain conditions.

[0007] Fourth, the use of multiple materials and complex structures has led to a significant increase in production costs, limiting the market competitiveness of this technology;

[0008] 5. In order to achieve high power density, a permanent magnet synchronous motor is used as the driving source. The size of the permanent magnet synchronous motor may be large, which may affect the overall size of the leg actuator and limit the compact design of the robot dog. The permanent magnet synchronous motor will generate more heat when working under high load, and effective heat dissipation measures need to be taken, which increases the design complexity. If the heat dissipation is not good, it may affect the performance and service life of the motor.

[0009] Therefore, there is an urgent need for a modular robot dog to solve the above problems. Utility Model Content

[0010] The purpose of the present utility model is to provide a modular robot dog with the advantages of impact resistance, good flexibility and good performance, and solves the problems raised by the above-mentioned background technology.

[0011] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a modular robot dog, comprising: a frame assembly.

[0012] The frame assembly includes an outer layer, the inner cavity of the outer layer is provided with an intermediate layer 1, the inner cavity of the intermediate layer 1 is provided with an intermediate layer 2, the inner cavity of the intermediate layer 2 is provided with an inner layer 1, the inner cavity of the inner layer 1 is provided with an inner layer 2, the inner cavity of the outer layer is provided with a carrier frame, the intermediate layer 1, the intermediate layer 2, the inner layer 1 and the inner layer 2 are all located in the inner cavity of the carrier frame, and the inner cavity of the frame assembly is provided with a drive assembly.

[0013] The driving assembly includes a motor 1 located in the inner cavity of the loading frame, the surface of the motor 1 is fixedly connected to a fixing frame 1, the surfaces of the motor 1 and the fixing frame 1 are both provided with a heat dissipation shell, one side of the heat dissipation shell is fixedly connected to the loading frame, the output shaft of the motor 1 is fixedly connected to the linkage frame, and a controller is provided on one side of the motor 1.

[0014] The inner cavity of the linkage frame is provided with a joint assembly.

[0015] The joint assembly includes a carrier shell arranged in the inner cavity of the linkage frame, the inner cavity of the carrier shell is fixedly connected to motor 2, the output shaft of motor 2 is fixedly connected to a fixed block, one side of the fixed block is fixedly connected to motor 3, one side of motor 3 is fixedly connected to the knee joint, the output shaft of motor 3 passes through the inner cavity of motor 3 and is fixedly connected to gear 1, the inner cavity of the knee joint is rotatably connected to gear 2, gear 2 and gear 1 are meshed, one side of gear 2 is rotatably connected to a linkage plate, the inner cavity of the linkage plate is fixedly connected to a linkage shaft, the inner cavity of gear 1 is rotatably connected to the ankle joint, and one side of the linkage shaft is rotatably connected to the ankle joint.

[0016] The inner cavity of the outer layer is provided with a sensor component.

[0017] The sensor assembly includes a driver located in the inner cavity of the outer layer, the driver is located above the middle layer one, one side of the driver is electrically connected to the energy management module, the driver is electrically connected to motor one, motor two and motor three respectively, a finite element analysis module is set in the inner cavity of the carrier frame, an L-shaped plate is set on one side of the middle layer one, and an adaptive control algorithm module and a data fusion module are set on one side of the L-shaped plate.

[0018] The top and bottom of the second inner layer are both fixedly connected with connecting plates, a head is commonly provided on one side of the two connecting plates, and a camera is provided on one side of the head.

[0019] Furthermore, as a preferred embodiment of the present invention, a plurality of positioning blocks are fixedly connected to one side of the middle layer 1, and the positioning blocks are used in conjunction with the driver.

[0020] Furthermore, as a preferred embodiment of the present invention, a through hole is provided on the surface of the heat dissipation shell, and a plurality of heat dissipation fins are provided in the inner cavity of the through hole, and the motor 1 is used in conjunction with the heat dissipation fins.

[0021] Furthermore, as a preferred embodiment of the present invention, sealing rings are provided on both sides of the inner layer 1, and the sealing rings are used in conjunction with the outer layer.

[0022] Furthermore, as a preferred embodiment of the present invention, a heat dissipation block is provided on one side of the controller.

[0023] Furthermore, as a preferred embodiment of the present invention, an accelerometer and a gyroscope are provided at the connection between the knee joint and the ankle joint.

[0024] Furthermore, as a preferred embodiment of the present invention, the frame assembly, drive assembly, joint assembly, sensor assembly, connecting plate, head and camera together constitute a robot dog.

[0025] Furthermore, as a preferred embodiment of the present invention, the outer layer is a polycarbonate outer layer made of polycarbonate.

[0026] Beneficial effects: The technical solution of this application has the following technical effects: the utility model has the advantages of impact resistance, good flexibility and good performance. In actual use, the use of high-strength materials and optimized structure can effectively absorb and disperse impact force, reducing the damage of external impact to the robot dog's joints; through the improved joint design, the robot dog can better maintain its center of gravity during walking and movement, preventing overturning due to impact; the integration of advanced control algorithms can adjust joint movement in real time, adapt to complex and dynamic environments, and enhance the flexibility and adaptability of the robot dog; by optimizing materials and structures, the overall weight of the robot dog is reduced, and the robot dog's Its endurance and maneuverability are excellent; each joint and component can be replaced independently, reducing the complexity and cost of maintenance and improving the robot's usability; the modular design allows for greater freedom of movement in the joints, enabling more complex motion patterns and improving the robot's flexibility and maneuverability; it can automatically adjust its motion strategy based on different terrain and environmental conditions, enhancing the robot's adaptability in a variety of environments, especially in uneven or obstacle-filled scenarios; high-performance permanent magnet materials (NdFeB) are used as the motor's permanent magnets. Permanent magnet synchronous motors have an efficiency of over 95% because their rotors do not require excitation, reducing energy loss. This allows the quadruped robot to effectively utilize electrical energy during operation, improving overall energy efficiency; within the same volume, permanent magnet synchronous motors can output greater power than asynchronous motors, allowing for the design of smaller and lighter leg drive systems. This high power density design allows the robot to reduce its overall weight while maintaining powerful power; the rotor of the permanent magnet synchronous motor is synchronized with the magnetic field, enabling high-precision speed and position control, making it suitable for applications requiring high dynamic response. This precise control capability improves the flexibility and stability of the robot dog; the brushless design and double-layer winding structure of the permanent magnet synchronous motor effectively reduce electromagnetic noise and mechanical noise, making it suitable for use in noise-sensitive environments, such as medical rescue or home environments; the permanent magnet synchronous motor has a faster start-stop time and acceleration and deceleration capabilities, and can achieve arbitrary acceleration and deceleration within 0.1 seconds, which improves the dynamic performance and adaptability of the robot dog; due to the simple structure of the permanent magnet synchronous motor and the reduction of wearing parts (such as brushes and commutators), its operation is safe and reliable, and maintenance is easy, reducing the maintenance cost of long-term use; the design of the permanent magnet synchronous motor makes it more advantageous in power density than traditional motors, and can achieve a smaller size and lighter weight, meeting the compact design requirements of quadruped robot dogs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0028] Figure 1This is a schematic diagram of the structure of the utility model;

[0029] Figure 2 This is a three-dimensional schematic diagram of the partial structure of the frame assembly and the drive assembly of the utility model in the disassembled state;

[0030] Figure 3 It is a three-dimensional schematic diagram of the local structure of the utility model;

[0031] Figure 4 This is a schematic diagram of the three-dimensional structure of the joint assembly of the utility model;

[0032] Figure 5 This is a schematic diagram of the disassembled state of the local structure of the drive assembly and joint assembly of the utility model;

[0033] Figure 6 This is a partial top view of the motor 1 and the motor 2 of the utility model.

[0034] In the figure, the meanings of the reference numerals are as follows: 1. frame assembly; 11. outer layer; 12. middle layer 1; 13. middle layer 2; 14. inner layer 1; 15. loading frame; 16. inner layer 2; 17. sealing ring; 2. drive assembly; 21. motor 1; 22. fixing frame 1; 23. heat dissipation shell; 24. linkage frame; 25. heat dissipation fins; 26. controller; 27. heat dissipation block; 3. joint assembly; 31. loading shell; 32. motor 2; 33. fixing block; 34. motor 3; 35. knee joint; 36. gear 1; 37. gear 2; 38. linkage plate; 39. linkage shaft; 310. ankle joint; 4. sensor assembly; 41. driver; 42. energy management module; 43. finite element analysis module; 44. L-shaped plate; 45. adaptive control algorithm module; 46. data fusion module; 5. connecting plate; 6. head; 7. camera; 8. positioning block. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. In order to better understand the technical content of the present invention, specific embodiments are cited and explained in conjunction with the drawings as follows. In this disclosure, various aspects of the present invention are described with reference to the drawings, and many illustrative embodiments are shown in the drawings. It should be understood that the various concepts and embodiments introduced above, as well as those described in more detail below, can be implemented in any of many ways. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] As attached Figure 1 To the attached Figure 6 As shown: This embodiment provides a modular robot dog, including: a frame component 1.

[0037] The frame assembly 1 includes an outer layer 11, the inner cavity of the outer layer 11 is provided with an intermediate layer 12, the inner cavity of the intermediate layer 12 is provided with an intermediate layer 2 13, the inner cavity of the intermediate layer 2 13 is provided with an inner layer 14, the inner cavity of the inner layer 14 is provided with an inner layer 2 16, the inner cavity of the outer layer 11 is provided with a carrier frame 15, the intermediate layer 12, the intermediate layer 2 13, the inner layer 14, and the inner layer 2 16 are all located in the inner cavity of the carrier frame 15, and the inner cavity of the frame assembly 1 is provided with a drive assembly 2.

[0038] The drive assembly 2 includes a motor 21 located in the inner cavity of the loading frame 15. The surface of the motor 21 is fixedly connected to a fixing frame 22. The surfaces of the motor 21 and the fixing frame 22 are both provided with a heat dissipation shell 23. One side of the heat dissipation shell 23 is fixedly connected to the loading frame 15. The output shaft of the motor 21 is fixedly connected to the linkage frame 24. A controller 26 is provided on one side of the motor 21.

[0039] The inner cavity of the linkage frame 24 is provided with a joint assembly 3 , and a high-strength, lightweight material such as aluminum alloy is selected for the structure of the joint assembly 3 to improve impact resistance and reduce overall weight.

[0040] The joint assembly 3 includes a carrier shell 31 arranged in the inner cavity of the linkage frame 24, the inner cavity of the carrier shell 31 is fixedly connected to motor 2 32, the output shaft of motor 2 32 is fixedly connected to a fixed block 33, and one side of the fixed block 33 is fixedly connected to motor 34. Motor 1 21, motor 2 32, and motor 3 34 are all high-efficiency brushless DC motors, combined with a high-torque reducer to ensure that the robot dog still has good power output under high load conditions, one side of motor 34 is fixedly connected to a knee joint 35, the output shaft of motor 3 34 passes through the inner cavity of motor 3 34 and is fixedly connected to gear 1 36, the inner cavity of the knee joint 35 is rotatably connected to gear 2 37, gear 2 37 and gear 1 36 are meshed, one side of gear 2 37 is rotatably connected to a linkage plate 38, the inner cavity of the linkage plate 38 is fixedly connected to a linkage shaft 39, the inner cavity of gear 1 36 is rotatably connected to the ankle joint 310, and one side of the linkage shaft 39 is rotatably connected to the ankle joint 310.

[0041] The inner cavity of the outer layer 11 is provided with the sensor assembly 4 .

[0042] The sensor assembly 4 includes a driver 41 located within the inner cavity of the outer layer 11. The driver 41 is used to control the start-up and rotation direction of the motor 1 21, the motor 2 32, and the motor 3 34. The driver 41 is located above the middle layer 12. One side of the driver 41 is electrically connected to an energy management module 42. The energy management module 42 can monitor the battery status and energy consumption in real time, optimize energy usage, extend the robot dog's battery life, and improve overall energy efficiency. The driver 41 is electrically connected to the motor 1 21, the motor 2 32, and the motor 3 34 respectively.

[0043] A finite element analysis module 43 is provided within the inner cavity of the load frame 15. This module is used to optimize the design of the joint assembly 3, ensuring strength and stability under high loads and reducing the risk of deformation and damage. An L-shaped plate 44 is provided on one side of the intermediate layer 12. An adaptive control algorithm module 45 and a data fusion module 46 are provided on one side of the L-shaped plate 44. The adaptive control algorithm module 45 analyzes the robot dog's motion state and environmental information in real time and automatically adjusts the joint's motion parameters.

[0044] Through the data fusion module 46, data from different sensors are comprehensively analyzed to provide accurate motion feedback information; based on the sensor feedback information, the motor speed and torque are adjusted in real time to ensure the stability and flexibility of the robot dog in complex environments; based on the environmental data obtained in real time, the robot dog can choose different walking modes such as fast walking, slow cruising, climbing and obstacle crossing, etc., to ensure efficient movement on different terrains.

[0045] The top and bottom of the inner layer 2 16 are fixedly connected with a connecting plate 5, and a head 6 is provided on one side of the two connecting plates 5, and a camera 7 is provided on one side of the head 6. The frame assembly 1, the drive assembly 2, the joint assembly 3, the sensor assembly 4, the connecting plate 5, the head 6 and the camera 7 together constitute the robot dog.

[0046] Specifically, a plurality of positioning blocks 8 are fixedly connected to one side of the middle layer 12 , and the positioning blocks 8 are used in conjunction with the driver 41 .

[0047] In this embodiment, the positioning block 8 is provided to position and guide the connection line of the driver 41, thereby avoiding confusion of the line.

[0048] Specifically, a through hole is opened on the surface of the heat dissipation shell 23, and a plurality of heat dissipation fins 25 are provided in the inner cavity of the through hole. The motor 1 21 and the heat dissipation fins 25 are used in conjunction with each other.

[0049] In this embodiment, the through holes and the heat dissipation fins 25 are used in conjunction with each other to dissipate the heat generated by the motor 1 21 , thereby improving the working safety of the motor 1 21 .

[0050] Specifically, sealing rings 17 are provided on both sides of the inner layer 14 , and the sealing rings 17 are used in conjunction with the outer layer 11 .

[0051] In this embodiment, the sealing ring 17 is provided to enhance the external sealing performance of the frame assembly 1 and prevent dust and small particles from entering the interior of the frame assembly 1 .

[0052] Specifically, a heat dissipation block 27 is provided on one side of the controller 26 .

[0053] In this embodiment, the heat dissipation block 27 is provided to assist in dissipating heat for the motor 1 21 .

[0054] Specifically, an accelerometer and a gyroscope are provided at the connection between the knee joint 35 and the ankle joint 310 .

[0055] In this embodiment, the accelerometer and the gyroscope are used in conjunction to monitor the motion state and load condition of the joint in real time. The accelerometer and the gyroscope serve as sensors to transmit the acquired information to the adaptive control algorithm module 45 and the data fusion module 46 .

[0056] Specifically, the outer layer 11 is a polycarbonate outer layer made of polycarbonate.

[0057] In this embodiment, the polycarbonate material is used to provide the frame assembly 1 with excellent impact resistance and weather resistance, and is adaptable to various climate conditions.

[0058] The working principle and use process of the utility model: The utility model adopts multi-motor (motor 1 21, motor 2 32, motor 34) independent drive technology, each joint (knee joint 35, ankle joint 310) is equipped with a motor to ensure the accuracy and flexibility of movement. After the motor 2 32 is started, the output shaft of the motor 2 32 drives the fixed block 33 to rotate, and the fixed block 33 drives the knee joint 35 to rotate through the transmission of the motor 3 34. At the same time, when the motor 34 is started, it drives the gear 1 36 to rotate, the gear 1 36 drives the gear 2 37 to rotate, and the gear 2 37 drives the linkage plate 38 to rotate. The connecting plate 38 drives the ankle joint 310 to rotate with the intersection of the ankle joint 310 and the knee joint 35 as the axis point, thereby realizing the simulation of complex gait. The improved joint design not only improves the transmission efficiency, but also enhances the center of gravity stability of the robot dog during walking and movement, effectively reduces the risk of overturning due to impact, and ensures stable walking on various terrains. The outer layer 11 adopts high-strength impact-resistant material to provide the robot dog with a solid shell protection to resist external impact. The middle layer 12 and the middle layer 2 13 serve as the core support structure to ensure the stability of the overall structure. The inner layer 14 and the loading frame 15 are made of waterproof and breathable membrane material, which not only ensures the dryness and safety of the internal electronic components, but also improves the air permeability and prolongs the service life. Secondly, when the robot dog falls over, the motor 1 21 is started, and the motor 1 21 drives the linkage frame 24 to rotate. Under the action of the joint assembly 3, the linkage frame 24 drives the knee joint 35 and the ankle joint 310 to rotate outward, thereby enabling the robot dog to stand on its own; secondly, the driver 41 is used to control the starting and rotation direction of the motor 1 21, the motor 2 32, and the motor 3 34; the energy management module 42 is optimized for power; the finite element analysis module 43 is used to optimize the design of the joint assembly 3 to ensure strength and stability under high load conditions and reduce the risk of deformation and damage; the driver 41 serves as the core control unit, responsible for accurately controlling the starting, rotation direction and speed of each motor to achieve accurate execution of action instructions.The energy management module 42 intelligently distributes and optimizes power to ensure long-term and efficient operation. The finite element analysis module 43 conducts in-depth analysis of the joint assembly 3 to ensure its strength and stability under high-load conditions, reduce deformation and damage caused by stress concentration, and improve overall durability. The adaptive control algorithm module 45 analyzes the robot's motion state and environmental information, such as ground slope and friction, in real time, and automatically adjusts joint motion parameters, such as angle and speed, to adapt to different terrains and motion requirements, improving motion efficiency and stability. The data fusion module 46 integrates data from multiple sensors (such as accelerometers and gyroscopes) for comprehensive analysis, providing accurate motion feedback information to the control system. Based on this information, the system can adjust the motor speed and torque in real time to ensure precise control and stable motion of the robot in complex environments. Based on real-time environmental data such as terrain characteristics and obstacle distribution, the robot can intelligently select the most suitable walking mode, such as fast walking, slow cruising, efficient climbing and obstacle crossing, to ensure efficient movement and task execution on different terrains.

[0059] It should be noted that, in this document, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0060] While the present invention has been described above with reference to preferred embodiments, this is not intended to limit the present invention. Persons skilled in the art will readily appreciate that various modifications and variations may be made without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A modular robot dog, comprising: The frame assembly (1) is characterized in that: The frame assembly (1) comprises an outer layer (11), the inner cavity of the outer layer (11) is provided with an intermediate layer 1 (12), the inner cavity of the intermediate layer 1 (12) is provided with an intermediate layer 2 (13), the inner cavity of the intermediate layer 2 (13) is provided with an inner layer 1 (14), the inner cavity of the inner layer 1 (14) is provided with an inner layer 2 (16), the inner cavity of the outer layer (11) is provided with a carrier frame (15), the intermediate layer 1 (12), the intermediate layer 2 (13), the inner layer 1 (14), and the inner layer 2 (16) are all located in the inner cavity of the carrier frame (15), and the inner cavity of the frame assembly (1) is provided with a drive assembly (2); The driving assembly (2) includes a motor (21) located in the inner cavity of the loading frame (15), the surface of the motor (21) is fixedly connected to a fixing frame (22), the surfaces of the motor (21) and the fixing frame (22) are both provided with a heat dissipation shell (23), one side of the heat dissipation shell (23) is fixedly connected to the loading frame (15), the output shaft of the motor (21) is fixedly connected to a linkage frame (24), and one side of the motor (21) is provided with a controller (26); The inner cavity of the linkage frame (24) is provided with a joint assembly (3); The joint assembly (3) includes a carrier shell (31) arranged in the inner cavity of the linkage frame (24), the inner cavity of the carrier shell (31) is fixedly connected to the second motor (32), the output shaft of the second motor (32) is fixedly connected to the fixed block (33), one side of the fixed block (33) is fixedly connected to the third motor (34), one side of the third motor (34) is fixedly connected to the knee joint (35), and the output shaft of the third motor (34) passes through the inner cavity of the third motor (34). The inner cavity of the knee joint (35) is fixedly connected to a gear 1 (36), the inner cavity of the knee joint (35) is rotatably connected to a gear 2 (37), the gear 2 (37) and the gear 1 (36) are meshed, one side of the gear 2 (37) is rotatably connected to a linkage plate (38), the inner cavity of the linkage plate (38) is fixedly connected to a linkage shaft (39), the inner cavity of the gear 1 (36) is rotatably connected to an ankle joint (310), and one side of the linkage shaft (39) is rotatably connected to the ankle joint (310); The inner cavity of the outer layer (11) is provided with a sensor component (4); The sensor assembly (4) includes a driver (41) located in the inner cavity of the outer layer (11), the driver (41) is located above the middle layer 1 (12), one side of the driver (41) is electrically connected to an energy management module (42), the driver (41) is electrically connected to the motor 1 (21), the motor 2 (32) and the motor 3 (34), respectively, the inner cavity of the carrier frame (15) is provided with a finite element analysis module (43), one side of the middle layer 1 (12) is provided with an L-shaped plate (44), and one side of the L-shaped plate (44) is provided with an adaptive control algorithm module (45) and a data fusion module (46); The top and bottom of the second inner layer (16) are both fixedly connected with a connecting plate (5), a head (6) is commonly provided on one side of the two connecting plates (5), and a camera (7) is provided on one side of the head (6).

2. The modular robot dog according to claim 1, characterized in that: One side of the middle layer (12) is fixedly connected with a plurality of positioning blocks (8), and the positioning blocks (8) are used in conjunction with the driver (41).

3. The modular robot dog according to claim 1, characterized in that: The surface of the heat dissipation shell (23) is provided with a through hole, and the inner cavity of the through hole is provided with a plurality of heat dissipation fins (25), and the motor 1 (21) and the heat dissipation fins (25) are used in conjunction with each other.

4. The modular robot dog according to claim 1, characterized in that: Sealing rings (17) are provided on both sides of the inner layer (14), and the sealing rings (17) are used in conjunction with the outer layer (11).

5. The modular robot dog according to claim 1, characterized in that: A heat sink (27) is provided on one side of the controller (26).

6. The modular robot dog according to claim 1, characterized in that: An accelerometer and a gyroscope are provided at the connection between the knee joint (35) and the ankle joint (310).

7. The modular robot dog according to claim 1, characterized in that: The frame assembly (1), the driving assembly (2), the joint assembly (3), the sensor assembly (4), the connecting plate (5), the head (6) and the camera (7) together constitute a robot dog.

8. The modular robot dog according to claim 1, characterized in that: The outer layer (11) is a polycarbonate outer layer made of polycarbonate.

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