Multi-legged robot

Abstract

The embodiment of the utility model provides a multi-legged robot. The multi-legged robot comprises a lower robot body assembly, an upper robot body assembly, a battery assembly and at least four leg assemblies. The lower machine body assembly comprises a machine body lower shell and a fixed area arranged at the upper part of the machine body lower shell, the fixed area is detachably provided with a core control unit, an IMU (Inertial Measurement Unit), a power supply adapter plate and an external interface plate, the front side and the rear side of the machine body lower shell are respectively provided with a leg assembly accommodating bin, and each leg assembly accommodating bin is configured to be independently connected with one leg assembly; the upper machine body assembly is detachably connected to the upper part of the machine body lower shell and covers the fixed area; the battery assembly is detachably arranged in the machine body lower shell; each leg assembly is an independent modular unit and is detachably connected into the corresponding leg assembly containing bin in a one-to-one correspondence mode, so that any leg assembly can serve as an integral assembly to be independently installed on or detached from the fuselage lower shell, and the integrity of other fuselage assemblies cannot be damaged.

Description

Technical Field

[0001] This utility model embodiment relates to the field of robotics technology, and more specifically, to a multi-legged robot. Background Technology

[0002] With the rapid development of robotics technology, multi-legged robots (such as quadruped robots) are increasingly widely used in complex scenarios such as industrial inspection, disaster relief, and logistics transportation. However, existing multi-legged robots often suffer from low maintenance efficiency due to their structural design. Because robots consist of complex and compact systems with numerous mechanical and electrical connections, and cables and transmission structures scattered throughout the body, maintenance often requires the pre-disassembly of multiple modules, impacting maintenance efficiency. Furthermore, with the increasing demand for large-scale robot applications, improving robot maintenance efficiency has become an urgent problem to be solved.

[0003] While some multi-legged robots have adopted modular designs in the current technology, there are still shortcomings in the ease of connection and disassembly between modules. For example, some leg structures or body components require complex disassembly procedures for maintenance, and the high degree of coupling between modules makes independent maintenance difficult. In addition, the replacement of critical components such as batteries often requires specialized tools, increasing the complexity and time cost of maintenance. Utility Model Content

[0004] The purpose of this invention is to provide a new technical solution for multi-legged robots.

[0005] This utility model embodiment provides a multi-legged robot, the multi-legged robot comprising:

[0006] The lower fuselage assembly includes a lower fuselage shell and a fixed area disposed on its upper part. The fixed area is detachably provided with a core control unit, an IMU inertial measurement unit, a power adapter board and an external interface board. Leg assembly receiving compartments are respectively provided on the front and rear sides of the lower fuselage shell, and each leg assembly receiving compartment is configured to independently connect to a leg assembly.

[0007] The upper fuselage assembly is detachably connected to the upper part of the lower fuselage and covers the fixed area; the battery assembly is detachably disposed within the lower fuselage; and

[0008] At least four leg components, each of which is an independent modular unit and is detachably connected to the leg component housing in a one-to-one correspondence manner, so that any leg component can be installed or removed from the lower fuselage as a whole without compromising the integrity of other fuselage components.

[0009] Optionally, the at least four leg components include a left front leg component, a right front leg component, a left hind leg component, and a right hind leg component; wherein:

[0010] The left front leg assembly and the right front leg assembly are detachably connected to two leg assembly receiving compartments on the front side of the lower fuselage via leg assembly fasteners.

[0011] The left rear leg assembly and the right rear leg assembly are detachably connected to two leg assembly receiving compartments on the rear side of the lower fuselage via leg assembly fasteners.

[0012] The leg assembly fixing component includes a fixing bracket and an outer connecting end disposed on the fixing bracket. The outer connecting end is used to detachably connect to the mounting port disposed around the leg assembly receiving compartment.

[0013] Optionally, each of the leg assemblies is connected to the corresponding leg assembly receiving compartment via at least two leg assembly fasteners;

[0014] Each of the leg assembly fixing members has at least three outer connecting ends on its fixing bracket, and the outer connecting ends are configured in a one-to-one correspondence with the installation ports provided around the leg assembly receiving compartment, thereby forming a multi-point fixing structure.

[0015] Optionally, the multi-legged robot includes a front body assembly, which is detachably connected to a component fixing part disposed on the front side of the lower shell of the body via a first connector; wherein the component fixing part on the front side of the lower shell of the body is provided with mounting holes that match the first connector.

[0016] Optionally, the multi-legged robot includes a rear body assembly, which is detachably connected to a component fixing part disposed on the rear side of the lower shell of the body via a second connector; wherein the component fixing part on the rear side of the lower shell of the body is provided with mounting holes that match the second connector.

[0017] Optionally, the lower housing includes a battery compartment located on the side or bottom of the lower housing and having an opening to allow the battery assembly to be installed or removed in a horizontal or vertical manner.

[0018] A dustproof ring is provided on one side of the battery assembly to elastically press against the inner wall of the battery compartment during installation to form a sealed fit.

[0019] Optionally, a battery latch is provided on the end face of the battery assembly near the dustproof ring, and the battery latch includes a retractable latch.

[0020] The inner wall of the battery compartment is provided with a latch groove that matches the locking tongue;

[0021] When the battery assembly is installed into the battery compartment, the locking tongue can extend and engage with the locking slot to lock the battery assembly.

[0022] When the battery latch is pressed, the latch retracts and disengages from the latch slot, thereby unlocking the battery assembly.

[0023] Optionally, a battery ejection module is provided inside the lower housing of the fuselage, and the battery ejection module is located close to the battery compartment;

[0024] When the battery assembly is inserted into the battery compartment in the predetermined insertion direction and locked, the battery assembly squeezes the battery ejection module, causing the battery ejection module to be in a compressed state.

[0025] After the battery assembly is unlocked, the battery ejection module releases an elastic force to eject the battery assembly at least partially in a direction opposite to the insertion direction.

[0026] Optionally, the bottom of the lower casing of the body is provided with a hollow area, the outer side of the hollow area is covered by a lower casing cover plate, and the side of the lower casing cover plate facing the hollow area is provided with a latch and an unlock button;

[0027] The battery assembly is provided with a battery buckle that matches the latch;

[0028] When the battery assembly is installed into the battery compartment, the latch can engage with the battery latch to lock the battery assembly.

[0029] When the unlock button is pressed, the latch disengages from the battery latch, thereby unlocking the battery assembly.

[0030] Optionally, the multi-legged robot includes a front body assembly, the front body assembly comprising:

[0031] The front frame is detachably connected to the front side of the lower fuselage shell;

[0032] The front bumper is made of foam material and is wrapped around the outside of the front frame;

[0033] A bracket and a first sensing element, wherein the first sensing element is detachably connected to the front frame via the bracket, and the first sensing element includes at least one of a camera, a lidar, a TOF sensor, an ultrasonic sensor, and an antenna.

[0034] Optionally, the multi-legged robot includes a rear body assembly, the rear body assembly comprising:

[0035] The rear frame is detachably connected to the rear side of the lower fuselage shell;

[0036] The rear bumper component is made of foam material and covers the outside of the rear frame; and

[0037] A second sensing element is detachably connected to the rear frame, and the second sensing element includes at least one of a camera, a lidar, a TOF sensor, an ultrasonic sensor, and an antenna.

[0038] Optionally, the fixing area is provided with a plurality of screw posts for detachably fixing the core control unit, the IMU inertial measurement unit, the power adapter board, and the external interface board.

[0039] Optionally, the lower fuselage has a receiving cavity, and the battery compartment is located within the receiving cavity;

[0040] The lower fuselage assembly also includes:

[0041] The cooling fan and antenna mounting hardware are detachably connected to the receiving cavity;

[0042] Multiple fuselage feet are provided at the bottom of the lower casing of the fuselage.

[0043] The beneficial effects of this utility model are as follows:

[0044] This utility model provides a multi-legged robot with an independent modular design, aiming to improve the overall maintenance efficiency of the multi-legged robot. Specifically, each body component of the multi-legged robot, including the leg components, is designed to be independently detachable and assembled, greatly facilitating maintenance work. It is worth mentioning that any leg component can be disassembled and installed individually without prior disassembly of other related parts, thereby greatly simplifying the maintenance process and reducing maintenance costs.

[0045] Through a specially designed integrated frame for the lower body components, this invention ensures both the overall structural rigidity of the multi-legged robot and ease of maintenance. The leg component housing design provides standardized connection interfaces, making the installation and disassembly of the leg components more standardized. Furthermore, the upper body components provide protection.

[0046] Other features and advantages of this specification will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of this specification and, together with their description, serve to explain the principles of this specification.

[0048] Figure 1 An exploded view of the structure of the multi-legged robot provided in this embodiment of the utility model;

[0049] Figure 2 An exploded view of the lower body assembly of the multi-legged robot provided in this embodiment of the utility model;

[0050] Figure 3 This is an assembly diagram of the lower body assembly and the right hind leg assembly of the multi-legged robot provided in an embodiment of the present invention.

[0051] Figure 4 An assembly diagram of the lower body assembly, front body assembly, and rear body assembly of the multi-legged robot provided for an embodiment of this utility model;

[0052] Figure 5 An exploded view of the front body assembly of the multi-legged robot provided in this embodiment of the utility model;

[0053] Figure 6 One of the exploded views of the lower body assembly and battery assembly of the multi-legged robot provided in this embodiment of the utility model;

[0054] Figure 7 The second exploded view of the lower body assembly and battery assembly of the multi-legged robot provided in this embodiment of the utility model;

[0055] Figure 8 This is the third exploded view of the lower body assembly and battery assembly of the multi-legged robot provided in this embodiment of the utility model.

[0056] Explanation of reference numerals in the attached figures:

[0057] 1. Front fuselage assembly; 11. Front bumper; 12. Front frame; 13. Bracket; 14. First sensing element; 2. Upper fuselage assembly; 3. Lower fuselage assembly; 310. Lower fuselage shell; 31. Core control unit; 32. IMU (Inertial Measurement Unit); 33. Power adapter board; 34. External interface board; 35. Cooling fan; 36. Antenna mounting bracket; 37. Fusible feet; 38. Leg assembly mounting bracket; 381. Mounting bracket; 382. External connection terminal; 39. Battery 311. Pop-up module; 3110. Battery compartment; 3110. Lock slot; 312. Leg assembly receiving compartment; 3121. Mounting port; 313. Component fixing part; 318. Fixing area; 4. Battery assembly; 41. Dustproof ring; 42. Battery lock; 4201. Lock tongue; 421. Unlock button; 422. Lower shell cover; 423. Lock; 424. Battery clip; 5. Rear body assembly; 6. Left front leg assembly; 7. Right front leg assembly; 8. Left rear leg assembly; 9. Right rear leg assembly. Detailed Implementation

[0058] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0059] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0060] Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment should be considered part of the specification.

[0061] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0062] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0063] The multi-legged robot provided in the embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0064] According to one embodiment of the present invention, a multi-legged robot is provided, see [link to relevant documentation]. Figure 1 The multi-legged robot includes: a lower body assembly 3, an upper body assembly 2, a battery assembly 4, and at least four leg assemblies; the lower body assembly 3 includes a lower body shell 310 and a fixing area 318 disposed on its upper part, the fixing area 318 being detachably equipped with a core control unit 31, an IMU inertial measurement unit 32, a power adapter board 33, and an external interface board 34, the lower body shell 310 having leg assembly receiving compartments 312 on its front and rear sides respectively, and each leg assembly receiving compartment 312 being configured to independently connect to one leg assembly; the upper body assembly 2 is detachably connected to the upper part of the lower body shell 310 and covers the fixing area 318; the battery assembly 4 is detachably disposed inside the lower body shell 310; each leg assembly is an independent modular unit and is detachably connected to the leg assembly receiving compartment 312 in a one-to-one correspondence manner, so that any leg assembly can be installed or removed from the lower body shell 310 as a whole component without damaging the integrity of other body components.

[0065] The multi-legged robot provided in this embodiment of the utility model is, for example, a quadruped robot. See [link / reference]. Figure 1 As shown.

[0066] It should be noted that the multi-legged robot design provided in this embodiment is not limited to a quadruped form. In fact, the design concept of this invention is also applicable to multi-legged robots with other numbers of legs, including but not limited to bipedal robots. This design flexibility allows the multi-legged robot of this invention to be widely applicable to various complex and changing application environments, meeting diverse user needs.

[0067] The multi-legged robot provided in this embodiment of the invention is characterized by its highly modular body components. To more clearly illustrate its structural design features, the following will combine... Figure 1 This invention provides a detailed description of several key body components of a multi-legged robot.

[0068] The multi-legged robot provided in this embodiment includes a lower body assembly 3, which is the core support and integrated component of the multi-legged robot, forming the foundation of the entire robot structure. The lower body assembly 3 includes a lower shell 310, which not only provides stable support for the entire multi-legged robot but also has a dedicated fixing area 318 on its upper part. This fixing area 318 serves as a housing area for core electronic components, detachably supporting key components such as the core control unit 31, the IMU inertial measurement unit 32, the power adapter board 33, and the external interface board 34, ensuring the realization of core functions such as intelligent control, precise positioning, and stable power supply for the multi-legged robot.

[0069] The lower shell 310 serves as the basic support structure for the entire multi-legged robot, bearing the weight of all other components and ensuring the overall rigidity and stability of the robot through its design. Simultaneously, the lower shell 310 also provides a foundation for the installation and fixation of other components.

[0070] The fixed area 318 is located on the upper part of the lower shell 310 of the fuselage, and is used to detachably install key electronic components such as the core control unit 31, the IMU inertial measurement unit 32, the power adapter board 33, and the external interface board 34. This design facilitates the maintenance, upgrading, or replacement of electronic components.

[0071] Leg assembly receiving compartments 312 are respectively provided on the front and rear sides of the lower fuselage shell 310, providing a standardized installation interface for the leg assemblies. Each leg assembly receiving compartment 312 is independently connected to a leg assembly, which allows any leg assembly to be installed or removed as a whole unit.

[0072] The multi-legged robot provided in this embodiment of the utility model includes an upper body assembly 2, see [link]. Figure 1The upper fuselage assembly 2 is detachably connected to the upper part of the lower fuselage shell 310 and covers the entire fixed area 318. According to this design, the upper fuselage assembly 2 serves to protect the core electronic components and, through its detachability, facilitates maintenance of these components.

[0073] The multi-legged robot provided in this embodiment of the present invention can optionally include at least one of a front body component 1 and a rear body component 5. Alternatively, the multi-legged robot provided in this embodiment of the present invention can also optionally omit the front body component 1 and the rear body component 5.

[0074] The multi-legged robot design provided in this embodiment is highly flexible, fully considering the actual needs of different application scenarios. The following is a description of the front body assembly 1 and the rear body assembly 5, as well as the electronic components mounted on them:

[0075] First, the front body assembly 1 and the rear body assembly 5 can be selectively configured according to the specific design requirements of the multi-legged robot, either one or both, or neither can be configured. This design flexibility allows the multi-legged robot to be optimized according to specific application scenarios and task requirements.

[0076] Secondly, both the front fuselage component 1 and the rear fuselage component 5 can be equipped with different types of sensing elements according to actual application requirements. These sensing elements include, but are not limited to, cameras, lidar, TOF (time-of-flight) sensors, ultrasonic sensors, and antennas, each possessing unique sensing capabilities and providing the multi-legged robot with rich environmental information.

[0077] For example, see Figure 5 A camera is mounted on the front fuselage assembly 1 (see...) Figure 5 The first sensing element 14 shown in the figure can realize multiple functions such as obstacle avoidance, object recognition, and human-computer interaction, and is particularly suitable for application scenarios that require visual perception. The rear body assembly 5 can be equipped with a LiDAR, which can provide more accurate distance measurement and 3D environment modeling capabilities, helping the multi-legged robot to perform autonomous navigation and path planning in complex environments.

[0078] Through this modular design approach, the front body assembly 1 and the rear body assembly 5 can be flexibly configured according to the specific task requirements of the multi-legged robot and equipped with suitable sensing sensors, thereby maximizing the performance advantages of the multi-legged robot and meeting the needs of diverse application scenarios. At the same time, this design also greatly facilitates subsequent maintenance and upgrades; users can easily replace or upgrade the sensing sensors according to actual needs, improving the adaptability of the multi-legged robot.

[0079] In one example, when the multi-legged robot provided by this invention has both a front body assembly 1 and a rear body assembly 5, the front body assembly 1 is detachably connected to the front side of the lower body assembly 3, and the rear body assembly 5 is detachably connected to the rear side of the lower body assembly 3. This detachability allows the user to configure or replace them according to actual needs.

[0080] The multi-legged robot provided in this embodiment includes a battery assembly 4, which is detachably disposed within the lower shell 310 of the robot body, facilitating the replacement and maintenance of the battery assembly 4.

[0081] The multi-legged robot provided in this embodiment of the invention also includes at least four leg components; see [link to relevant documentation]. Figure 1 Each leg assembly is an independent modular unit and is designed to be detachably connected to the leg assembly housing 312 in a one-to-one correspondence manner. This design allows any leg assembly to be installed or removed individually, greatly simplifying maintenance.

[0082] Specifically, the leg assembly design in this utility model has the following significant advantages:

[0083] (1) Greatly simplifies maintenance work;

[0084] In existing technologies, the leg components of quadruped robots often have complex connections with the robot body or other components, requiring the pre-disassembly of multiple related parts during maintenance. This not only increases the complexity and time cost of maintenance but also increases operational risks. However, the leg component design of this invention allows any leg component to be installed or removed independently without affecting the normal operation of other leg components or body components. This design greatly simplifies maintenance work, improves maintenance efficiency, and reduces maintenance costs.

[0085] (2) Improve the reliability of multi-legged robots;

[0086] Because each leg assembly is an independent modular unit, it can be replaced or upgraded individually. When a leg assembly fails or wears out, there is no need to overhaul the entire multi-legged robot; only the faulty leg assembly needs to be replaced. This design not only improves the reliability of the multi-legged robot but also extends its overall lifespan.

[0087] (3) Enhance the adaptability and flexibility of robots;

[0088] The independent leg assembly design allows the multi-legged robot to be flexibly adapted to different application environments and task requirements. For example, in rugged terrain, leg assemblies with stronger obstacle-crossing capabilities can be used, while in relatively flat terrain, lighter and more energy-efficient leg assemblies can be used. Furthermore, this design greatly facilitates subsequent upgrades and modifications; users can easily replace or upgrade leg assemblies according to actual needs, improving the robot's adaptability and flexibility.

[0089] Therefore, it is evident that the design of the leg assembly in the multi-legged robot provided by this embodiment not only simplifies maintenance but also enhances the adaptability and flexibility of the multi-legged robot. These advantages give the multi-legged robot provided by this invention broad application prospects and market competitiveness in application scenarios requiring high-frequency maintenance, such as industrial inspection and disaster relief.

[0090] This utility model provides a multi-legged robot with an independent modular design, aiming to improve the overall maintenance efficiency of the multi-legged robot. Specifically, each body component of the multi-legged robot, including the leg components, is designed to be independently detachable and assembled, greatly facilitating maintenance work. It is worth mentioning that any leg component can be disassembled and installed individually without prior disassembly of other related parts, thereby greatly simplifying the maintenance process and reducing maintenance costs.

[0091] Through a specially designed integrated frame for the lower body component 3, this invention ensures both the overall structural rigidity of the multi-legged robot and ease of maintenance. The leg component housing 312 is designed to provide standardized connection interfaces, making the installation and disassembly of the leg components more standardized. Furthermore, the upper body component 2 provides protection.

[0092] This invention also emphasizes the flexibility of functional expansion. By providing optional configurations for the front and rear body components, the provided multi-legged robot can be configured and adjusted on-site according to different task requirements, thus meeting the needs of diverse application scenarios.

[0093] In summary, the multi-legged robot provided by this utility model embodiment, through its unique modular design, allows each component to be installed and disassembled independently, greatly improving maintenance efficiency.

[0094] See some examples of this utility model. Figure 1The at least four leg assemblies include a left front leg assembly 6, a right front leg assembly 7, a left rear leg assembly 8, and a right rear leg assembly 9; wherein: the left front leg assembly 6 and the right front leg assembly 7 are detachably connected to two leg assembly receiving compartments 312 on the front side of the lower fuselage shell 310 via leg assembly fixing members 38; the left rear leg assembly 8 and the right rear leg assembly 9 are detachably connected to two leg assembly receiving compartments 312 on the rear side of the lower fuselage shell 310 via leg assembly fixing members 38. The leg assembly fixing member 38 includes a fixing bracket 381 and an outer connecting end 382 disposed on the fixing bracket 381, the outer connecting end 382 being detachably connected to the mounting port 3121 disposed on the periphery of the leg assembly receiving compartment 312.

[0095] In this example of the invention, the multi-legged robot includes four leg components, which is a quadruped robot.

[0096] In this example of the present invention, the four leg components are respectively Figure 1 The following are shown: left front leg assembly 6, right front leg assembly 7, left rear leg assembly 8 and right rear leg assembly 9, each of which is detachably connected to the leg assembly receiving compartment 312 on the front or rear side of the lower fuselage shell 310 by a specially designed leg assembly fastener 38.

[0097] In one example, see Figure 2 The fixing bracket 381 of the leg assembly fixing member 38 can be designed as an arc-shaped bracket, the curvature of which matches the outer contour of the leg assembly, forming at least a partially wrapped fixing structure for the leg assembly. In this case, the fixing bracket 381 includes an arc-shaped inner contact surface and an outer connecting end 382. The inner contact surface contacts the interface end of the leg assembly, and the outer connecting end 382 is detachably connected to the installation port 3121 provided on the periphery of the leg assembly receiving compartment 312.

[0098] See Figure 2 When the fixing bracket 381 is an arc-shaped bracket, it includes an arc-shaped inner contact surface and an outer connecting end 382. During the installation of the leg assembly, the arc-shaped inner contact surface of the leg assembly fixing member 38 can form a tight contact with the interface end of the leg assembly, ensuring a stable connection. The outer connecting end 382 is detachably connected to the installation port 3121 provided around the leg assembly receiving compartment 312, facilitating the installation and removal of the leg assembly.

[0099] In summary, in the above example, the leg assembly fastener 38 has a two-stage connection:

[0100] Primary connection: The leg assembly contacts the arc-shaped inner contact surface of the fixed bracket 381;

[0101] Secondary connection: The outer connection end 382 is detachably connected to the mounting port 3121 provided on the lower shell 310 of the fuselage.

[0102] In the aforementioned two-stage connection, the fixing bracket 381 matches the outer contour of the leg assembly to ensure uniform force distribution. The wrap-around fixing, on the other hand, can cover at least 60% of the outer periphery of the leg assembly's connecting end.

[0103] Of course, the fixing bracket 381 of the leg assembly fixing member 38 includes, but is not limited to, the arc-shaped design in the above example.

[0104] Optionally, the outer connecting end 382 can be connected by a threaded connection or a quick-release snap-fit ​​connection.

[0105] The independent and detachable design of the leg components allows users to quickly locate and replace the faulty leg components when the multi-legged robot malfunctions or requires maintenance, without having to disassemble the entire multi-legged robot, greatly improving maintenance efficiency.

[0106] See some examples of this utility model. Figure 2 and Figure 3 Each leg assembly is connected to the corresponding leg assembly receiving compartment 312 via at least two leg assembly fixing members 38; wherein, each leg assembly fixing member 38 has at least three outer connecting ends 382 on its fixing bracket 381, and the outer connecting ends 382 are configured in a one-to-one correspondence with the installation ports 3121 provided on the periphery of the leg assembly receiving compartment 312, thereby forming a multi-point fixing structure.

[0107] In this example of the invention, each leg assembly is designed to be connected to the corresponding leg assembly receiving compartment 312 via at least two leg assembly fasteners 38. This multi-point fixing design enhances the stability of the connection between the leg assembly and the lower fuselage shell 310.

[0108] At least three outer connecting ends 382 are provided on the fixing bracket 381 of the leg assembly fixing member 38. These outer connecting ends 382 are used to connect to the mounting ports 3121 provided on the periphery of the leg assembly receiving compartment 312.

[0109] Furthermore, the outer connecting end 382 is configured in a one-to-one correspondence with the mounting port 3121 provided around the leg assembly receiving compartment 312. This correspondence ensures that each outer connecting end 382 can be accurately connected to the corresponding mounting port 3121, forming a multi-point fixing structure.

[0110] According to the example provided by this utility model, a multi-point fixing structure is formed by designing at least two leg assembly fixing members 38 and at least three outer connecting ends 382 on each leg assembly fixing member 38. This structure can more effectively disperse the stress and impact generated by the leg assembly during movement, thereby significantly enhancing the connection stability between the leg assembly and the lower shell 310 of the body and preventing the leg assembly from loosening or falling off during the movement of the multi-legged robot.

[0111] Sturdy leg assembly connections help improve the walking stability and balance of multi-legged robots on complex terrain. Whether in rugged outdoor environments or indoor environments requiring precise control, stable leg assembly connections ensure that multi-legged robots can complete various tasks stably and reliably.

[0112] Furthermore, although a multi-point fixing design is used in the example of this utility model, this design does not increase the complexity of installation and disassembly. On the contrary, since there is a one-to-one correspondence between each outer connecting end 382 and the corresponding mounting port, the installation and disassembly of the leg assembly can be completed more easily.

[0113] The example provided by this invention achieves a balance between the kinematic performance, ease of maintenance, and connection stability of a multi-legged robot.

[0114] See some examples of this utility model. Figure 1 and Figure 4 The multi-legged robot includes a front body assembly 1, which is detachably connected to a component fixing part 313 located on the front side of the lower body shell 310 via a first connector; wherein the component fixing part 313 on the front side of the lower body shell 310 is provided with mounting holes that match the first connector.

[0115] See some examples of this utility model. Figure 1 and Figure 4 The multi-legged robot includes a rear body assembly 5, which is detachably connected to a component fixing part 313 located on the rear side of the lower body shell 310 via a second connector; wherein the component fixing part 313 on the rear side of the lower body shell 310 is provided with mounting holes that match the second connector.

[0116] The multi-legged robot provided in this embodiment of the utility model may not have a front body component 1 and a rear body component 5, or may have one of them, or both, depending on the specific needs.

[0117] The following description takes the multi-legged robot, which includes both a front body assembly 1 and a rear body assembly 5, as an example.

[0118] The multi-legged robot includes a front body assembly 1 and a rear body assembly 5. The front body assembly 1 and the rear body assembly 5 are detachably connected to component fixing parts 313 located on the front and rear sides of the lower shell 310 via connectors (i.e., the first connector and the second connector mentioned above). The first connector and the second connector are, for example, screws or clips, and the component fixing parts 313 are provided with mounting holes that mate with the connectors.

[0119] See Figure 1 and Figure 4 The multi-legged robot includes a front body assembly 1 and a rear body assembly 5, which together with the lower body assembly 3 form the main structure of the multi-legged robot.

[0120] The front fuselage assembly 1 and the rear fuselage assembly 5 are detachably connected to the assembly fixing parts 313 located on the front and rear sides of the lower fuselage shell 310 via detachable connectors. The front fuselage assembly 1 is located on the front side of the lower fuselage assembly 3, and the rear fuselage assembly 5 is located on the rear side of the lower fuselage assembly 3.

[0121] The first and second connectors can be screws or clips, etc. Both are detachable connection methods, and both provide a simple and quick way to install and remove them.

[0122] The component fixing part 313 is provided with mounting holes that mate with the connectors. These mounting holes are used to accommodate connectors such as screws or clips to achieve a secure and detachable connection between the front fuselage assembly 1 and the rear fuselage assembly 5 and the lower fuselage shell 310.

[0123] The front body assembly 1 and the rear body assembly 5 can be easily detached from the lower shell 310 by employing detachable connection methods (such as screws or clips). This design greatly simplifies the maintenance process of the multi-legged robot. For example, when a component malfunctions or needs to be upgraded or replaced, it is not necessary to disassemble the entire multi-legged robot; only the problematic component needs to be replaced or upgraded.

[0124] The use of connectors (such as screws) and mounting holes ensures a secure connection between the front body assembly 1 and the rear body assembly 5 and the lower housing 310. This design reduces multi-legged robot malfunctions caused by loose or detached connections, improving the robot's reliability and durability.

[0125] Furthermore, users can select different body components (front body component 1 and / or rear body component 5) to equip with different sensors or actuators for different application scenarios to meet various task requirements. This design enhances the flexibility and adaptability of the multi-legged robot.

[0126] See some examples of this utility model. Figure 1 and Figure 6 The lower housing 310 includes a battery compartment 311, which is located on the side or bottom of the lower housing 310 and has an opening to allow the battery assembly 4 to be installed or removed in a horizontal or vertical manner. A dustproof ring 41 is provided on one end of the battery assembly 4 to elastically press the inner wall of the battery compartment 311 during installation to form a sealed fit.

[0127] In this example of the present invention, the battery assembly 4 is designed to be installed in the battery compartment 311 of the lower shell 310 of the body, and the battery compartment 311 is located on the side or bottom of the lower shell 310 of the body. This layout helps to balance the center of gravity of the entire multi-legged robot and improves stability.

[0128] Specifically, the battery compartment 311 is located at a corresponding position on the lower housing 310 of the fuselage and has an opening, which allows the battery assembly 4 to be installed or removed in a pull-out manner in a horizontal or vertical direction. This facilitates the installation or removal of the battery assembly 4.

[0129] See Figure 6 A dustproof ring 41 is provided on the periphery of one end of the battery assembly 4. When the battery assembly 4 is installed in the battery compartment 311, the dustproof ring 41 can elastically press against the inner wall of the battery compartment 311 to form a sealed fit. That is, the dustproof ring 41 can seal the gap between the battery assembly 4 and the battery compartment 311. The design of the dustproof ring 41 effectively prevents external impurities such as dust and moisture from entering the battery compartment 311, thereby protecting the battery assembly from damage and extending the battery's lifespan.

[0130] In this example, the pull-out installation and disassembly method makes replacing the battery assembly 4 very simple, requiring no complicated tools or steps, thus improving maintenance efficiency. The dustproof ring 41 on the battery assembly 4 effectively prevents external impurities from damaging the battery, reducing multi-legged robot malfunctions caused by battery damage and improving the safety and reliability of the battery assembly 4. Furthermore, the rational layout and easy-to-replace design of the battery assembly 4 enable the multi-legged robot to operate continuously and stably.

[0131] See some examples of this utility model. Figure 6A battery latch 42 is provided on the end face of the battery assembly 4 near the dustproof ring 41. The battery latch 42 includes a retractable latch 4201. The inner wall of the battery compartment 311 is provided with a latch groove 3110 that matches the latch 4201. When the battery assembly 4 is installed in the battery compartment 311, the latch 4201 can extend and engage with the latch groove 3110 to lock the battery assembly 4. When the battery latch 42 is pressed, the latch 4201 can retract and disengage from the latch groove 3110 to unlock the battery assembly 4.

[0132] In the examples of this utility model, see Figure 6 A battery latch 42 is provided on the end face of the battery assembly 4 near the dustproof ring 41. The battery latch 42 includes a retractable latch 4201, which is located on the periphery of the end face of the battery assembly 4 (see [link]). Figure 6 The design of the locking tongue 4201 allows it to extend and retract during the installation and removal of the battery assembly 4, thereby enabling the locking and unlocking functions of the battery assembly 4.

[0133] The inner wall of the battery compartment 311 is provided with a locking groove 3110 that matches the locking tongue 4201. The shape and position of the locking groove 3110 ensure a good fit with the locking tongue 4201, thereby achieving a stable locking effect on the battery assembly 4.

[0134] The locking and unlocking mechanism provided in this utility model example is described below, see below. Figure 6 :

[0135] When the battery assembly 4 is installed into the battery compartment 311, the locking tongue 4201 can extend and engage with the locking groove 3110 to lock the battery assembly 4 and prevent it from loosening or falling off during the movement of the multi-legged robot.

[0136] When it is necessary to disassemble the battery assembly 4, simply press the battery latch 42, and the latch 4201 will retract and disengage from the latch groove 3110, thereby unlocking the battery assembly 4 and facilitating the replacement or maintenance of the battery assembly 4.

[0137] In summary, the engagement of the battery latch 42 with the latch slot 3110 securely locks the battery assembly 4 within the battery compartment 311, effectively preventing it from loosening or falling off during robot movement and improving the stability and safety of the multi-legged robot. Users can easily unlock and remove the battery assembly 4 by simply pressing the battery latch 42, without the need for complex tools or cumbersome procedures, greatly simplifying the battery replacement process and improving maintenance efficiency.

[0138] See some examples of this utility model. Figure 2 A battery ejection module 39 is provided inside the lower casing 310 of the body, and the battery ejection module 39 is located close to the battery compartment 311. When the battery assembly 4 is inserted into the battery compartment 311 in a predetermined direction and locked, the battery assembly 4 squeezes the battery ejection module 39, so that the battery ejection module 39 is in a compressed state. After the battery assembly (4) is unlocked, the battery ejection module (39) releases elastic force to push the battery assembly (4) out at least partially in a direction opposite to the insertion direction.

[0139] The battery ejection module 39 can eject the battery assembly 4 from the battery compartment 311 under certain conditions (i.e., after the latch 4201 disengages from the latch groove 3110).

[0140] When the latch 4201 of the battery latch 42 disengages from the latch slot 3110, the battery assembly 4 is unlocked, and the battery ejection module 39 can then begin to operate. The battery ejection module 39 will push the battery assembly 4 at least partially out in the opposite direction to the insertion direction, so that the battery assembly 4 can be partially located outside the battery compartment 311. This action helps the user to remove the battery assembly 4 more conveniently.

[0141] According to this example of the present invention, the battery replacement process is simplified. Users no longer need to manually and laboriously pull the battery assembly 4 out of the battery compartment 311; they only need to unlock the battery latch 42, and the battery ejection module 39 will automatically push the battery assembly 4 out for easy removal. Furthermore, this design reduces the number of steps required for battery replacement, thereby improving maintenance efficiency. In emergency situations, quick battery replacement is crucial for maintaining the continuous working capability of the multi-legged robot. The simplified battery replacement process enhances the user experience.

[0142] See some examples of this utility model. Figure 7 and Figure 8 The bottom of the lower casing 310 has a cutout area, and the outer side of the cutout area is covered by a lower casing cover plate 422. The lower casing cover plate 422 has a latch 423 and an unlock button 421 on the side facing the cutout area. The battery assembly 4 has a battery clip 424 that matches the latch 423. When the battery assembly 4 is installed in the battery compartment 311, the latch 423 can engage with the battery clip 424 to lock the battery assembly 4. When the unlock button 421 is pressed, the latch 423 disengages from the battery clip 424 to unlock the battery assembly 4.

[0143] The bottom of the lower housing 310 has a hollow area, and the outer side of the hollow area is covered by a lower housing cover plate 422. The lower housing cover plate 422 not only protects the internal structure, but also participates in the locking mechanism of the battery assembly 4.

[0144] Regarding the design of the latch 423 and the unlock button 421 in this example of the present invention:

[0145] The lower cover plate 422 is provided with a latch 423 and an unlock button 421 on the side (i.e., the inner side) facing the hollow area. The latch 423 is used to engage with the battery clip 424 on the battery assembly 4, thereby locking the battery assembly 4 inside the battery compartment 311.

[0146] The design of the unlock button 421 allows users to disengage the latch 423 from the battery latch 424 by a simple pressing action, thereby unlocking the battery assembly 4 and making it easier to remove the battery assembly 4.

[0147] When the battery assembly 4 is unlocked, the battery assembly 4 can be ejected from the battery compartment 311 via the battery ejection module 39.

[0148] Regarding the cooperation relationship between the battery assembly 4 and the latch 423:

[0149] The battery assembly 4 is provided with a battery clip 424 that matches the latch 423. When the battery assembly is installed into the battery compartment 311, the latch 423 can directly engage with the battery clip 424 to securely lock the battery assembly 4.

[0150] According to this example of the present invention, another locking method of the battery assembly 4 is described, which improves the convenience of battery replacement and enhances the stability of battery locking.

[0151] See some examples of this utility model. Figure 5 The multi-legged robot includes a front body assembly 1, which includes a front frame 12, a front anti-collision member 11, a bracket 13, and a first sensing element 14. The front frame 12 is detachably connected to the front side of the lower shell 310 of the body. The front anti-collision member 11 is made of foam material and covers the outside of the front frame 12. The first sensing element 14 is detachably connected to the front frame 12 through the bracket 13. The first sensing element 14 includes at least one of a camera, a lidar, a TOF sensor, an ultrasonic sensor, and an antenna.

[0152] See Figure 5 The front fuselage assembly 1 is configured as follows:

[0153] The front fuselage assembly 1 mainly consists of a front frame 12, a front anti-collision component 11, a bracket 13, and a first sensing element 14. The front frame 12 serves as the skeletal structure of the front fuselage assembly 1, providing support and connection points for other components.

[0154] The front frame 12 is detachably connected to the front side of the lower fuselage shell 310, a design that facilitates the maintenance and replacement of the front fuselage components.

[0155] The front anti-collision component 11 is made of foamed material (such as silicone, rubber, PU or TPE). These foamed materials have good cushioning and shock absorption properties, which can effectively protect the multi-legged robot from damage caused by external impacts.

[0156] The front bumper 11 can be connected to the front frame 12 by means of adhesive, snap-fit, or secondary injection molding. These connection methods ensure the firmness of the connection and facilitate replacement or repair when needed.

[0157] See Figure 5 The first sensing element 14 (such as a camera) is detachably connected to the front frame 12 via a bracket 13. This design allows the sensing element to be easily installed and removed, facilitating debugging or replacement.

[0158] The front body assembly 1 provided in this utility model example features a detachable design for its front frame 12, front anti-collision component 11, and first sensing element 14, making maintenance and replacement of the front body assembly 1 more convenient and quick, reducing maintenance costs and time. The front anti-collision component 11 is made of foam material, which effectively protects the multi-legged robot from external impacts, improving the robot's safety. Furthermore, the design of the front anti-collision component 11 not only protects the multi-legged robot from impacts but also provides a neat appearance, enhancing the overall aesthetics of the multi-legged robot's design.

[0159] See some examples of this utility model. Figure 1 and Figure 4 The multi-legged robot includes a rear body assembly 5, which includes a rear skeleton, a rear anti-collision component, and a second sensing element. The rear skeleton is detachably connected to the rear side of the lower shell 310. The rear anti-collision component is made of foam material and covers the outside of the rear skeleton. The second sensing element is detachably connected to the rear skeleton and includes at least one of a camera, a lidar, a TOF sensor, an ultrasonic sensor, and an antenna.

[0160] The rear fuselage component 5 provided in this utility model example has a similar basic structural design to the front fuselage component 1, but differs in the sensing elements it carries.

[0161] Specifically, the rear fuselage assembly 5 consists of a rear frame, a rear anti-collision component, and a second sensing element. The rear frame serves as the skeletal structure of the rear fuselage assembly 5, providing support and connection points for other components. The rear frame is detachably connected to the rear side of the lower fuselage shell 310, a design that facilitates maintenance and replacement of the rear fuselage assembly 5.

[0162] The rear bumper is made of foamed material (such as silicone, rubber, PU, ​​or TPE), which has good cushioning and shock absorption properties, effectively protecting the multi-legged robot from external impact damage. The rear bumper covers the outside of the rear frame and, similar to the front bumper 11, can be connected to the rear frame by adhesive, snap-fit, or secondary injection molding. These connection methods ensure both strong connection and ease of replacement or repair when needed.

[0163] The second sensing element is detachably connected to the rear frame. This design allows the sensing element to be easily installed and removed, facilitating debugging or replacement.

[0164] It should be noted that the second sensing element mounted on the rear body assembly 5 is of a different type and has a different function than the first sensing element 14 mounted on the front body assembly 1. This increases the multi-legged robot's environmental perception capabilities, enabling it to acquire more diverse information. This design offers high flexibility and can be configured according to specific application scenarios and requirements.

[0165] According to the rear body assembly 5 provided in this example of the present invention, its rear frame, rear anti-collision component, and second sensing element are all detachable, making the maintenance and replacement of the rear body assembly more convenient and quick, reducing maintenance costs and time. The rear anti-collision component is also made of foam material, which can effectively protect the multi-legged robot from damage caused by external impacts. In addition, by configuring a second sensing element (such as lidar, antenna, etc.) with a different function from the first sensing element 14, the multi-legged robot can acquire more diverse environmental information, improving its environmental perception and autonomous navigation capabilities.

[0166] See some examples of this utility model. Figure 1 and Figure 2 The fixing area 318 is provided with a plurality of screw posts for detachably fixing the core control unit 31, the IMU inertial measurement unit 32, the power adapter board 33 and the external interface board 34.

[0167] The fixing area 318 is located on the upper part of the lower shell 310 of the fuselage, and is specifically designed for installing and fixing key components such as the core control unit 31, the IMU inertial measurement unit 32, the power adapter board 33, and the external interface board 34. Multiple screw posts are provided within the fixing area 318, providing detachable fixing points for the aforementioned components.

[0168] In this example of the present invention, key components such as the core control unit 31, the IMU inertial measurement unit 32, the power adapter board 33, and the external interface board 34 are all connected to the screw posts in the fixing area 318 by screws or other fasteners, achieving detachable fixation. This connection method ensures the stability of the component installation and facilitates maintenance and replacement when needed.

[0169] Since the core control unit 31, the IMU inertial measurement unit 32 and other key components are all connected to the fixed area 318 in a detachable manner, it is not necessary to disassemble the entire lower shell 310 during maintenance and replacement. The components can be easily removed simply by loosening the relevant screws, which greatly improves the convenience of maintenance.

[0170] By using screw posts and screws or other fasteners, the stability of key components such as the core control unit 31 during the operation of the multi-legged robot is ensured, effectively preventing components from loosening or falling off due to vibration or impact.

[0171] See some examples of this utility model. Figure 2 The lower housing 310 has a receiving cavity, and the battery compartment 311 is located in the receiving cavity; the lower housing assembly 3 includes a cooling fan 35 and an antenna fixing component 36, both of which are detachably connected to the receiving cavity; the lower housing assembly 3 also includes a plurality of housing feet 37, which are disposed at the bottom of the lower housing 310.

[0172] The lower housing 310 has a receiving cavity for accommodating components such as the battery compartment 311, the cooling fan 35, and the antenna mounting bracket 36.

[0173] In this example of the present invention, the cooling fan 35 is used to dissipate the heat generated inside the multi-legged robot, preventing hardware damage due to overheating. The antenna fixing member 36 is used to fix the communication antenna of the multi-legged robot, ensuring that the multi-legged robot can conduct wireless communication stably, thereby improving the intelligence level and autonomy of the multi-legged robot.

[0174] The body foot pads 37 are located at the bottom of the lower shell 310 of the body. The body foot pads 37 also have a certain buffering and shock absorption function, which can reduce the impact of the multi-legged robot on the ground during walking or jumping and protect the main structure of the multi-legged robot.

[0175] In this example of the utility model, the cooling fan 35, the antenna fixing component 36, and the body feet 37 are detachably connected, which facilitates maintenance and replacement by users or maintenance personnel, reducing maintenance costs and time.

[0176] Compared with existing technologies, this invention demonstrates significant advantages in the design and maintenance of multi-legged robots. Specifically:

[0177] (1) This utility model proposes a modular robot design, including a front body assembly 1, a rear body assembly 5, an upper body assembly 2, a lower body assembly 3, a battery assembly 4, and leg assemblies, etc., which are multiple independently detachable modules. This design makes the maintenance and replacement of the multi-legged robot simpler and faster, greatly reducing maintenance costs and time.

[0178] The various modules are fixed together by detachable connections (such as screws, clips, etc.), which makes it easy for users or maintenance personnel to disassemble and replace them, thus improving the maintainability of the multi-legged robot.

[0179] (2) This utility model simplifies the maintenance process. Since each module can be disassembled independently, when it is necessary to maintain or replace a certain part, it is not necessary to disassemble the entire multi-legged robot. Only the module with the problem needs to be operated, which greatly simplifies the maintenance process. The modular design allows damaged parts to be replaced quickly.

[0180] (3) Through reasonable structural design (such as the porous frame structure of the lower shell 310 and the screw post design of the fixing area 318), the stability and reliability of the multi-legged robot in various complex environments are ensured. In addition, the front anti-collision component 11 and the rear anti-collision component are made of foam material and are connected to the front and rear skeletons by adhesive bonding, snap-fitting or secondary injection molding, which effectively absorbs external impacts and protects the internal structure of the multi-legged robot from damage.

[0181] (4) Both the front body assembly 1 and the rear body assembly 5 are equipped with sensing elements (such as cameras, lidar, TOF sensors, ultrasonic sensors, etc.), and these sensing elements have different functions, enabling the multi-legged robot to acquire more diverse environmental information and improving its environmental perception and autonomous navigation capabilities. In addition, the sensing elements can be flexibly configured according to specific application scenarios and needs, improving the robot's adaptability and intelligence level.

[0182] The above embodiments mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be elaborated here.

[0183] While specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A multi-legged robot, characterized by, The multi-legged robot comprises: a lower body assembly (3) comprising a lower body shell (310) and a fixing area (318) arranged on the upper portion of the lower body shell (310), wherein the fixing area (318) is detachably provided with a core control unit (31), an IMU inertial measurement unit (32), a power adapter plate (33) and an external interface plate (34), and the lower body shell (310) is provided with a leg assembly accommodating bin (312) on each of the front and rear sides, and each leg assembly accommodating bin (312) is configured to independently connect one leg assembly; an upper body assembly (2) detachably connected to the upper portion of the lower body shell (310) and covering the fixing area (318); a battery assembly (4) detachably arranged in the lower body shell (310); and at least four leg assemblies, each of which is an independent modular unit and is detachably connected to the leg assembly accommodating bin (312) in a one-to-one correspondence, so that any leg assembly can be independently installed or detached from the lower body shell (310) as a whole assembly without damaging the integrity of other body assemblies.

2. The multi-legged robot of claim 1, wherein, The at least four leg assemblies comprise a left front leg assembly (6), a right front leg assembly (7), a left rear leg assembly (8) and a right rear leg assembly (9); wherein: the left front leg assembly (6) and the right front leg assembly (7) are detachably connected to the two leg assembly accommodating bins (312) on the front side of the lower body shell (310) through leg assembly fixings (38); the left rear leg assembly (8) and the right rear leg assembly (9) are detachably connected to the two leg assembly accommodating bins (312) on the rear side of the lower body shell (310) through leg assembly fixings (38); the leg assembly fixing (38) comprises a fixing bracket (381) and an outer side connecting end (382) arranged on the fixing bracket (381), and the outer side connecting end (382) is used for detachable connection with the mounting port (3121) arranged on the peripheral side of the leg assembly accommodating bin (312).

3. The multi-legged robot of claim 2, wherein, Each leg assembly is connected to the corresponding leg assembly accommodating bin (312) through at least two leg assembly fixings (38); wherein at least three outer side connecting ends (382) are arranged on the fixing bracket (381) of each leg assembly fixing (38), and the outer side connecting ends (382) and the mounting ports (3121) arranged on the peripheral side of the leg assembly accommodating bin (312) are arranged in a one-to-one correspondence, thereby forming a multi-point fixing structure.

4. The multi-legged robot of claim 1, wherein, The multi-legged robot comprises a front body assembly (1) which is detachably connected to the component fixing portion (313) arranged on the front side of the lower body shell (310) through a first connecting piece; wherein the component fixing portion (313) on the front side of the lower body shell (310) is provided with a mounting hole matched with the first connecting piece.

5. The multi-legged robot of claim 1 or 4, wherein, The multi-legged robot comprises a rear body assembly (5) which is detachably connected with a component fixing portion (313) arranged at the rear side of the lower body shell (310) through a second connecting member; wherein the component fixing portion (313) at the rear side of the lower body shell (310) is provided with a mounting hole matched with the second connecting member.

6. The multi-legged robot of claim 1, wherein, The lower body shell (310) comprises a battery compartment (311) which is located at the side or bottom of the lower body shell (310) and has an opening to allow the battery assembly (4) to be installed or removed in a horizontal or vertical direction in a plug-in manner; A dustproof ring (41) is arranged at one end of the battery assembly (4) to elastically press the inner wall of the battery compartment (311) to form a sealing fit when the battery assembly (4) is installed.

7. The multi-legged robot of claim 6, wherein, A battery lock (42) is arranged on the end face of the battery assembly (4) near one end of the dustproof ring (41), and the battery lock (42) comprises a retractable lock tongue (4201). The inner wall of the battery compartment (311) is provided with a lock groove (3110) matched with the lock tongue (4201). When the battery assembly (4) is installed into the battery compartment (311), the lock tongue (4201) can be extended and clamped into the lock groove (3110) to achieve locking of the battery assembly (4). When the battery lock (42) is pressed, the lock tongue (4201) can be retracted and disengaged from the lock groove (3110) to achieve unlocking of the battery assembly (4).

8. The multi-legged robot of claim 7, wherein, A battery ejection module (39) is arranged in the lower body shell (310) and is arranged near the battery compartment (311). When the battery assembly (4) is inserted into the battery compartment (311) in a predetermined insertion direction and is locked, the battery assembly (4) exerts pressure on the battery ejection module (39), so that the battery ejection module (39) is in a compressed state. After the battery assembly (4) is unlocked, the battery ejection module (39) releases the elastic force to at least partially push the battery assembly (4) out in a direction opposite to the insertion direction.

9. The multi-legged robot of claim 6, wherein, The bottom of the lower body shell (310) is provided with a hollow area, and the outer side of the hollow area is covered with a lower shell cover plate (422), and the side of the lower shell cover plate (422) facing the hollow area is provided with a lock (423) and an unlocking button (421). The battery assembly (4) is provided with a battery buckle (424) matched with the lock (423). When the battery assembly (4) is installed into the battery compartment (311), the lock (423) can be engaged with the battery buckle (424) to achieve locking of the battery assembly (4). When the unlocking button (421) is pressed, the lock (423) is disengaged from the battery buckle (424) to achieve unlocking of the battery assembly (4).

10. The multi-legged robot of claim 1, wherein, The multi-legged robot comprises a front body assembly (1) which comprises: a front skeleton (12) which is detachably connected to the front side of the lower body shell (310); A front bumper (11) is made of foamed material and covers the outside of the front frame (12); A bracket (13) and a first sensing element (14) are detachably connected to the front frame (12) through the bracket (13), and the first sensing element (14) includes at least one of a camera, a laser radar, a TOF sensor, an ultrasonic sensor, and an antenna.

11. The multiped robot according to claim 1 or 10, characterized in that, The multi-legged robot includes a rear body assembly (5), and the rear body assembly (5) includes: A rear frame is detachably connected to the rear side of the body lower shell (310); A rear bumper is made of foamed material and covers the outside of the rear frame; and A second sensing element is detachably connected to the rear frame, and the second sensing element includes at least one of a camera, a laser radar, a TOF sensor, an ultrasonic sensor, and an antenna.

12. The multi-legged robot of claim 1, wherein, The fixing area (318) is provided with a plurality of screw columns for detachably fixing the core control unit (31), the IMU inertial measurement unit (32), the power adapter board (33), and the external interface board (34).

13. The multi-legged robot of claim 6, wherein, The body lower shell (310) has a receiving cavity, and the battery compartment (311) is located in the receiving cavity; The lower body assembly (3) further includes: A heat dissipation fan (35) and an antenna fixing member (36) are detachably connected in the receiving cavity; A plurality of body foot pads (37) are arranged at the bottom of the body lower shell (310).

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