Multi-legged robot

Abstract

The utility model relates to a multi-legged robot. The multi-legged robot comprises a shell, a robot body and a driving device, the at least four mechanical feet are respectively arranged on the shell and are used for supporting and driving the shell to move; the mechanical foot comprises a thigh which is rotatably connected with the shell so as to enable the thigh to horizontally rotate relative to the shell, and a mechanical arm which is rotatably connected with the thigh, the first driver is connected with the shell and the thigh and used for driving the thigh to horizontally rotate relative to the shell; the shank is rotationally connected with the thigh, so that the shank can vertically rotate relative to the thigh; the second driver is connected with the thigh and the shank and used for driving the shank to vertically rotate relative to the thigh. Therefore, the technical problem that in the prior art, a traditional six-foot multi-foot robot is driven by a steering engine, and in order to achieve a good control effect, a large steering engine is generally needed, so that the size of the six-foot multi-foot robot needs to be correspondingly large can be solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of multi-legged robot, in particular to a multi-legged robot. BACKGROUND

[0002] Six-legged wire-driven multi-legged robot, with its unique flexibility and stability, becomes the first choice in many application fields. These multi-legged robots can cope with various complex environments and tasks, from space exploration to heavy material handling, and can easily cope with it. But the traditional six-legged multi-legged robot adopts rudder drive, in order to achieve better control effect, usually need to use larger rudder, so the volume of six-legged multi-legged robot also needs to be relatively large. SUMMARY

[0003] In order to solve the above problems, the purpose of the utility model is to provide a kind of multi-legged robot, to solve the technical problems that exist in prior art in traditional six-legged multi-legged robot adopts rudder drive, in order to achieve better control effect, usually need to use larger rudder, so the volume of six-legged multi-legged robot also needs to be relatively large.

[0004] The embodiment of the utility model has adopted the following technical scheme:

[0005] Firstly, the embodiment of the utility model provides a kind of multi-legged robot, and the multi-legged robot includes:

[0006] Shell;And

[0007] At least four mechanical legs are respectively arranged on the shell, for supporting and driving the shell to move;

[0008] Wherein, the mechanical leg includes:

[0009] Thigh, rotationally connected with the shell, so that the thigh can rotate horizontally relative to the shell;

[0010] First driver, connecting the shell and the thigh, for driving the thigh to rotate horizontally relative to the shell;

[0011] Calf, rotationally connected with the thigh, so that the calf can rotate vertically relative to the thigh;

[0012] Second driver, connecting the thigh and the calf, for driving the calf to rotate vertically relative to the thigh.

[0013] In some embodiments of the application, the first driver includes:

[0014] First motor, arranged on the shell;

[0015] A first guide wheel is horizontally arranged and connected with the output shaft of the first motor, rotates with the output shaft of the first motor, and has a first guide slot;

[0016] A first wire rope is sleeved on the first guide slot, one end of which is connected with the left side of the thigh, and the other end of which is connected with the right side of the thigh.

[0017] When the first motor drives the first guide wheel to rotate, the first wire rope moves, and the thigh rotates horizontally relative to the shell.

[0018] In some embodiments of the present application, the second driver includes:

[0019] A driving member is arranged on the thigh.

[0020] A second guide wheel is vertically arranged and connected with the driving member, has a second guide slot, and is used to rotate under the driving of the driving member.

[0021] A second wire rope is sleeved on the second guide slot, one end of which is connected with the upper part of the shank, and the other end of which is connected with the lower part of the shank.

[0022] When the driving member drives the second guide wheel to rotate, the shank rotates vertically relative to the thigh.

[0023] In some embodiments of the present application, the driver includes:

[0024] A second motor is arranged on the thigh.

[0025] A transmission member is rotatably arranged on the thigh and connected with the second motor.

[0026] A rotating shaft is rotatably arranged on the thigh, and is connected with the transmission member and the second guide wheel.

[0027] In some embodiments of the present application, the transmission member includes:

[0028] A first gear is arranged on the output shaft of the second motor and rotates under the driving of the second motor.

[0029] A second gear is arranged on the rotating shaft, and the first gear and the second gear are engaged with each other.

[0030] In some embodiments of the present application, the mechanical legs are six, three mechanical legs are a group, and two groups of mechanical legs are respectively located on two sides of the shell.

[0031] In some embodiments of the present application, further comprising:

[0032] A cover is provided on the opening of the housing.

[0033] In some embodiments of the present application, further comprising:

[0034] A pressure sensor is arranged on the calf to collect pressure information of the calf acting on the ground.

[0035] In some embodiments of the present application, further comprising:

[0036] A camera is arranged on the housing to collect image information.

[0037] In some embodiments of the present application, further comprising:

[0038] A laser radar, the housing has a mounting cavity and a mounting port, the laser radar is arranged in the mounting cavity, and the laser radar is directed to the opening direction.

[0039] Compared with the prior art, the embodiments of the present application have the beneficial effects that:

[0040] In the technical scheme of the embodiment, the multi-legged robot comprises a housing and at least four mechanical legs, and the four mechanical legs can support and drive the housing to move, wherein the mechanical leg comprises a thigh, a first driver, a calf and a second driver, the first driver drives the thigh to rotate horizontally relative to the housing, and the second driver drives the calf to rotate vertically relative to the thigh, thereby solving the technical problem in the prior art that a traditional six-legged multi-legged robot is driven by a rudder, and a larger rudder is usually required to achieve better control effect, so that the volume of the six-legged multi-legged robot also needs to be correspondingly larger. By driving the mechanical leg through the first driver and the second driver, flexible control is realized, and the occupied space of the multi-legged robot on the driving device is reduced, so that the first driver and the second driver can be assembled on the thigh to realize multi-degree-of-freedom control of the multi-legged robot. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings required to be used in the embodiment or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creative labor.

[0042] Fig. 1 is a structural schematic view of a multi-legged robot provided by the present application.

[0043] Fig. 2 is a structure schematic view of a part one of a multi-legged robot.

[0044] Fig. 3 is a structure schematic view of a part two of a multi-legged robot.

[0045] Among them:

[0046] 100, shell; 200, mechanical leg; 210, thigh; 221, first motor; 222, first guide wheel; 223, first wire rope; 230, calf; 241, second motor; 242, first gear; 243, second gear; 244, rotating shaft; 245, second guide wheel; 256, second wire rope; 300, cover; 400, camera; 500, laser radar. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0048] In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be replaceably connected, or it can be integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] The specific embodiments of the present application will be further described in detail below with reference to the drawings and examples. The following examples are used to illustrate the present application, but not to limit the scope of the present application.

[0051] As Figs. 1-3 shown in the first aspect, the utility model discloses an embodiment provides a multi -legged robot, the multi -legged robot includes:

[0052] The shell 100;And

[0053] At least four mechanical legs 200 are arranged on the shell 100 respectively, for supporting and driving the shell 100 movement;

[0054] Among them, the mechanical leg 200 includes:

[0055] Thigh 210, with the shell 100 rotatory connection, to make the thigh 210 can be relatively the shell 100 horizontal rotation;

[0056] First driver, connect the shell 100 and the thigh 210, for driving the thigh 210 relatively the shell 100 horizontal rotation;

[0057] Calf 230, with the thigh 210 rotatory connection, to make the calf 230 can be relatively the thigh 210 vertical rotation;

[0058] Second driver, connect the thigh 210 and the calf 230, for driving the calf 230 relatively the thigh 210 vertical rotation.

[0059] The technical scheme of the embodiment, the multi -legged robot includes shell 100 and at least four mechanical legs 200, four mechanical legs 200 can support and drive the shell 100 movement, wherein, the mechanical leg 200 includes thigh 210, first driver, calf 230 and second driver, drive the thigh 210 relatively the shell 100 horizontal rotation through the first driver, the second driver drives the calf 230 relatively the thigh 210 vertical rotation, thereby can solve the existing technology in the prior art the conventional six -legged multi -legged robot adopts rudder machine drive, in order to reach better control effect, usually need to use larger rudder machine, therefore the volume of six -legged multi -legged robot also needs the corresponding larger technical problem. Through the first driver and the second driver drive the mechanical leg 200, realize flexible control, also can reduce the occupation space of multi -legged robot on drive device, can utilize smaller space and thigh 210 on the assembly first driver and second driver can realize the multi -freedom degree control of support and drive of multi -legged robot.

[0060] In the embodiment, the first driver and the second driver can be a pneumatic cylinder or an electric cylinder, or a small steering engine or motor, etc. The first driver can drive the thigh 210 to rotate horizontally relative to the shell 100, so that the multi-legged robot can turn and move forward. The second driver can drive the shank 230 to rotate vertically relative to the thigh 210, so that the shank 230 can be lifted and then the thigh 210 is driven to rotate horizontally by the first driver, so that the multi-legged robot can move forward, backward or turn, etc.

[0061] In the embodiment, in order to facilitate the horizontal rotation of the thigh 210 relative to the shell 100, a bearing can be arranged at the connection between the thigh 210 and the shell 100, the thigh 210 is connected to the inner ring of the bearing, and the shell 100 is connected to the outer ring of the bearing, so that the thigh 210 can rotate horizontally relative to the shell 100.

[0062] In order to facilitate the vertical rotation of the shank 230 relative to the thigh 210, a bearing can be arranged at the connection between the thigh 210 and the shank 230, the shank 230 is connected to the inner ring of the bearing, and the thigh 210 is connected to the outer ring of the bearing, so that the shank 230 can rotate horizontally relative to the thigh 210.

[0063] The shell 100 can be provided with a cavity for transportation and storage, which can be used to accommodate the articles to be transported.

[0064] In some embodiments of the present application, the first driver comprises:

[0065] The first motor 221 is arranged on the shell 100;

[0066] The first guide wheel 222 is horizontally arranged and connected with the output shaft of the first motor 221, rotates with the output shaft of the first motor 221, and has a first guide groove;

[0067] The first wire rope 223 is sleeved on the first guide groove, one end of which is connected with the left side of the thigh 210, and the other end is connected with the right side of the thigh 210.

[0068] When the first motor 221 drives the first guide wheel 222 to rotate, the first wire rope 223 is driven to move, and the thigh 210 rotates horizontally relative to the shell 100.

[0069] In the embodiment, the output shaft of the first motor 221 rotates to drive the first guide wheel 222 to rotate horizontally, and the first guide wheel 222 drives the first wire rope 223 to pull towards the left side or the right side when it rotates horizontally, so as to pull the left side or the right side of the thigh 210 to rotate, so that the thigh 210 can rotate horizontally relative to the shell 100.

[0070] The first wire 223 can be a nylon rope. The first motor 221 can be a linear motor, which is used as a power device and realizes contraction in different directions by winding of the first guide wheel 222 and the first wire 223. When the first motor 221 rotates in a forward direction, the right first guide wheel 222 rotates counterclockwise to drive the right nylon rope to contract, and at this time, the first wire 223 transmits power to the thigh 210, so that the force direction of the thigh 210 changes to rotate. Bearings are used to make the transmission performance of the connecting part and the power transmission part better, so that the walking action can be completed. The wire wheel transmission mechanism is arranged in the direction of the three shafts of each mechanical leg 200, so that the movement mode of the mechanical leg 200 is more diversified, and the movement of the mechanical leg 200 is more flexible.

[0071] The first motor 221 is distributed at the connecting part of the shell 100 and the thigh 210. Unlike the traditional multi-legged robot driven by a large and high-cost steering engine, the device is driven by a linear motor, which is more conducive to the multi-legged robot working in a small space and moving more conveniently. When the multi-legged robot works, the first motor 221 in the shell 100 drives the first guide wheel 222 to start rotating, and the contraction of the first wire 223 is controlled according to the rotation direction and angle of the first motor 221, so as to pull the thigh 210 and complete the rotary motion of the mechanical leg 200 around the axis, thereby controlling the direction of movement of the multi-legged robot.

[0072] In some embodiments of the present application, the second driver comprises:

[0073] A driving member is arranged on the thigh 210.

[0074] A second guide wheel 245 is arranged vertically and connected with the driving member, and has a second guide groove for rotating under the driving of the driving member.

[0075] A second wire 256 is sleeved on the second guide groove, and one end is connected with the upper part of the shank 230 and the other end is connected with the lower part of the shank 230.

[0076] When the driving member drives the second guide wheel 245 to rotate, the shank 230 rotates vertically relative to the thigh 210.

[0077] In the present embodiment, the driving member can be a motor, such as a linear motor, which drives the second guide wheel 245 to rotate vertically. When the second guide wheel 245 rotates vertically, the second wire 256 is pulled towards the upper side or the lower side to pull the upper side or the lower side of the shank 230 to rotate, so that the shank 230 can rotate upwards or downwards relative to the thigh 210 in the vertical direction.

[0078] The second wire 256 can be a nylon rope. The driver can be a linear motor, which is a power device, and realizes contraction in different directions by winding of the second guide wheel 245 and the second wire 256. When the second motor 241 rotates forward, the vertical second guide wheel 245 rotates counterclockwise to drive the upper nylon rope to contract, at which time the second wire 256 transmits power to the shank 230, the force direction of the shank 230 changes to rotate, bearings are used to make the transmission performance of the connecting part and the power transmission part better, and the lifting action can be completed. The wire wheel transmission mechanism is arranged in the direction of the three shafts of each mechanical leg 200, so that the movement mode of the mechanical leg 200 is more diversified, and the action of the mechanical leg 200 is more flexible.

[0079] The driver is distributed in the connecting part of the shank 230 and the thigh 210. Unlike the traditional multi-legged robot driven by a large and high-cost steering engine, the device is driven by a linear motor, which is more conducive to the multi-legged robot to work in a small space, and the action is more portable. When the multi-legged robot works, the first motor 221 in the shell 100 drives the first guide wheel 222 to start rotating, the contraction of the first wire 223 is controlled according to the rotation direction and angle of the first motor 221, the lifting movement of the mechanical leg 200 in the vertical direction is completed, and then the lifting of the mechanical leg 200 is controlled according to the situation and the issued instruction in different scenes and working spaces, so as to avoid obstacles, and the mechanical leg 200 can also move freely on a working ground with a slope or ruggedness. The driving sequence and rotation direction of the motor can be flexibly matched with each mechanical structure of the device through system control to realize accurate attitude and position control.

[0080] In some embodiments of the present application, the driver comprises:

[0081] The second motor 241 is arranged on the thigh 210.

[0082] The transmission part is rotationally arranged on the thigh 210 and connected with the second motor 241.

[0083] The rotating shaft 244 is rotationally arranged on the thigh 210 and connected with the transmission part and the second guide wheel 245.

[0084] In the embodiment, the second motor 241 can be arranged transversely, specifically at the connecting position of the thigh 210 and the shank 230. The second motor 241 can be a linear motor. The transmission part can be driven by a gear or a combination of a belt wheel and a belt. The power of the second motor 241 is transmitted to the rotating shaft 244 through the transmission part. The second guide wheel 245 is installed on the rotating shaft 244 and can rotate synchronously with the rotating shaft 244.

[0085] In some embodiments of the present application, the transmission part comprises:

[0086] A first gear 242 is arranged on the output shaft of the second motor 241 and rotates under the drive of the second motor 241.

[0087] A second gear 243 is arranged on the rotating shaft 244, and the first gear 242 and the second gear 243 are engaged with each other.

[0088] In the embodiment, the motor drive distributed in the connecting part of the thigh 210 and the lower leg 230 of the mechanical leg 200 drives the rotation of the second guide wheel 245 through the transmission of the first gear 242 and the second gear 243, controls the contraction of the second wire rope 256 according to the rotation direction and angle of the second motor 241, pulls the lower leg 230, and completes the lifting movement of the mechanical leg 200 in the vertical direction, so as to control the multi-legged robot to lift the mechanical leg according to the situation and the issued instruction in different scenes and working spaces, avoid obstacles, and also can freely move on the working ground with slope or ruggedness. The driving sequence and rotation direction of the first motor 221 and the second motor 241 can be flexibly matched with each mechanical structure of the device through system control, so as to realize accurate posture and position control.

[0089] In some embodiments of the present application, the mechanical legs are six, and three mechanical legs are a group, and two groups of mechanical legs are located on the two sides of the shell 100.

[0090] In the embodiment, the multi-legged robot can keep a relatively balanced state for movement through the common support and drive of the six mechanical legs 200.

[0091] In some embodiments of the present application, further comprising:

[0092] A cover 300, the shell 100 has a containing cavity and an opening communicating with the containing cavity, and the cover 300 can be covered on the opening.

[0093] In the embodiment, in order to facilitate the transportation of the multi-legged robot, the cover 300 is arranged at the containing cavity communicating opening of the shell 100, and the opening and covering of the cover 300 are used to take and place the articles in the containing cavity.

[0094] The shell 100 of the multi-legged robot is designed with certain consideration, and the space for motor assembly, circuit board assembly and material storage is reserved to achieve the maximum utilization with the minimum space. Considering the factors such as gravity and material transportation security, the material storage space is designed in the large-area empty box in the middle of the shell 100, so that the multi-legged robot is more uniform in stress during the transportation of materials, and the hard shell 100 has the effect of protecting the transported materials. Referring to the physiological structure of arthropods.

[0095] In some embodiments of the present application, further comprising:

[0096] A pressure sensor is arranged on the shank 230 to collect pressure information of the shank 230 acting on the ground.

[0097] In this embodiment, a pressure sensor is attached to the shank 230 of the multi-legged robot to measure the pressure and force on the sole of the multi-legged robot. The pressure on the sole of the multi-legged robot is sensed by the sensor, and then these signals are converted into electrical signals that can be read by the multi-legged robot control system. When the sensor senses that the sole of the multi-legged robot is subjected to a greater pressure, the multi-legged robot can immediately adjust the walking posture to maintain balance. This achieves multi-legged robot gait control and prevents the multi-legged robot from slipping during walking.

[0098] In some embodiments of the present application, further comprising:

[0099] A camera 400 is arranged on the housing 100 to collect image information.

[0100] In this embodiment, the camera 400 is a binocular camera 400, which is used to determine the surrounding environment. The camera 400 is distributed on both sides of the front of the housing 100, which ensures the completeness and breadth of the device in obtaining surrounding environment information.

[0101] In some embodiments of the present application, further comprising:

[0102] A laser radar 500 is arranged in the mounting cavity of the housing 100, and the laser radar 500 is directed towards the opening.

[0103] In this embodiment, the multi-legged robot is equipped with a laser radar 500, which realizes light detection and device ranging functions. The laser radar 500 is designed to be embedded, and the housing 100 can protect the laser radar 500. The working process of the multi-legged robot of this embodiment is as follows: the multi-legged robot sends instructions through the base station to control the start and movement of the multi-legged robot. When each part of the multi-legged robot is started, the situation is first fed back to the base station in real time through the camera 400. The base station quickly plans a search and rescue plan according to the search target, and then transmits the plan to the multi-legged robot to control the multi-legged robot to perform a series of search and rescue work, including route execution and re-planning, material transportation and search and rescue cooperation, etc. After completing the search and rescue task, or when the power is low, the multi-legged robot will automatically return to the base station on standby or charge and continue to perform the task until the task is completed.

[0104] The multi-legged robot of the present embodiment uses a wire-driven approach to replace the traditional servo-driven method, which is an innovative solution to the problem of excessive size in the design of a six-legged robot. Wire-driven systems use thin wires to transmit power, which have several significant advantages over traditional servo-driven methods. Wire-driven systems are generally smaller and lighter in size. This design allows the overall size of the multi-legged robot to be reduced while maintaining or even improving its performance. This feature of wire-driven mechanisms is particularly suitable for application scenarios that require high flexibility and maneuverability, such as operating in tight spaces or performing delicate tasks. Wire-driven systems provide higher mechanical precision and control sensitivity. By precisely controlling the tension and length of the wires, finer motion control can be achieved, thereby improving the multi-legged robot's ability to operate in complex environments. This is particularly important for six-legged robots that need to perform precise operations or move on irregular terrain. Wire-driven methods can also lead to improved energy efficiency. Since the wires themselves are lightweight, the energy required to drive such systems is generally lower than traditional servo systems, which helps to extend the running time of the multi-legged robot, especially in battery-powered scenarios.

[0105] The various embodiments described in this specification are presented by way of example, and each embodiment describes a specific feature that is not necessarily present in other embodiments. The various embodiments described in this specification can be combined in any way.

[0106] The above description of disclosed embodiments enables one of ordinary skill in the art to make and use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-legged robot, characterized by, The multi-legged robot comprises: a shell; and at least four mechanical legs arranged on the shell respectively for supporting and driving the shell to move; wherein the mechanical leg comprises: a thigh rotatably connected with the shell so that the thigh can rotate horizontally relative to the shell; a first driver connected with the shell and the thigh for driving the thigh to rotate horizontally relative to the shell; a shank rotatably connected with the thigh so that the shank can rotate vertically relative to the thigh; a second driver connected with the thigh and the shank for driving the shank to rotate vertically relative to the thigh; the first driver comprises: a first motor arranged on the shell; a first guide wheel arranged horizontally and connected with an output shaft of the first motor, rotating with the output shaft of the first motor and having a first guide slot; a first wire rope sleeved on the first guide slot, one end of which is connected with a left side of the thigh and the other end of which is connected with a right side of the thigh; wherein the first wire rope is driven to move by the first motor driving the first guide wheel to rotate, and the thigh rotates horizontally relative to the shell.

2. The multi-legged robot of claim 1, wherein, the second driver comprises: a driving member arranged on the thigh; a second guide wheel arranged vertically and connected with the driving member, having a second guide slot for rotating under the driving of the driving member; a second wire rope sleeved on the second guide slot, one end of which is connected with an upper part of the shank and the other end of which is connected with a lower part of the shank; wherein the shank rotates vertically relative to the thigh under the driving of the driving member driving the second guide wheel to rotate.

3. The multi-legged robot of claim 2, wherein, the driver comprises: a second motor arranged on the thigh; a transmission member rotatably arranged on the thigh and connected with the second motor; a rotating shaft rotatably arranged on the thigh and connected with the transmission member and the second guide wheel.

4. The multi-legged robot of claim 3, wherein, the transmission member comprises: a first gear arranged on an output shaft of the second motor and rotating under the driving of the second motor; a second gear arranged on the rotating shaft, the first gear and the second gear being engaged with each other.

5. The multi-legged robot of claim 4, wherein, the mechanical legs are six, three mechanical legs being a group, and two groups of mechanical legs being located on two sides of the shell respectively.

6. The multi-legged robot of claim 5, wherein, further comprising: a cover, the shell having a containing cavity and an opening communicating with the containing cavity, the cover being capable of being covered on the opening.

7. The multi-legged robot of claim 1, wherein, further comprising: a pressure sensor arranged on the shank for collecting pressure information of the shank acting on the ground.

8. The multi-legged robot of claim 1, wherein, further comprising: a camera arranged on the shell for collecting image information.

9. The multi-legged robot of claim 1, wherein, further comprising: a laser radar, the shell having a mounting cavity and a mounting opening, the laser radar being arranged in the mounting cavity and facing the opening direction.

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