Robot

Abstract

The utility model provides a robot. The robot comprises a robot body; the advancing mechanism has a leg type movement mode and a wheel type movement mode, and the advancing mechanism comprises a mounting seat which is connected with the machine body and can rotate around a first axis relative to the machine body; the leg type movement part comprises supporting legs, the supporting legs are connected with the mounting base and can rotate around a second axis relative to the mounting base so that the advancing mechanism can be switched between a leg type movement mode and a wheel type movement mode, and an included angle is formed between the first axis and the second axis; and the wheel type movement part comprises rollers, the rollers are installed on the installation base, when the advancing mechanism is in the leg type movement mode, the supporting legs support the machine body and drive the machine body to advance, and when the advancing mechanism is in the wheel type movement mode, the rollers support the machine body and drive the machine body to advance. According to the technical scheme, the robot can solve the problems that a robot in the prior art is difficult to rapidly walk on an uneven or large-angle complex road surface and poor in adaptability.

Description

Technical Field

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

[0002] With the rapid development of science and technology, more and more mobile robots are being used in dangerous and complex environments. Currently, ground mobile robots are mainly classified into wheeled and legged types based on their locomotion. Legged robots have the advantage of strong terrain adaptability, enabling them to overcome obstacles or climb steep slopes; however, their walking efficiency is relatively low. Wheeled robots have the advantages of high walking speed, high energy utilization, and wide application range; however, their wheeled structure has poor adaptability to complex environments, and they are limited in uneven and soft environments such as sand. As can be seen from the above, existing robots struggle to move quickly on uneven or steeply angled complex surfaces, exhibiting poor adaptability. Utility Model Content

[0003] The main objective of this invention is to provide a robot that can solve the problem that existing robots have difficulty walking quickly on complex surfaces with unevenness or large angles, and have poor adaptability.

[0004] To achieve the above objectives, this utility model provides a robot, comprising: a body; a traveling mechanism having a legged movement mode and a wheeled movement mode, the traveling mechanism including: a mounting base connected to the body and rotatable relative to the body about a first axis; a legged movement part including a support leg connected to the mounting base and rotatable relative to the mounting base about a second axis, so that the traveling mechanism can switch between the legged movement mode and the wheeled movement mode, the first axis and the second axis being set at an angle; and a wheeled movement part including a roller mounted on the mounting base. When the traveling mechanism is in the legged movement mode, the support leg supports the body and drives the body to move; when the traveling mechanism is in the wheeled movement mode, the roller supports the body and drives the body to move.

[0005] Furthermore, the traveling mechanism also includes a first drive unit, which is mounted on the fuselage. The mounting base is rotatably connected to the first drive unit and is capable of rotating relative to the fuselage about a first axis under the drive of the first drive unit.

[0006] Furthermore, the mounting base includes a mounting body and a first connecting arm and a second connecting arm disposed on the side of the mounting body near the fuselage. The first connecting arm and the second connecting arm are arranged at intervals in the vertical direction. The first connecting arm is driven to the top of the first driving part, and the second connecting arm is rotatably connected to the bottom of the first driving part.

[0007] Furthermore, the leg-type movement unit also includes a second drive unit, which is rotatably connected to the mounting base. The outrigger is mounted on the second drive unit and drivenly connected to the second drive unit, and is capable of rotating relative to the mounting base about a second axis under the drive of the second drive unit; and / or, the ground-contacting end of the outrigger is provided with an anti-slip structure.

[0008] Furthermore, the mounting base includes a mounting body and a third connecting arm and a fourth connecting arm disposed on the side of the mounting body away from the fuselage. The third connecting arm and the fourth connecting arm are arranged at intervals along a first direction. Along the first direction, the second drive unit has a first end and a second end disposed opposite to each other. The third connecting arm is drivenly connected to the first end of the second drive unit, and the fourth connecting arm is rotatably connected to the second end of the second drive unit.

[0009] Furthermore, the wheeled motion unit also includes a third drive unit, which is connected to the mounting base, and the roller is driven by the third drive unit.

[0010] Furthermore, the wheeled motion unit also includes an annular limiting member, and the third drive unit is located on the side of the second connecting arm away from the first connecting arm. The annular limiting member is fixedly sleeved on the outer periphery of the third drive unit and the second connecting arm.

[0011] Furthermore, the wheeled motion unit also includes a connecting structure, which is fixedly sleeved on the second connecting arm, and the roller is installed at the bottom of the connecting structure.

[0012] Furthermore, the robot also includes a detection unit and a control unit. The detection unit is installed on the body, and the control unit is installed in the inner cavity of the body. The detection unit, the first drive unit, and the second drive unit are all communicatively connected to the control unit.

[0013] Furthermore, the traveling mechanism is detachably connected to the fuselage.

[0014] By applying the technical solution of this utility model, a body and a locomotion mechanism are provided. The locomotion mechanism can freely switch between legged and wheeled locomotion modes, allowing the robot to choose the appropriate locomotion mode according to the actual road conditions. On flat surfaces, the robot can switch to wheeled locomotion mode, which offers high speed and energy efficiency. On uneven or steeply angled surfaces, the robot can switch to legged locomotion mode, using the flexible swinging of its legs to overcome obstacles and climb slopes. Through this design, the robot can adapt to different road conditions (e.g., flat surfaces and uneven surfaces such as sand), significantly improving its environmental adaptability and maneuverability. Attached Figure Description

[0015] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments and descriptions of this utility model are used to explain this utility model and do not constitute an undue limitation thereof. In the drawings:

[0016] Figure 1 The diagram shows a structural schematic of the robot from one angle according to an embodiment of the present invention (the traveling mechanism is in wheeled motion mode);

[0017] Figure 2 The diagram shows a structural schematic of the robot from one angle according to an embodiment of the present invention (the traversing mechanism is in legged motion mode);

[0018] Figure 3 A schematic diagram of the traveling mechanism according to an embodiment of the present invention is shown;

[0019] Figure 4 A schematic diagram of the traveling mechanism according to another embodiment of the present invention is shown;

[0020] Figure 5 A schematic diagram of the mounting base according to an embodiment of the present invention is shown.

[0021] The above figures include the following reference numerals:

[0022] 10. Fuselage; 20. Traveling mechanism; 21. Mounting base; 211. Mounting body; 212. First connecting arm; 213. Second connecting arm; 214. Third connecting arm; 215. Fourth connecting arm; 216. Mounting slot; 217. Second connecting hole; 22. Leg-type moving part; 221. Support leg; 222. Second drive part; 23. Wheel-type moving part; 231. Roller; 232. Third drive part; 233. Annular limiting member; 234. Connecting structure; 24. First drive part; 30. Detection unit; 40. Anti-slip structure; 50. Connector; 51. First connecting hole. Detailed Implementation

[0023] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] See also Figures 1 to 5As shown, this utility model provides a robot, which includes: a body 10; a traveling mechanism 20, having a legged movement mode and a wheeled movement mode, the traveling mechanism 20 including: a mounting base 21, connected to the body 10 and rotatable relative to the body 10 about a first axis; a legged movement part 22, including a support leg 221, the support leg 221 being connected to the mounting base 21 and rotatable relative to the mounting base 21 about a second axis, so that the traveling mechanism 20 can switch between the legged movement mode and the wheeled movement mode, the first axis and the second axis being set at an angle; and a wheeled movement part 23, including a roller 231, the roller 231 being mounted on the mounting base 21. When the traveling mechanism 20 is in the legged movement mode, the support leg 221 supports the body 10 and drives the body 10 to move; when the traveling mechanism 20 is in the wheeled movement mode, the roller 231 supports the body 10 and drives the body 10 to move.

[0025] In this embodiment, the mounting base 21 is connected to the body 10 and can rotate relative to the body 10 about a first axis. Since the support leg 221 is connected to the mounting base 21, when the mounting base 21 rotates relative to the body 10 about the first axis, it can drive the support leg 221 to rotate along the first axis, thereby realizing the swing of the support leg 221 relative to the body 10 about the first axis. At the same time, since the support leg 221 can rotate relative to the mounting base 21 about a second axis, it can realize the swing of the support leg 221 relative to the mounting base 21 about the second axis, that is, realize the raising and lowering of the support leg 221.

[0026] When the traveling mechanism 20 is in leg-type movement mode, the outrigger 221 supports the body 10. During the movement of the body 10, before the mounting base 21 rotates relative to the body 10 around the first axis, the outrigger 221 rotates relative to the mounting base 21 around the second axis until the outrigger 221 is lifted off the ground. Then, the mounting base 21 drives the outrigger 221 to rotate relative to the body 10 around the first axis. After the mounting base 21 drives the outrigger 221 to rotate relative to the body 10 around the first axis to the target position, the outrigger 221 rotates relative to the mounting base 21 around the second axis until the outrigger 221 is supported on the ground. This process is repeated to enable the outrigger 221 to drive the body 10. When the traveling mechanism 20 is in wheel-type movement mode, the roller 231 supports the body 10, and the rotation of the roller 231 drives the body 10 to move.

[0027] As described above, the locomotion mechanism 20 of this application can freely switch between legged and wheeled locomotion modes, allowing the robot to choose the appropriate mode of movement based on actual road conditions. On flat surfaces, the robot can switch to wheeled locomotion mode, which offers high speed and energy efficiency; while on uneven or steeply angled surfaces, the robot can switch to legged locomotion mode, using the flexible swinging of its outriggers 221 to overcome obstacles and climb slopes. This design enables the robot to adapt to different road conditions (e.g., flat surfaces and uneven surfaces like sand), significantly improving its environmental adaptability and maneuverability.

[0028] It should be noted that the number of traveling mechanisms 20 is at least two, and the specific number can be set according to actual needs, such as two, four, six or eight.

[0029] In one embodiment, the first axis is perpendicular to the second axis, and the first axis extends in a vertical direction.

[0030] See also Figures 1 to 5 As shown, in one embodiment of the present invention, the traveling mechanism 20 further includes a first driving part 24, which is mounted on the body 10. The mounting base 21 is rotatably connected to the first driving part 24 and can rotate relative to the body 10 around a first axis under the drive of the first driving part 24.

[0031] In this embodiment, the first drive unit 24 is mounted on the body 10, enabling the mounting base 21 to rotate relative to the body 10 about a first axis. Since the rotation of the mounting base 21 is directly controlled by the first drive unit 24 mounted on the body, rather than relying on indirect power transmission from the legs, instability caused by leg swinging can be reduced, thereby improving the overall stability and safety of the robot.

[0032] In one embodiment, the first drive unit 24 is a servo motor.

[0033] See also Figures 1 to 5 As shown, in one embodiment of the present invention, the mounting base 21 includes a mounting body 211 and a first connecting arm 212 and a second connecting arm 213 disposed on the side of the mounting body 211 near the body 10. The first connecting arm 212 and the second connecting arm 213 are arranged at intervals in the vertical direction. The first connecting arm 212 is driven to the top of the first driving part 24, and the second connecting arm 213 is rotatably connected to the bottom of the first driving part 24.

[0034] In this embodiment, the first connecting arm 212 is driven to the top of the first driving part 24, meaning that the driving force acts directly on the upper end of the mounting base 21, which can more effectively control the rotation direction and speed of the mounting base 21. At the same time, the second connecting arm 213 is rotatably connected to the bottom of the first driving part 24, so that the mounting base 21 can rotate smoothly without generating additional vibration or noise.

[0035] See also Figures 1 to 5 As shown, in one embodiment of the present invention, the leg-type movement part 22 further includes a second drive part 222, which is rotatably connected to the mounting base 21. The support leg 221 is mounted on the second drive part 222 and is drivenly connected to the second drive part 222, and can rotate relative to the mounting base 21 about a second axis under the drive of the second drive part 222.

[0036] In this embodiment, the second drive unit 222 is rotatably connected to the mounting base 21, and the outrigger 221 is directly driven connected to the second drive unit 222, allowing the outrigger 221 to rotate relative to the mounting base 21 around a second axis. When the robot encounters obstacles or slopes, the outrigger 221 can quickly adjust its angle to adapt to the ground, ensuring that the robot can stably support and move without losing balance due to sudden changes in terrain. Furthermore, the direct drive connection reduces the use of traditional transmission mechanisms (such as gears, chains, etc.), which not only simplifies the robot structure and reduces the complexity of maintenance and assembly, but also reduces energy loss during transmission.

[0037] like Figure 1 As shown, in one embodiment of the present invention, the ground-contacting end of the outrigger 221 is provided with an anti-slip structure 40.

[0038] In this embodiment, the ground contact end of the outrigger 221 refers to the end of the outrigger 221 that contacts the ground when the traveling mechanism 20 is in leg-like motion mode. The ground contact end of the outrigger 221 is equipped with an anti-slip structure 40, which increases the friction between the ground contact end of the outrigger 221 and the ground. Even on smooth or slippery surfaces, this ensures the robot has sufficient grip, preventing slippage and falls, and improving the stability and safety of the robot's movement.

[0039] In one embodiment, the anti-slip structure 40 is a raised ridge.

[0040] See also Figures 1 to 5As shown, in one embodiment of the present invention, the mounting base 21 includes a mounting body 211 and a third connecting arm 214 and a fourth connecting arm 215 disposed on the side of the mounting body 211 away from the body 10. The third connecting arm 214 and the fourth connecting arm 215 are arranged at intervals along a first direction. Along the first direction, the second driving part 222 has a first end and a second end disposed opposite to each other. The third connecting arm 214 is drivenly connected to the first end of the second driving part 222, and the fourth connecting arm 215 is rotatably connected to the second end of the second driving part 222.

[0041] With the above settings, the support leg 221 can be installed and the support leg 221 can rotate about the second axis relative to the mounting base 21.

[0042] In one embodiment, the second drive unit 222 is a servo motor.

[0043] See also Figures 1 to 5 As shown in one embodiment of this utility model, the robot further includes four connectors 50. Each of the first connecting arm 212, the second connecting arm 213, the third connecting arm 214, and the fourth connecting arm 215 is provided with a mounting groove 216. Each mounting groove 216 contains a connector 50. Each connector 50 has multiple first connecting holes 51, and each mounting groove 216 has multiple second connecting holes 217. The multiple second connecting holes 217 on each mounting groove 216 correspond one-to-one with the multiple first connecting holes 51 on the corresponding connector 50. During installation, bolts or screws can be sequentially passed through the first connecting holes 51 and the corresponding second connecting holes 217 to fix the connector 50 in the corresponding mounting groove 216.

[0044] Both the first drive unit 24 and the second drive unit 222 are servo motors. The first end of the output shaft of the first drive unit 24 extends out of the servo motor housing and forms the top of the first drive unit 24. The first connecting arm 212 is fixedly connected to the first end of the output shaft of the first drive unit 24 via a connector 50 mounted thereon. A bearing is fitted onto the second end of the output shaft of the first drive unit 24. The connector 50 mounted on the second connecting arm 213 is fixedly fitted onto the outer circumference of the bearing. The housing of the first drive unit 24 is fixedly connected to the fuselage 10. Thus, when the first drive unit 24 is working, the output shaft of the first drive unit 24 rotates, which drives the first connecting arm 212 to rotate. The first connecting arm 212 drives the second connecting arm 213 to rotate relative to the fuselage 10 around the first axis, thereby realizing the rotation of the entire mounting base 21 relative to the fuselage 10 around the first axis.

[0045] The support leg 221 is mounted on the second drive unit 222, the output shaft of the second drive unit 222 extends along the first direction, the connector 50 on the third connecting arm 214 is fixedly connected to one end of the output shaft of the second drive unit 222, and the connector 50 on the fourth connecting arm 215 is fixedly connected to the other end of the output shaft of the second drive unit 222. Thus, when the second drive unit 222 operates, the housing of the second drive unit 222 drives the support leg 221 mounted thereon to rotate synchronously, thereby realizing the rotation of the support leg 221 relative to the mounting base 21 around the second axis.

[0046] This application provides a traveling mechanism 20 on both sides of the robot body 10. When moving on flat ground, the traveling mechanism 20 switches to a wheeled movement mode, while on uneven or steeply angled surfaces, it switches to a legged movement mode. Through the flexible swinging of the outriggers 221, the robot can overcome obstacles and climb slopes. This design allows the robot to select its movement mode according to road conditions, adapting to different terrains, improving mobility, and demonstrating strong mobility and environmental adaptability.

[0047] See also Figures 1 to 5 As shown, in one embodiment of the present invention, the wheeled motion unit 23 further includes a third drive unit 232, which is connected to the mounting base 21, and the roller 231 is drivenly connected to the third drive unit 232.

[0048] In this embodiment, the roller 231 is driven to connect with the third drive unit 232. When the traveling mechanism 20 is in the wheel motion mode, the roller 231 supports the body 10, and the third drive unit 232 drives the roller 231 to rotate, so that the roller 231 can drive the body 10 to move.

[0049] In one embodiment, the third drive unit 232 is a motor.

[0050] See also Figures 1 to 5 As shown, in one embodiment of the present invention, the wheeled motion part 23 further includes an annular limiting member 233, the third drive part 232 is located on the side of the second connecting arm 213 away from the first connecting arm 212, and the annular limiting member 233 is fixedly sleeved on the outer periphery of the third drive part 232 and the second connecting arm 213.

[0051] In this embodiment, the third drive unit 232 is fixedly mounted on the second connecting arm 213 by an annular limiting member 233.

[0052] See also Figures 1 to 5 As shown, in one embodiment of the present invention, the wheeled motion part 23 further includes a connecting structure 234, which is fixedly sleeved on the second connecting arm 213, and the roller 231 is installed at the bottom of the connecting structure 234.

[0053] In this embodiment, the roller 231 is mounted on the second connecting arm 213 via the connecting structure 234.

[0054] like Figure 1 As shown, in one embodiment of the present invention, there are four traveling mechanisms 20. The body 10 has a first side and a second side arranged opposite to each other. Two traveling mechanisms 20 are provided on both the first side and the second side of the body 10, and the two traveling mechanisms 20 located on the first side of the body 10 correspond one-to-one with the two traveling mechanisms 20 located on the second side of the body 10.

[0055] Both wheeled moving parts 23 also include a connecting structure 234, which is fixedly sleeved on the second connecting arm 213. A roller 231 is installed at the bottom of the connecting structure 234; the roller 231 is a caster wheel. The other two wheeled moving parts 23 also include a third drive unit 232, which is connected to the mounting base 21. The roller 231 is driven by the third drive unit 232.

[0056] It should be noted that in existing technologies, the drive wheels and drive motors of robots are usually installed at the lower leg end, resulting in a large overall rotational inertia of the robot's legs. This places high demands on the real-time performance and reliability of the robot's gait motion control algorithm, and leads to poor overall robot stability. In contrast, this application installs the second drive unit 222 near the robot's hip rather than at the end of the leg, reducing the lever arm length of the second drive unit 222 relative to the end of the leg 221, thereby reducing the rotational inertia and mass of the leg during rotation.

[0057] Furthermore, this application positions the first drive unit 24, the second drive unit 222, and the third drive unit 232 near the robot's hip, which effectively reduces the joint torque requirements on the load performance of the first drive unit 24, the second drive unit 222, and the third drive unit 232, and reduces the torque exerted by the load on the first drive unit 24, the second drive unit 222, and the third drive unit 232. The roller 231, positioned at the robot's hip, reduces the transmission distance and intermediate components, effectively reducing the rotational inertia of the entire robot's legs, facilitating gait control in the robot's legged movement mode.

[0058] See also Figures 1 to 5 As shown, in one embodiment of the present invention, the robot further includes a detection unit 30 and a control unit. The detection unit 30 is installed on the body 10, and the control unit is installed in the inner cavity of the body 10. The detection unit 30, the first drive unit 24 and the second drive unit 222 are all communicatively connected to the control unit.

[0059] In this embodiment, the detection unit 30 can collect information about the robot's surrounding environment, such as terrain features, obstacle locations, and lighting conditions, helping the robot to perceive changes in the surrounding environment in real time and make appropriate responses and adjustments. The control unit can control the robot's first drive unit 24 and second drive unit 222 based on the ground state information provided by the detection unit 30. For example, on flat ground, the control unit can use the second drive unit 222 to rotate the outrigger 221 relative to the mounting base 21 around the second axis, switching the travel mechanism 20 to wheeled motion mode. When encountering obstacles or slopes, the control unit can use the second drive unit 222 to rotate the outrigger 221 relative to the mounting base 21 around the second axis, switching the travel mechanism 20 to legged motion mode, and simultaneously control the first drive unit 24 and the second drive unit 222, enabling the robot to stably overcome obstacles.

[0060] In addition, the communication connection between the detection unit 30 and the control unit also supports remote monitoring and data transmission. This means that the operator can receive real-time data from the detection unit 30 remotely through the control unit, perform remote monitoring and fault diagnosis, adjust the robot's working status in a timely manner or perform maintenance, and reduce on-site operational risks and costs.

[0061] In one embodiment, the detection unit 30 may be a camera or a lidar.

[0062] In one embodiment of this utility model, the traveling mechanism 20 is detachably connected to the body 10.

[0063] In this embodiment, when the traveling mechanism 20 malfunctions or requires regular maintenance, the detachable connection allows the operator or maintenance personnel to quickly disassemble the damaged part for inspection, repair, or replacement without disassembling the entire robot, greatly shortening maintenance time and reducing maintenance costs. The detachable connection between the traveling mechanism 20 and the body 10 means the robot can be disassembled into smaller modules for transportation or storage. The robot structure of this application is simple and easy to implement, allowing for convenient and rapid deformation or disassembly, possessing both good mobility and good load-bearing capacity.

[0064] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects: By providing a body and a locomotion mechanism, the locomotion mechanism can freely switch between legged and wheeled locomotion modes, allowing the robot to choose the appropriate locomotion method according to actual road conditions. On flat surfaces, the robot can switch to wheeled locomotion mode, which offers high speed and energy efficiency; while on uneven or steeply angled surfaces, the robot can switch to legged locomotion mode, using the flexible swinging of its legs to overcome obstacles and climb slopes. Through this design, the robot can adapt to different road conditions (e.g., flat surfaces and uneven surfaces such as sand), significantly improving its environmental adaptability and maneuverability.

[0065] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0066] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0067] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robot, characterized in that, include: Fuselage (10); The traveling mechanism (20) has a leg-type movement mode and a wheel-type movement mode, and the traveling mechanism (20) includes: Mounting base (21) is connected to the body (10) and can rotate about a first axis relative to the body (10); The leg-type movement unit (22) includes a support leg (221), which is connected to the mounting base (21) and can rotate about a second axis relative to the mounting base (21) so that the travel mechanism (20) can switch between the leg-type movement mode and the wheel-type movement mode, wherein the first axis and the second axis are set at an angle; The wheeled motion unit (23) includes a roller (231) mounted on the mounting base (21). When the traveling mechanism (20) is in the leg-type motion mode, the support leg (221) supports the body (10) and drives the body (10) to move. When the traveling mechanism (20) is in the wheel-type motion mode, the roller (231) supports the body (10) and drives the body (10) to move.

2. The robot according to claim 1, characterized in that, The traveling mechanism (20) further includes a first driving unit (24), which is mounted on the fuselage (10). The mounting base (21) is rotatably connected to the first driving unit (24) and can rotate relative to the fuselage (10) around the first axis under the drive of the first driving unit (24).

3. The robot according to claim 2, characterized in that, The mounting base (21) includes a mounting body (211) and a first connecting arm (212) and a second connecting arm (213) disposed on the side of the mounting body (211) near the fuselage (10). The first connecting arm (212) and the second connecting arm (213) are arranged at intervals in the vertical direction. The first connecting arm (212) is driven to the top of the first driving part (24), and the second connecting arm (213) is rotatably connected to the bottom of the first driving part (24).

4. The robot according to claim 2, characterized in that, The leg-type movement unit (22) further includes a second drive unit (222), which is rotatably connected to the mounting base (21). The support leg (221) is mounted on the second drive unit (222), and the support leg (221) is drivenly connected to the second drive unit (222) and can rotate relative to the mounting base (21) around the second axis under the drive of the second drive unit (222). And / or, the ground-contacting end of the outrigger (221) is provided with an anti-slip structure (40).

5. The robot according to claim 4, characterized in that, The mounting base (21) includes a mounting body (211) and a third connecting arm (214) and a fourth connecting arm (215) disposed on the side of the mounting body (211) away from the fuselage (10). The third connecting arm (214) and the fourth connecting arm (215) are arranged at intervals along a first direction. Along the first direction, the second driving part (222) has a first end and a second end disposed opposite to each other. The third connecting arm (214) is driven connected to the first end of the second driving part (222), and the fourth connecting arm (215) is rotatably connected to the second end of the second driving part (222).

6. The robot according to claim 3, characterized in that, The wheeled motion unit (23) further includes a third drive unit (232), which is connected to the mounting base (21), and the roller (231) is drivenly connected to the third drive unit (232).

7. The robot according to claim 6, characterized in that, The wheeled motion unit (23) further includes an annular limiting member (233). The third drive unit (232) is located on the side of the second connecting arm (213) away from the first connecting arm (212). The annular limiting member (233) is fixedly sleeved on the outer periphery of the third drive unit (232) and the second connecting arm (213).

8. The robot according to claim 3, characterized in that, The wheeled motion unit (23) also includes a connecting structure (234), which is fixedly sleeved on the second connecting arm (213), and the roller (231) is installed at the bottom of the connecting structure (234).

9. The robot according to claim 4, characterized in that, The robot also includes a detection unit (30) and a control unit. The detection unit (30) is installed on the body (10), and the control unit is installed in the cavity of the body (10). The detection unit (30), the first drive unit (24), and the second drive unit (222) are all communicatively connected to the control unit.

10. The robot according to any one of claims 1 to 3, characterized in that, The traveling mechanism (20) is detachably connected to the fuselage (10).

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