robot

Abstract

A robot includes a body, a leg assembly, and a clamping assembly. The leg assembly includes a first power mechanism, a second power mechanism, a thigh unit, and a knee power mechanism. The first power mechanism is connected to the body and its output end is connected to the second power mechanism. One end of the thigh unit is connected to the output end of the second power mechanism, and the other end is connected to the knee power mechanism. The direction of the thigh unit's swing driven by the first power mechanism is different from the direction of its swing driven by the second power mechanism. The clamping assembly includes a first clamping member disposed on the first power mechanism and a second clamping member disposed on the knee power mechanism. The robot has a retracted state and an extended state. In the retracted state, the angle of the thigh unit relative to the robot's cross-section is a first limiting angle, and the second clamping member engages with the first clamping member. The robot proposed in this invention, with its clamping assembly located at a specific part, can limit the thigh unit after clamping, making the robot easier to transport or retract.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more particularly to robots. Background Technology

[0002] To improve the robot's mobility, multiple power components are often installed in the robot's legs to increase the degree of freedom of the legs.

[0003] In related technologies, if the power unit is not equipped with a self-locking mechanism when the power is off, the leg units connected to the output end of the power unit can still swing at a certain angle relative to the fixed part of the power unit under the action of gravity. This makes it easy for the robot's leg units to change position and tip over in different postures under the action of gravity after the power is off, which is the same as the robot's support before the power is off. This makes it difficult to fold up the robot. If the power unit is equipped with an additional electro-locking mechanism such as an electromagnetic brake mechanism, the volume occupied by the power unit will increase, the weight of the legs will be greater, the overall weight of the robot will increase, and the purchase cost of the robot will also increase. Utility Model Content

[0004] In view of this, the present invention proposes a robot, which aims to set a holding component at a specific position on the robot so that the leg component can be easily retracted; and the holding component is a simple mechanical locking mechanism.

[0005] The robot proposed in this utility model includes: a body, a leg assembly, and a clamping assembly; the leg assembly includes: a hip power assembly, a thigh unit, and a knee power mechanism; the hip power assembly includes: a first power mechanism and a second power mechanism, the first power mechanism is connected to the body, the output end of the first power mechanism is connected to the second power mechanism, and the extension direction of the output shaft of the first power mechanism forms an angle with the extension direction of the output shaft of the second power mechanism; one end of the thigh unit is connected to the output end of the second power mechanism, and the direction in which the thigh unit is driven to swing by the first power mechanism is different from the direction in which the thigh unit is driven to swing by the second power mechanism; the knee power mechanism is located at the other end of the thigh unit; the clamping assembly includes: a first clamping member located at the first power mechanism; and a second clamping member located at the knee power mechanism; the robot has a retracted state and an extended state; in the retracted state, the angle of the thigh unit relative to the cross-section of the robot is a first limiting angle, and the second clamping member is clamped and engaged with the first clamping member; in the extended state, the second clamping member is disengaged from the first clamping member, and the thigh unit can move relative to the body.

[0006] As can be seen from the above technical solution, the robot proposed in this utility model, by setting a first holding member in the first power mechanism and a second holding member in the knee power mechanism, allows the thigh unit to be moved manually and the angle of the thigh unit relative to the cross-section to a first limit angle. Alternatively, in the power-off state, the thigh unit can be pressed down by gravity. During the pressing process, the second holding member and the first holding member engage, and the angle of the thigh unit relative to the cross-section remains at the first limit angle. This ensures that the thigh unit of the robot in the retracted state can maintain a specific posture, which is beneficial for retracting or transporting the robot. When transporting the robot, the thigh unit will not swing back and forth relative to the body. The holding components are mechanical locking mechanisms. The cooperation of the first and second holding members can lock the degree of freedom generated by at least one of the power mechanisms (first power mechanism, second power mechanism, and knee power mechanism). The holding components themselves have a simple structural design, low investment cost, and require a small number of units.

[0007] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this utility model. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0009] Figure 1 This is a three-dimensional structural schematic diagram of the robot proposed in some embodiments of this utility model;

[0010] Figure 2 This is a three-dimensional structural schematic diagram of the robot proposed in some embodiments of this utility model;

[0011] Figure 3 This is a three-dimensional structural diagram of the leg assembly and the holding assembly proposed in some embodiments of this utility model;

[0012] Figure 4 This is a top view of another leg assembly and holding assembly proposed in some embodiments of this utility model;

[0013] Figure 5 This is a side view of the leg assembly in an unfolded state according to some embodiments of the present invention, with the first retaining member and the second retaining member disengaged.

[0014] Figure 6 This is a longitudinal sectional view of the leg assembly in an unfolded state according to some embodiments of this utility model;

[0015] Figure 7 This is a side view of the leg assembly in a first retracted state according to some embodiments of the present invention, with the first retaining member and the second retaining member engaging in a retaining relationship;

[0016] Figure 8 This is a partial longitudinal sectional view of the leg assembly in a first retracted state according to some embodiments of the present invention;

[0017] Figure 9 This is a side view of the leg assembly in a second retracted state according to some embodiments of the present invention, with the first and second retaining members engaging in a retaining relationship;

[0018] Figure 10 This is a longitudinal sectional view of the leg assembly in a second retracted state according to some embodiments of the present invention;

[0019] Figure 11 This is a longitudinal sectional view of the leg assembly proposed in some embodiments of this utility model;

[0020] Figure 12 This is a partially exploded schematic diagram of the leg assembly and the clamping assembly proposed in some embodiments of this utility model;

[0021] Figure 13 This is a schematic diagram of the structure of the leg assembly proposed in some embodiments of this utility model, which is locked with a certain degree of freedom by a clamping assembly;

[0022] Figure 14 yes Figure 13 A magnified schematic diagram of the structure of a portion of region A in the middle;

[0023] Figure 15 This is a schematic diagram of the structure of the leg assembly proposed in some embodiments of this utility model, which locks more degrees of freedom through a clamping assembly;

[0024] Figure 16 yes Figure 15 A magnified schematic diagram of the structure of region B in the middle.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1000, Robot; 1001, Cross-section;

[0027] 100. Fuselage;

[0028] 201. Arm assembly;

[0029] 202. Leg components;

[0030] 210. Hip power assembly; 211. First power mechanism; 212. Second power mechanism; 213. Hip joint;

[0031] 220. Thigh unit; 221. First limiting angle;

[0032] 230. Knee power mechanism; 231. Second fixed part; 232. Second movable part; 233. Second limiting part;

[0033] 240. Lower leg unit; 241. Second limiting angle; 242. Third limiting angle;

[0034] 400. Card holding components;

[0035] 410. First holding member; 411. Card slot; 4111. First guide surface; 4112. Notch; 412. Stop part;

[0036] 420. Second cardholder;

[0037] 421, Buckle; 4211, Second guide surface; 4212, Snapping end; 422, Elastic element;

[0038] 423. Limiting groove; 4231. First limiting wall; 4232. Second limiting wall; 4233. Mating part;

[0039] 424. Shaft;

[0040] 6000, Support surface. Detailed Implementation

[0041] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are all within the protection scope of the present utility model.

[0042] Robots are typically equipped with leg components to enhance their mobility and adaptability to different terrains. These leg components usually combine multiple power units and robotic arms to achieve multiple degrees of freedom. When the robot is powered off or in sleep mode, all power units are de-energized.

[0043] Existing robots with leg components typically incorporate self-locking devices, such as electromagnetic brakes, in their power components to prevent the output end from rotating relative to the input end when power is off. However, using electromagnetic brakes increases the size and weight of the power components. If each power component has an electric braking mechanism, the overall weight of the leg component will increase, and the various parts of the leg component are more likely to have large moments of inertia during movement, making it difficult to control the movement accuracy of the leg component and resulting in higher purchase costs for users.

[0044] For robots that do not employ electric braking mechanisms, without locking devices, the output ends of each power component may continue to rotate relative to the input end under their own weight when the power is off. For example, if the robot is in a leg-supported position before shutdown, after shutdown, the output ends of each power component in the leg assembly will cause the connected leg structure to rotate, shifting the robot's center of gravity and making it unable to maintain dynamic balance. If the robot tipps over, it requires manual lifting, and the various tipping postures make it difficult for users to quickly fold up the robot, resulting in a challenging folding operation. When users move the robot, relative movement occurs between the parts connected by different power components. The irregular swinging of the leg assembly after lifting the robot makes it difficult to move; during the large swinging of the leg assembly, it is prone to collisions with other parts or surrounding objects.

[0045] In view of this, this application proposes a robot 1000, which aims to achieve a simple and few-numbered locking component 400 without relying on an electric braking mechanism. After the first locking member 410 and the second locking member 420 lock the robot, at least a part of the leg component 202, such as the thigh unit 220, can be locked by the locking component 400, which makes it convenient for the user to put away the robot 1000 or transport the robot 1000.

[0046] The robot 1000 of this application can be as follows: Figure 1 The robots shown are legged, wheel-legged, or wheeled.

[0047] Provided that the solutions do not contradict each other, the following embodiments can be combined with each other.

[0048] refer to Figure 1 , Figure 2 As shown, an embodiment of the present invention proposes a robot 1000, including: a body 100, a leg assembly 202, and a clamping assembly 400.

[0049] Among them, combined Figure 1 , Figure 2 and Figure 3As shown, the leg assembly 202 includes a hip power assembly 210, a thigh unit 220, and a knee power mechanism 230. The hip power assembly 210 includes a first power mechanism 211 and a second power mechanism 212. The first power mechanism 211 is connected to the body 100, and its output end is connected to the second power mechanism 212. The extension direction of the output shaft of the first power mechanism 211 forms an angle with the extension direction of the output shaft of the second power mechanism 212. One end of the thigh unit 220 is connected to the output end of the second power mechanism 212. The direction in which the thigh unit 220 is driven to swing by the first power mechanism 211 is different from the direction in which it is driven to swing by the second power mechanism 212. The knee power mechanism 230 is located at the other end of the thigh unit 220. That is, both the thigh unit 220 and the knee power mechanism 230 are located at the output end of the second power mechanism 212.

[0050] refer to Figure 2 , Figure 3 , Figure 4 As shown, the holding assembly 400 includes a first holding member 410 and a second holding member 420. The first holding member 410 is disposed on the first power mechanism 211, and the second holding member 420 is disposed on the knee power mechanism 230.

[0051] refer to Figure 2 , Figure 5 , Figure 7 and Figure 9 The robot 1000 has a folded-out state and an unfolded state, such as... Figure 7 and Figure 9 In the retracted state, the angle between the thigh unit 220 and the cross section 1001 of the robot 1000 is the first limiting angle 221, and the second holding member 420 is engaged with the first holding member 410; in the unfolded state, the second holding member 420 is disengaged from the first holding member 410, and the thigh unit 220 can move relative to the body 100.

[0052] As can be seen from the above, the robot 1000 proposed in this utility model, by setting a first holding member 410 in the first power mechanism 211 and a second holding member 420 in the knee power mechanism 230, can move the thigh unit 220 manually and keep the angle of the thigh unit 220 relative to the cross section 1001 at a first limiting angle 221, and make the second holding member 420 and the first holding member 410 engage; or, in the power-off state, the thigh unit 220 can be pressed down by gravity, during which the second holding member 420 and the first holding member 410 engage, and the angle of the thigh unit 220 relative to the cross section 1001 is maintained at the first limiting angle 221, so that the thigh unit 220 of the robot 1000 in the retracted state can maintain a specific posture, which is beneficial for retracting the robot 1000 or transporting the robot 1000. When transporting the robot 1000, the thigh unit 220 will not swing back and forth relative to the body 100. It is understood that for such Figure 1 The robot 1000 shown has a body 100 connected to both a leg assembly 202 and an arm assembly 201. When the thigh unit 220 is restricted during transport, the range of motion of the leg assembly 202 is greatly reduced, which reduces the probability of collision between the leg assembly 202 and the arm assembly 201 during transport.

[0053] When the robot 1000 needs to move or be used, under the action of external force, the first holding member 410 of the first power mechanism 211 at the head end and the second holding member 420 of the knee power mechanism 230 at the tail end move away from each other and disengage, realizing the switching of the robot 1000 from the retracted state to the unfolded state. In the unfolded state, all parts of the leg component 202 that were restricted in movement are released from movement restrictions. The output end of the first power mechanism 211 can rotate relative to the input end of the first power mechanism 211, and the output end of the second power mechanism 212 can rotate relative to the input end of the second power mechanism 212, driving the thigh unit 220 and the knee power mechanism 230 to rotate. The output end of the knee power mechanism 230 can rotate relative to the input end of the knee power mechanism 230, so that the leg component 202 regains all its degrees of freedom, and the thigh unit 220 can realize preset actions and preset functions.

[0054] The clamping assembly 400 is a mechanical clamping mechanism. Only the cooperation of the first clamping member 410 and the second clamping member 420 is needed to lock the degrees of freedom generated by at least one of the power mechanisms 211, 212, and knee power mechanism 230. The clamping assembly 400 itself has a simple structural design, low investment cost, and requires fewer components. It is understandable that compared to the solution requiring electric braking mechanisms on all power mechanisms, which results in high weight, high cost, and complex structure, the robot 1000 of this embodiment only needs to have the first clamping member 410 on the first power mechanism 211 and the second clamping member 420 on the knee power mechanism 230. The clamping cooperation of the second clamping member 420 and the first clamping member 410 can limit the thigh unit 220, that is, it can limit at least one output end of the first power mechanism 211 and the second power mechanism 212 relative to the input end.

[0055] For example, the output ends of the first power mechanism 211, the second power mechanism 212, and the knee power mechanism 230 in the embodiments of this application can be understood as follows: for example, if the first power mechanism 211, the second power mechanism 212, and the knee power mechanism 230 are motors, then the output end can be the rotating part of the motor; or, for example, if the first power mechanism 211, the second power mechanism 212, and the knee power mechanism 230 are a motor and a reducer, then the output end is the torque output component of the reducer; or, for example, the output end can also include connecting components such as a connecting frame and a housing, as well as other transmission devices, such as gears and other transmission mechanisms. In specific embodiments, such as... Figure 3 As shown, the hip joint 213 connected to the second power mechanism 212 can also be regarded as the output end of the second power mechanism 212.

[0056] For example, in this embodiment of the present invention, the first holding member 410 is disposed at the input end of the first power mechanism 211. When the output end of the first power mechanism 211 rotates, the position of the first holding member 410 disposed on the first power mechanism 211 relative to the body 100 remains unchanged. For example, if the first power mechanism 211 is a motor, the first holding member 410 is disposed on the fixing part of the motor, the fixing part of the motor remains unchanged relative to the body 100, and the fixing part of the motor is connected to the body 100.

[0057] For example, in this embodiment of the present invention, the second holding member 420 is disposed at the input end or the output end of the knee power mechanism 230. When the second holding member 420 is disposed at the input end of the knee power mechanism 230, the output end of the knee power mechanism 230 can still rotate when the second holding member 420 is engaged with the first holding member 410. When the second holding member 420 is disposed at the output end of the knee power mechanism 230, the rotation of the output end of the knee power mechanism 230 relative to its input end is restricted or cannot be rotated when the second holding member 420 is engaged with the first holding member 410. For example, the knee power mechanism 230 is a motor, the input end includes a fixed part, and the output end includes a rotating part, or the output end includes a rotating part and a connecting arm. Understandably, the second retaining member 420, located at the output end of the knee power mechanism 230, can lock the leg assembly 202 with more degrees of freedom when the first retaining member 410 and the second retaining member 420 are engaged, compared to when it is located at the input end of the knee power mechanism 230.

[0058] For example, the extension direction of the output shaft of the first power mechanism 211 is at 90 degrees to the extension direction of the output shaft of the second power mechanism 212. For instance, the extension direction of the output shaft of the first power mechanism 211 is the roll direction, and the extension direction of the output shaft of the second power mechanism 212 is the pitch direction.

[0059] For example, the output shaft of the first power mechanism 211 extends in a direction that is substantially perpendicular to the sagittal plane, and the output shaft of the second power mechanism 212 extends in a direction that is substantially perpendicular to the coronal plane.

[0060] The following describes the degrees of freedom of Robot 1000 in its folded and unfolded states.

[0061] refer to Figure 7 , Figure 9 , Figure 13 , Figure 15 In the unfolded state, the leg assembly 202 has a greater degree of freedom of movement than in the retracted state. Therefore, in these embodiments, by adjusting the engagement of the first clamping member 410 and the second clamping member 420 of the clamping assembly 400, the robot 1000 can switch between the unfolded and retracted states. In the unfolded state, the leg assembly 202 has a higher degree of freedom, facilitating flexible movement; in the retracted state, the leg assembly 202 has a lower degree of freedom. Even after power is cut off in the retracted state, at least a portion of the leg assembly 202, such as the thigh unit 220, retains its pre-power-off state, facilitating retraction. This reduces the large-scale swinging of the leg assembly 202 during handling, making the robot 1000 easier to transport.

[0062] In some exemplary embodiments, such as Figure 7 and Figure 9As shown, the retracted state includes a first retracted state and a second retracted state. The degrees of freedom of the leg assembly 202 in the first retracted state are different from those in the second retracted state. For example, the degrees of freedom of the leg assembly 202 in the first retracted state are greater than those in the second retracted state. Therefore, when the leg assembly 202 switches to the second retracted state, more degrees of freedom can be restricted, allowing more parts of the leg assembly 202 to maintain their original posture after power failure, making it easier to retract, or making more parts of the leg assembly 202 less prone to large swinging after power failure, making it easier to handle or transport.

[0063] In some specific embodiments, such as Figure 3 and Figure 4 As shown, one of the first power mechanism 211 and the second power mechanism 212 is a lateral rolling power mechanism, and the other is a pitching power mechanism; the knee power mechanism 230 is a pitching power mechanism. (Reference) Figure 7 and Figure 13 In the first retracted state, the leg assembly 202 has limited freedom of movement along the pitch direction, meaning that at least one output end of the pitch power mechanism is restricted from rotating relative to its input end; Reference Figure 9 , Figure 15 In the second retracted state, the leg assembly 202 has limited freedom of movement in both the pitch and roll directions. Therefore, in these embodiments, in the first retracted state, after power failure, the leg assembly 202 of the robot 1000 cannot move in the pitch direction due to gravity and the clamping assembly 400. In the second retracted state, after power failure, the leg assembly 202 of the robot 1000 cannot move in either the pitch or roll directions due to gravity and the clamping assembly 400. This restricts the leg assembly 202 during transport, making it difficult for the robot 1000 in the second retracted state to swing back and forth.

[0064] The following describes the implementation schemes for the first power mechanism 211, the second power mechanism 212, and the knee power mechanism 230.

[0065] In an exemplary embodiment, reference is made to Figure 2 and Figure 3The first power mechanism 211 is a lateral rolling force mechanism, used to drive the thigh unit 220 to swing along the lateral rolling axis. In the retracted state, the lateral rolling angle of the thigh unit 220 along the lateral rolling axis is 0 degrees. The first clamping member 410 and the second clamping member 420 are engaged, so the thigh unit 220 with a lateral rolling angle of 0 degrees can achieve that the leg assembly 202 is approximately parallel to the sagittal plane of the robot 1000. Thus, the weight of the robot 1000's components along a direction approximately perpendicular to the cross section 1001 can be used to move the second clamping member 420 above the first clamping member 410 in the direction of gravity, where it will be clamped onto the surface of the first clamping member 410 under the action of gravity. In other embodiments, refer to Figure 4 The first power mechanism 211 is a pitch power mechanism, which is used to drive the thigh unit 220 to swing in the pitch direction. The second power mechanism 212 is a roll power mechanism, which is used to drive the thigh unit 220 to swing in the roll axis direction.

[0066] In an exemplary embodiment, in the retracted state, the angle formed by the line connecting the axis center of the knee power mechanism 230 and the axis center of the second power mechanism 212, and the line connecting the axis center of the second power mechanism 212 and the axis center of the first power mechanism 211, is a fixed angle. That is, in the retracted state, the relative distance between the three power mechanisms remains basically unchanged.

[0067] The structure of the leg assembly 202 and the implementation of the robot 1000 in the retracted and extended states are described below by way of example.

[0068] In some embodiments, reference Figure 1 , Figure 2 , Figure 3 The leg assembly 202 also includes a lower leg unit 240, which is connected to the output end of the knee power mechanism 230, as shown in the reference. Figure 7 and Figure 8As shown, the retracted state includes a first retracted state. In the first retracted state, the lower leg unit 240 is configured such that the angle formed by the lower leg unit 240 relative to the thigh unit 220 is a second limiting angle 241, and at least a portion of the lower leg unit 240 contacts the support surface 6000 to support the robot 1000. When the robot 1000 switches from the extended state to the first retracted state, the thigh unit 220 and / or the lower leg unit 240 are configured to be moved by human force, or to be moved by the thigh unit 220 driven by the second power mechanism 212 and / or the lower leg unit 240 driven by the knee power mechanism 230. In the direction of gravity, both the thigh unit 220 and the lower leg unit 240 are adjusted to their extreme positions. At this time, the angle between the lower leg unit 240 and the thigh unit 220 is the second limiting angle 241, and the thigh unit 220 is positioned relative to the cross section 1001. The angle is the first limiting angle 221. Before the second holding member 420 and the first holding member 410 are locked together, the second holding member 420 is lower in the direction of gravity than the first holding member 410. Under the drive of the thigh unit 220 and the knee power mechanism 230, the second holding member 420 moves closer to the first holding member 410 until the second holding member 420 moves above the first holding member 410 and locks together. Then, in the first retracted state, the first holding member 410 and the second holding member 420 are locked together along the direction of the sagittal plane of the robot 1000. In the first retracted state, when the robot 1000 is powered off, due to the locking action of the first holding member 410 and the second holding member 420, the output ends of the pitch power mechanisms in the first power mechanism 211 and the second power mechanism 212 will not rotate relative to their input ends under the action of gravity. At this time, the robot 1000 can remain stable in the current state (first retracted state) and will not tilt forward or backward because the pitch power mechanism is not working and does not generate torque. Since the output end of the knee power mechanism 230 is already locked at the limit position relative to the input end, and the lower leg unit 240 is also at the limit position relative to the thigh unit 220, in the first retracted state, the input and output ends of the pitch power mechanisms in the first power mechanism 211 and the second power mechanism 212, as well as the output and input ends of the knee power mechanism 230, remain relatively stable. Even if the robot 1000 is powered off or in hibernation at this time, the entire machine can still maintain a specific posture supported on the support surface 6000 in the first retracted state.

[0069] In a specific embodiment, regardless of whether the second holding member 420 is located at the input or output end of the knee power mechanism 230, in the first retracted state, the robot 1000 is stabilized by the holding action of the holding component 400 and the force of gravity. Due to the limiting effect of gravity and the holding component 400, the thigh unit 220 and the lower leg unit 240 cannot move downwards relative to the first power mechanism 211, and the robot 1000 will not tilt forward, backward, or sideways. The leg component 202 maintains a stable posture relative to the support surface 6000.

[0070] For example, the support surface 6000 can be the ground, the motion surface of the robot 1000 when it is in the unfolded state, the inner surface of the cabin used to house the robot 1000, etc., as long as it can support the robot 1000.

[0071] In some embodiments, the first limiting angle 221 is the minimum angle at which the thigh unit 220 does not interfere with or collide with the first power mechanism 211; and / or, the second limiting angle 241 is the minimum angle at which the lower leg unit 240 does not interfere with or collide with the thigh unit 220, that is, the angle formed between the lower leg unit 240 and the thigh unit 220 when they are closest together. When the robot 1000 is in the first retracted state, the entire robot 1000 can remain in this specific state.

[0072] In some embodiments, reference Figure 9 , Figure 10 and Figure 15 The retracted state includes a second retracted state. In the second retracted state, when the end of the lower leg unit 240 away from the knee power mechanism 230 is separated from the support surface 6000, the lower leg unit 240 is configured to swing under the action of gravity. The angle formed by the lower leg unit 240 relative to the thigh unit 220 is a third limiting angle 242. (Reference) Figure 7 and Figure 9 The third limiting angle 242 is greater than the second limiting angle 241. In these embodiments, the second retracted state enables the thigh unit 220 to be at the first limiting angle 221 relative to the cross section 1001, and the lower leg unit 240 to form the third limiting angle 242 relative to the thigh unit 220. That is to say, the angle formed between the lower leg unit 240 and the thigh unit 220 is different in the second retracted state and the first retracted state, but the lower leg unit 240 can maintain its position relative to the first power mechanism 211. In the second retracted state, since the robot 1000 is no longer supported by the supporting force, but is lifted by the user's hand or transport device, the robot 1000 is suspended, and the leg assembly 202 is separated from the supporting surface 6000. Therefore, in the second retracted state, the lower leg unit 240 is no longer squeezed by the supporting surface 6000.

[0073] For example, refer to Figure 2 and Figure 3 The first power mechanism 211 is a lateral rolling power mechanism, which is used to drive the thigh unit 220 to swing along the lateral rolling axis; the second power mechanism 212 and the knee power mechanism 230 are pitch power mechanisms, the second power mechanism 212 is used to drive the thigh unit 220 to swing along the pitch axis, and the knee power mechanism 230 is used to drive the lower leg unit 240 to swing along the pitch axis. Before power is cut off and the leg assembly is retracted, the first power mechanism 211 is rotated, which drives the second power mechanism 212, thigh unit 220, knee power mechanism 230, and lower leg unit 240 to have an angle of approximately 0 degrees relative to the sagittal plane and an angle of approximately 90 degrees relative to the cross section 1001. This allows the leg assembly 202 to be more stably supported on the support surface 6000. It also ensures that when the second power mechanism 212 and knee power mechanism 230 output pitch force, the range of motion of the leg assembly 202 is controlled within a certain range. The thigh unit 220 and the first power mechanism 211 are less likely to interfere or collide. The movement of the second power mechanism 212 can quickly adjust the angle between the thigh unit 220 and the cross section 1001 to the first limit angle 221. The movement of the knee power mechanism 230 can also quickly adjust the angle between the lower leg unit 240 and the thigh unit 220 to the second limit angle 241.

[0074] In a specific embodiment, the second holding member 420 is disposed at the input end of the knee power mechanism 230. In the second retracted state, the lower leg unit 240 can rotate relative to the input end of the knee power mechanism 230 under its own gravity, causing the lower leg unit 240 to droop under gravity. By adjusting the suspension posture of the robot 1000, the lower leg unit 240 swings down to the maximum angle of the holding state relative to the thigh unit 220, and then stops swinging down further; or in the robot 1000 If the lower leg unit 240 is only suspended and has not swung down to the maximum angle of the holding state, then the lower leg unit 240 will swing within a certain range. Regardless of the suspension posture of the robot 1000, the thigh unit 220 can be kept at the first limit angle 221 relative to the cross section 1001 by the locking action of the holding component 400. The degree of freedom of movement of at least one of the first power mechanism 211 and the second power mechanism 212 that controls the rotation of the thigh unit 220 is locked, and the lower leg unit 240 can also not swing or swing slightly and is not likely to collide with the thigh unit 220.

[0075] In another specific embodiment, the second holding member 420 is provided at the output end of the knee power mechanism 230. In the second retracted state, even if the lower leg unit 240 is deflected to a certain extent by gravity, it can still swing relative to the thigh unit 220 to the angle of the minimum angle deflection from the holding state through the holding cooperation of the second holding member 420 and the first holding member 410. This causes the angle between the thigh unit 220 and the lower leg unit 240 to deflect from the second limiting angle 241 to the third limiting angle 242 and be further limited by the holding component 400. This keeps the lower leg unit 240 relative to the thigh unit 220 at the third limiting angle 242, so that in the second retracted state, the positions of the thigh unit 220 and the lower leg unit 240 relative to the body 100 remain unchanged. In these embodiments, the third limiting angle 242 is determined by the holding position and / or holding form of the holding component 400.

[0076] The following describes how the output ends of the first power mechanism 211, the second power mechanism 212, and the knee power mechanism 230 achieve limit angles relative to their input ends.

[0077] In some embodiments, the second power mechanism 212 includes a first fixed part, a first movable part, and a first limiting part. The first movable part is rotatable relative to the first fixed part, and the first limiting part is connected to the first fixed part or the first movable part to limit the rotation angle of the first movable part relative to the first fixed part. Thus, by stopping the first movable part between two relatively rotating components, the first movable part can reach its limit angle relative to the first fixed part. For example, the first limiting part is a protrusion, located on the first fixed part, and the first movable part is provided with a limiting groove 423 that mates with the first limiting part. The limiting groove 423 extends along the movement trajectory of the protrusion, thereby... When the protrusion moves to both ends of the limiting groove 423, it limits the rotation angle range of the first fixed part and the first movable part, as well as the maximum and minimum angles of the thigh unit 220 relative to the cross section 1001; or the first limiting part is a protrusion, the first limiting part is provided in the first fixed part, and the first movable part is provided with another protrusion. When the protrusion abuts against the protrusion, it limits the extreme angles of the first fixed part and the first movable part. When two first limiting parts are provided, the range of angles that can move between the first fixed part and the first movable part can be limited, which also limits the range of movement of the thigh unit 220 in the pitch direction; and / or, such as Figure 11As shown, the knee power mechanism 230 includes a second fixed part 231, a second movable part 232, and a second limiting part 233. The second movable part 232 is rotatable relative to the second fixed part 231. The second limiting part 233 is connected to either the second fixed part 231 or the second movable part 232 to limit the rotation angle of the second movable part 232 relative to the second fixed part 231. Here, the second limiting part 233 abuts between the two relatively rotating components, allowing the second movable part 232 to reach its limit angle relative to the second fixed part 231, thereby further limiting the range of motion of the lower leg unit 240 in the pitch direction. Provided the solutions are not contradictory, the specific structural form of the second limiting part 233 can refer to the solution of the first limiting part, and will not be elaborated here. In a specific embodiment, the second limiting part 233 includes two spaced apart, and the two second limiting parts 233 are respectively connected to the second fixed part 231. The second movable part 232 is provided with an arc-shaped limiting groove 423. The second fixed part 231 abuts against the end of the limiting groove 423, thereby reaching the limit position that the lower leg unit 240 can reach.

[0078] In other embodiments, the first power mechanism 211 includes a third fixed part, a third movable part, and a third limiting part. The third movable part is rotatable relative to the third fixed part, and the third limiting part is connected to the third fixed part or the third movable part to limit the rotation angle of the third movable part relative to the third fixed part. By providing the third limiting part, a rotation limiting angle between two relatively moving components can be achieved. When the first power mechanism 211 is a lateral swing force mechanism, the lateral swing angle of the thigh unit 220 and the lower leg unit 240 driven by the first power mechanism 211 relative to the sagittal plane can also be limited.

[0079] The specific structural forms of the first retaining member 410 and the second retaining member 420, as well as the implementation methods of retaining and disengaging, are described below by way of example.

[0080] In some embodiments, combined with Figure 2 , Figure 3 , Figure 6 , Figure 8 , Figure 10 , Figure 12As shown, the first holding member 410 includes a slot 411, and the second holding member 420 includes a buckle 421 and an elastic member 422. The buckle 421 is rotatably connected to the knee power mechanism 230, and the elastic member 422 connects the buckle 421 and the knee power mechanism 230. The robot 1000 has a retracted state and an extended state. In the retracted state, the buckle 421 is engaged with the slot 411, and the force generated by the elastic member 422 can be used to drive the buckle 421 to remain in the slot 411. In the extended state, the buckle 421 is separated from the slot 411. In these embodiments, by providing the elastic element 422, the buckle 421 can form a certain elastic retaining force when it is engaged with the slot 411, making the buckle 421 and the slot 411 fit more tightly, or making the buckle 421 less likely to detach from the slot 411; by providing the elastic element 422, the buckle 421 and the slot 411 can also have a certain amount of engagement redundancy during the engagement process, forming a more flexible contact engagement, effectively preventing the buckle 421 and / or the slot 411 from breaking upon impact. For example, refer to... Figure 12 The elastic element 422 is a torsion spring. The buckle 421 is rotatably connected to the knee power mechanism 230 via a rotating shaft 424. The torsion spring is sleeved on the rotating shaft 424. One end of the torsion spring is connected to the knee power mechanism 230, and the other end of the torsion spring is connected to the buckle 421. When the torsion spring is not subjected to torsional force, it can keep the buckle 421 in a specific posture relative to the knee power mechanism 230. For example, by setting the torsion spring, the buckle 421 can be set in a direction that facilitates engagement with the slot 411. When the torsion spring is subjected to torque, the torsion spring can generate a certain elastic restoring force, thereby driving the buckle 421 to move towards the initial position. For example, the elastic element 422 is a spring, with one end connected to the buckle 421 and the other end connected to the knee power mechanism 230. When the spring is at its free extension length, the buckle 421 is in a specific posture and position relative to the knee power mechanism 230. When the spring is stretched, it generates a certain elastic restoring force, which can drive the buckle 421 to move towards the initial position. In a specific embodiment, when the slot 411 abuts against the buckle 421, the elastic element 422 deforms, giving it an elastic restoring force. This force can drive the buckle 421 to move towards the initial position. When the slot 411 is on one side of the initial position, the elastic element 422 can make the buckle 421 close tightly towards the slot 411.

[0081] In some embodiments, reference Figure 6The slot 411 has a first guide surface 4111, and the buckle 421 has a second guide surface 4211. During the movement of the thigh unit 220, which drives the knee power mechanism 230 to move closer to the first power mechanism 211, the first guide surface 4111 and the second guide surface 4211 slide into each other, so that the buckle 421 slides into the slot 411. In these embodiments, the sliding guide engagement of the first guide surface 4111 and the second guide surface 4211 allows the buckle 421 to move more smoothly relative to the slot 411 and to enter the engagement part of the slot 411 at the end of the guide engagement. For example, in a specific embodiment, when the first guide surface 4111 and the second guide surface 4211 are in contact, they can push the buckle 421 to rotate counterclockwise, making it easier for the buckling end 4212 of the buckle 421 to face the engagement part with the slot 411. For example, both the first guide surface 4111 and the second guide surface 4211 are inclined surfaces, which form an acute angle with the sagittal plane. The inclined surface formed by the first guide surface 4111 extends upward at an angle away from the first power mechanism 211. The second guide surface 4211 is arranged parallel to the first guide surface 4111, which is conducive to the first guide surface 4111 and the second guide surface 4211 fitting together and forming a stable guide. It also enables the slot 411 to guide the buckle 421 upward, so that the buckle 421 can rotate counterclockwise.

[0082] In some embodiments, reference Figure 6 , Figure 8 , Figure 10 , Figures 12 to 16 The second holding member 420 also includes a limiting groove 423, which is located at the output end of the knee power mechanism 230. The buckle 421 is rotatably connected to the limiting groove 423, and the snapping end 4212 of the buckle 421 extends outward from the limiting groove 423. The limiting groove 423 is used to limit the maximum angle of the buckle 421's swing. By setting the limiting groove 423, the buckle 421 can swing within a limited angle under the action of external force, such as the action of the buckle 421 abutting against the slot 411, instead of swinging at a large angle, thus improving the efficiency of the engagement between the slot 411 and the buckle 421. It also makes it less likely for the buckle 421 to disengage from the slot 411 under small swings after the buckle 421 reaches the abutment limiting engagement, thus improving the stability of the buckle 421 and the slot 411 after engagement. For example, in the first retracted state, the buckle 421 abuts against the groove wall of the limiting groove 423 near the groove 411, or the buckle 421 and the limiting groove 423 are in clearance fit; in the second retracted state, the buckle 4212 of the buckle 421 abuts against the groove wall of the limiting groove 423 away from the groove 411.

[0083] In an embodiment where the leg assembly 202 includes a lower leg unit 240 connected to the output of the knee power mechanism 230, and the retracted state includes a first retracted state and a second retracted state, refer to... Figure 7 and Figure 8 In the first retracted state, the engaging end 4212 of the latch 421 is spaced apart from the limiting wall of the limiting groove 423, and the engaging end 4212 engages with the groove 411. At least a portion of the lower leg unit 240 is used to contact the support surface 6000 to support the robot 1000. The angle between the lower leg unit 240 and the thigh unit 220 is the second limiting angle 241. (Reference) Figure 9 and Figure 10 The lower leg unit 240 is spaced from the supporting surface 6000. The angle between the lower leg unit 240 and the thigh unit 220 is the third limiting angle 242. The engaging end 4212 of the buckle 421 abuts against the groove wall of the limiting groove 423, and the buckle 421 engages with the groove 411. In a specific embodiment, refer to... Figure 12 , Figure 14 and Figure 16 The limiting groove 423 includes a first limiting wall 4231 and a second limiting wall 4232 arranged opposite to each other. An elastic element 422 drives the buckle 421 to rotate towards the second limiting wall 4232. In the first retracted state, the engaging end 4212 of the buckle 421 is spaced apart from the first limiting wall 4231, and the buckle 421 engages with the slot 411. In the second retracted state, the engaging end 4212 of the buckle 421 abuts against the first limiting wall 4231, and the buckle 421 engages with the slot 411. Therefore, in both the first and second retracted states, the buckle 421 can maintain an engaging engagement with the slot 411.

[0084] In some embodiments, in the first retracted state and the second retracted state, the first retaining member 410 and the second retaining member 420 have different retaining positions and different degrees of retaining engagement. For example, the different retaining positions may be due to the second retaining member 420 using different retaining engagement points relative to the first retaining member 410. The different degrees of retaining engagement may be due to different sizes of the retaining contact surfaces of the second retaining member 420 relative to the first retaining member 410, or different numbers of components engaged in the retaining engagement of the second retaining member 420 relative to the first retaining member 410.

[0085] In an exemplary embodiment, reference is made to Figure 12 , Figure 14 and Figure 16The limiting groove 423 facing the slot 411 also has a mating part 4233. In the second retracted state, at least a portion of the slot 411 is limited by the mating part 4233. In these embodiments, by the engagement of the buckle 421 and the slot 411, the slot 411 and the mating part 4233 do not engage, thus locking some degrees of freedom of the robot 1000 in the first retracted state. For example, under the action of gravity and the clamping component 400, the pitch direction degree of freedom of the robot 1000 is locked. By the engagement of the buckle 421 and the slot 411, the limiting groove 423 abuts against the buckle 421, and the slot 411 engages with the mating part 4233, thus forming a multiple engagement between the first clamping member 410 and the second clamping member 420.

[0086] In a specific embodiment, the mating part 4233 has a first groove with its opening facing the coronal plane and a second groove with its opening facing the cross section 1001. The first groove and the second groove are connected to facilitate the insertion of the slot 411 into the mating part 4233 in a direction approximately perpendicular to the coronal plane and in a direction approximately perpendicular to the cross section 1001. The mating part 4233 is not open in a direction parallel to the sagittal plane. After the slot 411 and the mating part 4233 are mated, when the first power mechanism 211 is a lateral rolling force mechanism, the knee power mechanism 230 will not move left or right in a direction approximately perpendicular to the sagittal plane. This means that when the user is handling the robot 1000, under the action of the robot 1000's gravity, the leg assembly 202 is kept in a specific position relative to the body 100 in both the pitch and roll directions. The leg assembly 202 will not sway back and forth, so that the posture of the leg assembly 202 is fixed during the handling process of the robot 1000. When the robot 1000 in its second retracted state is placed on the support surface 6000, and the leg assembly 202 contacts the support surface 6000, the slot 411 can disengage from the mating part 4233 under its own weight, but the latch 421 still engages with the slot 411, thereby achieving a switch from the second retracted state to the first retracted state. When the robot is in the second retracted state and the knee power mechanism 230 is powered on, the output end of the knee power mechanism 230 can move, causing the slot 411 in the mating part 4233 to disengage, but the latch 421 still engages with the slot 411, thereby also achieving a switch from the second retracted state to the first retracted state.

[0087] In some embodiments, reference Figure 2 The robot 1000 includes two sets of leg components 202 symmetrically arranged relative to the body 100, combined with Figure 3 , Figure 5 , Figures 13 to 15 As shown, each leg assembly 202 has a first power mechanism 211 with a first retaining member 410, and each knee power mechanism 230 has a second retaining member 420, in combination with... Figure 13 , Figure 14 , Figure 15 and Figure 16 As shown, the slots 411 of the two first retaining members 410 have a stop portion 412 on the side facing away from each other, and the slots 411 of the two first retaining members 410 have a notch 4112 on the side facing each other; or the slots 411 of the two first retaining members 410 have a stop portion 412 on the side facing each other, and the slots 411 of the two first retaining members 410 have a notch 4112 on the side facing away from each other. The two first power mechanisms 211 respectively drive the thigh unit 220 connected to them to perform a lateral movement, so that the buckles 421 slide away from the slots 411 in the direction away from the stop portion 412, that is, so that the buckles 421 slide away from the slots 411 on the side of the notch 4112. In these embodiments, by providing stop portions 412 and notches 4112 on the opposite walls of the slots 411 of the two leg assemblies 202, when the robot 1000 is in the first retracted state, if the robot 1000 has a tilting posture approximately perpendicular to the stop portion 412 under the action of gravity, for example, a tendency to tilt to the left or to the right, the stop portion 412 can stop the buckle 421, preventing the robot 1000 from continuing to tilt in a direction approximately perpendicular to the stop portion 412. For example, when the robot 1000 is closed or in sleep mode, each power unit... When the power is cut off and the robot 1000 tends to tilt to the left, the stop part 412 located on the left side of the slot 411 can abut against the buckle 421, thereby effectively preventing the robot 1000 from tilting to the left and preventing the robot 1000 from continuously tilting to the left and falling over; or, for example, when the robot 1000 tends to tilt to the right, the stop part 412 located on the right side of the slot 411 can abut against the buckle 421, thereby effectively preventing the robot 1000 from tilting to the right and preventing the robot 1000 from continuously tilting to the right and falling over, so that the entire robot 1000 can stand stably on the support surface 6000 in a certain posture.

[0088] In an exemplary embodiment, the first power mechanism 211 is a rolling power mechanism, which drives the thigh unit 220 to swing along the rolling axis; the second power mechanism 212 and the knee power mechanism 230 are pitch power mechanisms, which drive the thigh unit 220 to swing along the pitch axis, and the knee power mechanism 230 drives the lower leg unit 240 to swing along the pitch axis. In the first retracted state, the two first power mechanisms 211 respectively drive the thigh unit 220 to adjust the yaw angle along the rolling direction. At 0 degrees, the leg assembly 202 is approximately parallel to the sagittal plane of the robot 1000. At this time, the second holding members 420 of the two leg assemblies 202 are approximately symmetrical with respect to the sagittal plane, and the first holding member 410 and the second holding member 420 on the same side are aligned along the direction of the sagittal plane of the robot 1000. When it is necessary to switch from the first retracted state to the extended state, the two first power mechanisms 211 respectively drive other parts of the leg assembly 202 to move simultaneously away from their respective stop portions 412, that is, towards the notch 4112. For example, refer to... Figure 13 The two first retaining members 410 have a stop portion 412 on the side of their slots 411 facing each other and a notch 4112 on the side away from each other. At this time, the two first power mechanisms 211 control the leg assembly 202 on the same side to swing outward laterally. The knee power mechanism 230 moves relative to the first power mechanism 211 in a direction away from the sagittal plane, and causes the second retaining member 420 to slide away from the stop portion 412 and closer to the notch 4112 until it slides off the first retaining member 410 and disengages.

[0089] In a specific embodiment, the two slots 411 have notches 4112 on their opposite sides, and the height of the slot walls of the two slots 411 facing each other is greater than or equal to the thickness of the fastening end 4212 of the buckle 421 to form a stop portion 412; or, the two slots 411 have notches 4112 on their opposite sides, and the height of the slot walls of the two slots 411 facing each other is greater than or equal to the thickness of the fastening end 4212 of the buckle 421 to form a stop portion 412.

[0090] In some embodiments, the holding direction of the slot 411 and the latch 421 is different from the sliding direction of the latch 421 relative to the notch 4112. This allows the first holding member 410 and the second holding member 420 of the holding assembly 400 to engage and disengage in different ways, improving the stability of the robot 1000 in the holding direction and enhancing its flexibility when disengaging in the sliding direction. For example, the holding direction forms an angle with the sliding direction; for instance, the holding direction is approximately along a direction perpendicular to the cross-section 1001 of the robot 1000, and the sliding direction of the latch 421 relative to the notch 4112 is approximately along a direction perpendicular to the sagittal plane of the robot 1000. Alternatively, the holding direction is approximately along the yaw axis of the robot 1000, and the sliding direction is approximately along the pitch axis of the robot 1000.

[0091] It is understood that the robot 1000 in this application embodiment does not require an additional electric braking mechanism. By utilizing the structural characteristics of the leg assembly 202 and through the first clamping member 410 and the second clamping member 420, that is, the clamping of the slot 411 of the first clamping member 410 and the buckle 421, the movement of the thigh unit 220 is limited, which reduces the degree of freedom of at least one power mechanism of the leg assembly 202. The structure is simple and the cost is low.

[0092] In some embodiments of this application, the robot 1000 is lifted away from the support surface 6000, and the gravity of the robot 1000 can be used to achieve secondary clamping of the first clamping member 410 and the second clamping member 420 in the power-off state. That is, the groove 411 of the first clamping member 410 is clamped with the buckle 421, and the groove 411 of the first clamping member 410 is clamped with the mating part 4233 of the second clamping member 420.

[0093] In some embodiments of this application, the switching from secondary clamping of the clamping component 400 to primary clamping can be achieved by placing the robot 1000 on the support surface 6000 using gravity, or by moving the knee power mechanism 230 to change the angle between the thigh unit 220 and the calf unit 240 to the second limiting angle 241.

[0094] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A robot, characterized in that, include: body; Leg components, including: The hip power assembly includes: a first power mechanism and a second power mechanism, wherein the first power mechanism is connected to the body, the output end of the first power mechanism is connected to the second power mechanism, and the extension direction of the output shaft of the first power mechanism forms an angle with the extension direction of the output shaft of the second power mechanism; A thigh unit, one end of which is connected to the output end of the second power mechanism, wherein the direction in which the thigh unit is driven to swing by the first power mechanism is different from the direction in which the thigh unit is driven to swing by the second power mechanism; The knee power mechanism is located at the other end of the thigh unit; Card holding components, including: The first card holder is located on the first power mechanism; The second holding member is provided in the knee power mechanism; The robot has a retracted state and an extended state. In the retracted state, the angle of the thigh unit relative to the cross-section of the robot is a first limiting angle, and the second clamping member is engaged with the first clamping member. In the extended state, the second clamping member is disengaged from the first clamping member, and the thigh unit can move relative to the robot body.

2. The robot as described in claim 1, characterized in that, The leg assembly has fewer degrees of freedom in the retracted state than in the extended state; and / or, the retracted state includes a first retracted state and a second retracted state, wherein the leg assembly has more degrees of freedom in the first retracted state than in the second retracted state.

3. The robot as described in claim 1, characterized in that, The first power mechanism is used to drive the thigh unit to swing along the roll axis direction, and the second power mechanism is used to drive the thigh unit to swing along the pitch axis direction; In the retracted state, the thigh unit has a roll angle of 0 degrees along the roll axis.

4. The robot as described in claim 3, characterized in that, The leg assembly further includes a lower leg unit connected to the output end of the knee power mechanism; the retracted state includes a first retracted state, in which the lower leg unit is configured such that the angle formed by the lower leg unit relative to the thigh unit is a second limiting angle, and at least a portion of the lower leg unit is used to contact a support surface to support the robot.

5. The robot as described in claim 4, characterized in that, The first limiting angle is the minimum angle at which the thigh unit does not interfere with or collide with the first power mechanism; and / or, The second limiting angle is the minimum angle at which the lower leg unit does not interfere with or collide with the thigh unit.

6. The robot as described in claim 4, characterized in that, The retracted state includes a second retracted state. In the second retracted state, when the end of the lower leg unit away from the knee power mechanism is separated from the support surface, the lower leg unit is configured such that, under the action of gravity, the angle formed by the lower leg unit relative to the thigh unit is a third limiting angle, which is greater than the second limiting angle.

7. The robot as described in claim 4, characterized in that, The second power mechanism includes a first fixed part, a first movable part, and a first limiting part. The first movable part is rotatable relative to the first fixed part, and the first limiting part is connected to the first fixed part or the first movable part to limit the rotation angle of the first movable part relative to the first fixed part. And / or, The knee power mechanism includes a second fixed part, a second movable part, and a second limiting part. The second movable part is rotatable relative to the second fixed part, and the second limiting part is connected to the second fixed part or the second movable part to limit the rotation angle of the second movable part relative to the second fixed part.

8. The robot as described in any one of claims 1 to 7, characterized in that, The first retaining member includes a retaining groove, and the second retaining member includes a buckle and an elastic member. The buckle is rotatably connected to the knee power mechanism, and the elastic member connects the buckle and the knee power mechanism. In the retracted state, the buckle engages with the slot, and the force generated by the elastic element drives the buckle to remain in the slot; in the unfolded state, the buckle disengages from the slot.

9. The robot as described in claim 8, characterized in that, The slot has a first guide surface, and the buckle has a second guide surface. During the process of the thigh unit moving and driving the knee power mechanism to move closer to the first power mechanism, the first guide surface and the second guide surface slide together so that the buckle slides into the slot.

10. The robot as described in claim 8, characterized in that, The second retaining member further includes a limiting groove, which is located at the output end of the knee power mechanism. The buckle is rotatably connected to the limiting groove, and the buckle's engaging end extends out from the limiting groove. The limiting groove is used to limit the maximum angle of the buckle's swing.

11. The robot as claimed in claim 10, characterized in that, The leg assembly includes a lower leg unit connected to the output end of the knee power mechanism. The retracted state includes a first retracted state and a second retracted state. In the first retracted state, the latching end of the buckle is spaced apart from the limiting wall of the limiting groove, and the latching end is latched to the groove. At least a portion of the lower leg unit is used to contact the support surface to support the robot. The angle between the lower leg unit and the thigh unit is a second limiting angle. In the second retracted state, the lower leg unit is spaced apart from the support surface, the angle between the lower leg unit and the thigh unit is the third limiting angle, the buckle's engaging end abuts against the wall of the limiting groove, and the buckle engages with the groove.

12. The robot as claimed in claim 11, characterized in that, The limiting groove is further provided with a mating part on the side facing the card slot. In the second retracted state, at least a portion of the card slot is limited by the mating part.

13. The robot as described in claim 8, characterized in that, The robot includes two sets of leg components symmetrically arranged relative to the body. Each leg component has a first power mechanism with a first holding member and each knee power mechanism with a second holding member. The two first holding members have notches on the side of their slots facing away from each other or on the side of their slots facing each other. The two first power mechanisms respectively drive the thigh unit connected to them to perform a lateral movement so that the buckles slide out of the slots in the direction of the notches.

14. The robot as described in claim 13, characterized in that, The engaging direction of the slot and the buckle is different from the sliding direction of the buckle relative to the notch; and / or, The sliding direction of the buckle relative to the notch is perpendicular to the sagittal plane of the robot, and the holding direction of the buckle and the slot is perpendicular to the cross-section of the robot.

15. The robot as described in claim 13, characterized in that, The two slots have notches on their opposite sides, and the height of the facing walls of the two slots is greater than or equal to the thickness of the engaging end of the buckle to form a stop portion; or, The two slots have notches on their sides facing each other, and the height of the two slots away from each other's slot walls is greater than or equal to the thickness of the buckle's engaging end to form a stop portion.

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