Quadruped robot

Abstract

The utility model provides a kind of quadruped robot, including fuselage subassembly, perception component and leg subassembly.Fuselage subassembly includes fuselage main body and connecting component, and the battery compartment is formed in fuselage main body, and cavity structure is formed in connecting component.Perception component includes protective shell, vision module and radar module.Leg subassembly is connected with connecting component, and leg subassembly includes shank component, thigh component, joint connecting piece, first joint actuator, second joint actuator and third joint actuator, and the central axis of first joint actuator is parallel to second direction, and the central axis of second joint actuator and third joint actuator is parallel to each other, and perpendicular to the central axis of first joint actuator.The utility model's fuselage subassembly adopts lightweight design, and reduce the weight of fuselage subassembly as a whole.Perception component adopts integrated design, and improve the integration of perception component.Leg subassembly disperses the configuration of joint actuator, and balances the weight distribution of leg subassembly.

Description

Technical Field

[0001] This utility model belongs to the field of legged robot technology, specifically relating to a quadruped robot. Background Technology

[0002] As an important branch of the field of mobile robots, quadruped robots have shown broad application prospects in fields such as complex environment exploration, rescue, and logistics transportation due to their excellent terrain adaptability.

[0003] The structural layout of a quadruped robot directly determines its motion performance, load capacity, and functional integration. However, the structural layout of the body components, sensing components, and leg components of existing quadruped robots still has the following defects, which seriously restrict the performance improvement of quadruped robots.

[0004] 1. The body components are usually made of heavy metal shells, and a large number of components such as batteries and sensors are integrated inside, resulting in a large weight of the body components and difficulty in assembly, which seriously affects the battery life and mobility of the quadruped robot.

[0005] 2. The numerous components of the sensing module are independently assembled on the body module, making the assembly steps of the sensing module and the body module cumbersome and severely restricting the overall assembly efficiency of the quadruped robot.

[0006] 3. The multiple joint actuators of the leg assembly are concentrated at the connection between the leg assembly and the body assembly. This not only increases the rotational inertia of the leg assembly, which restricts the dynamic response characteristics, high-speed running and agile obstacle avoidance capabilities of the quadruped robot, but also occupies the installation space of sensors and other components on the body assembly, thus restricting the innovation of the quadruped robot in terms of structural layout.

[0007] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0008] The purpose of this invention is to provide a quadruped robot that solves the problem of unreasonable structural layout in existing quadruped robots.

[0009] To achieve the above objectives, a specific embodiment of this utility model provides a quadruped robot, which includes a body assembly, a sensing assembly, and a leg assembly. The body assembly includes a main body and connecting members, which are constructed as a frame structure. The connecting members are connected to both sides of the main body along a second direction. The sensing assembly is connected to the body assembly along the second direction and includes a protective shell, and a vision module and a radar module disposed within the protective shell. The leg assembly is connected to the connecting members and includes a lower leg component, a thigh component, a joint connector located on the side of the thigh component away from the lower leg component, a first joint actuator connecting the connecting member and the joint connector, a second joint actuator connecting the thigh component and the joint connector, and a third joint actuator connecting the lower leg component and the thigh component. The central axis of the first joint actuator is parallel to the second direction, and the central axes of the second and third joint actuators are parallel to each other and perpendicular to the central axis of the first joint actuator.

[0010] In one or more embodiments of this utility model, a battery compartment is formed inside the main body of the fuselage, extending through the main body in a first direction. The opening of the battery compartment faces the side of the main body, facilitating the insertion and removal of the battery module inside the battery compartment, and the fact that the battery compartment extends through the main body can reduce the weight of the main body.

[0011] In one or more embodiments of this utility model, one or more cavity structures are formed within the connecting member, extending through it in a second direction. The extending direction of the cavity structure can avoid forming a large-area opening at the connection between the connecting member and the leg assembly, reducing the difficulty of connecting the connecting member and the leg assembly.

[0012] In one or more embodiments of this utility model, a second compartment space is formed inside the fuselage body, arranged on both sides along a second direction. Openings are formed on the outer surfaces of both sides of the fuselage body in the second direction. One end of a connecting member is inserted into the opening. A first hole structure is formed on the fuselage body, extending from its outer surface to the opening. A third hole structure corresponding to the first hole structure is formed on the connecting member. The first hole structure and the third hole structure are fixedly connected by bolts. The second compartment space can reduce the heat transfer efficiency between the battery compartment and components outside the fuselage body. The fuselage body and the connecting member form an interlocking relationship in a local area, which can serve as an assembly positioning function, improving assembly accuracy and simplifying the assembly process. The connection between the fuselage body and the connecting member forms a mortise and tenon interlocking structure, improving the rigidity and torsional resistance of the connection and reducing displacement and swaying of the connecting member under stress.

[0013] In one or more embodiments of this utility model, the connecting member includes two plate structures spaced apart along a first direction. The fuselage body includes a connecting portion extending between the two plate structures. A second hole structure is formed on the connecting portion, which is disposed through the first direction. A fourth hole structure corresponding to the second hole structure is formed on the plate structure. The second hole structure and the fourth hole structure are fixedly connected by bolts. The connection between the connecting portion and the plate structure can further improve the connection stability between the fuselage body and the connecting member.

[0014] In one or more embodiments of this utility model, a mounting space for mounting an actuator of the leg assembly is formed on the connecting member. A lateral opening in the mounting space in a first direction allows the actuator to enter the mounting space. The connecting member also includes a wiring groove for accommodating the wiring harness of the leg assembly. The wiring groove communicates with the mounting space and is located on the side away from the lateral opening of the mounting space. The mounting space and lateral opening enable lateral assembly of the actuator, allowing for precise positioning and support of the actuator, thus improving the stability and overall rigidity of the leg assembly. The wiring groove can fix part of the actuator's wiring harness inside the connecting member, preventing interference between the actuator's wiring harness and other components.

[0015] In one or more embodiments of this utility model, the sensing component further includes a protective cover surrounding the radar module. The protective cover includes two spherical crown structures located outside the protective shell, with a first light-transmitting port exposing the radar module formed between the two spherical crown structures, and one or more second light-transmitting ports formed on the spherical crown structures. The protective cover can protect the lidar, and the first and second light-transmitting ports can expose the transmitting end of the lidar, preventing the protective cover from affecting the lidar's sensing capability.

[0016] In one or more embodiments of this utility model, the sensing component further includes a protective beam. The protective beam comprises two horizontal beam segments located on both sides of the protective shell and extending towards the front of the protective shell, vertical beam segments corresponding to the two horizontal beam segments and extending upwards, and a crossbeam segment connected to the top of the two vertical beam segments. The protective beam is a multi-dimensional three-dimensional protective structure that can resist collisions and impacts from all directions, providing all-round protection for the sensing component.

[0017] In one or more embodiments of this invention, the protective shell has openings for exposing the vision module and the radar module. These openings expose the vision module and the radar module, preventing the protective shell from obstructing them and affecting the sensing performance of the sensing components.

[0018] In one or more embodiments of this invention, two sensing components are provided and connected one-to-one with two connecting members. The two sensing components can expand the sensing range of the sensing components, eliminate the sensing blind spot at the rear of the robot, and achieve 360° omnidirectional sensing.

[0019] In one or more embodiments of this utility model, the joint connector includes a first connecting arm and a second connecting arm connected vertically. The fixing part of the first joint actuator is fixedly connected to the connecting arm, the rotating part of the first joint actuator is fixedly connected to the first connecting arm, the fixing part of the second joint actuator is fixedly connected to the thigh component, and the rotating part of the second joint actuator is fixedly connected to the second connecting arm. The joint connector adopts a lightweight design, rather than being constructed as a relatively heavy block structure, which can reduce the weight of the leg component.

[0020] In one or more embodiments of this utility model, the end of the first connecting arm is connected to the end of the second connecting arm, the rotating part of the first joint actuator is fixedly connected to the side of the first connecting arm away from the second connecting arm, and the rotating part of the second joint actuator is fixedly connected to the side of the second connecting arm away from the first connecting arm. The joint connector is generally constructed in an L-shape, which can further simplify the structure of the joint connector, avoid interference between the joint connector and other components, and further reduce the weight of the leg assembly.

[0021] In one or more embodiments of this utility model, the joint connector further includes two first limiting blocks disposed on the outer periphery of the first connecting arm and spaced apart. The first joint actuator includes a second limiting block disposed on its fixed portion. In the circumferential direction of the first joint actuator, the second limiting block is located between the two first limiting blocks to limit the rotational angle of the joint connector. The first limiting block and the second limiting block cooperate with each other to limit the rotational angle of the joint connector, preventing the robot from laterally instability due to excessive left and right swaying, and more accurately controlling the robot's center of gravity and landing point.

[0022] In one or more embodiments of this utility model, a bifurcated structure is formed at the end of the lower leg component or thigh component connected to the third joint actuator. The bifurcated structure includes a first bifurcated portion and a second bifurcated portion arranged at intervals along a first direction. A receiving cavity is formed in the first bifurcated portion for accommodating the third joint actuator and the wiring harness around the third joint actuator. The second bifurcated portion is used to connect the rotating portion of the third joint actuator. The bifurcated structure can accommodate the third joint actuator and the wiring harness, provide movement space for the wiring harness in the receiving cavity when the lower leg component rotates, and can also fix the rotating portion of the third joint actuator to realize power transmission and improve the integration and structural strength of the leg assembly.

[0023] In one or more embodiments of this utility model, a bifurcated structure is formed at one end of the lower leg component near the thigh component. One end of the thigh component extends between the first bifurcated portion and the second bifurcated portion. A receiving cavity is formed in the first bifurcated portion for accommodating the third joint actuator and the wiring harness around the third joint actuator. The fixing portion of the third joint actuator is fixedly connected to the thigh component, and the rotating portion of the third joint actuator is fixedly connected to the second bifurcated portion. The bifurcated structure on the lower leg component can reduce the weight of the thigh component and reduce the overall rotational inertia of the leg assembly.

[0024] In one or more embodiments of this invention, the leg assembly further includes a fourth joint actuator disposed on the side of the lower leg member away from the thigh member, and casters fixedly connected to the rotating part of the fourth joint actuator. The casters have relatively low rolling friction on flat ground, making the movement easier and increasing the robot's speed on flat surfaces.

[0025] In one or more embodiments of this invention, a first cavity is formed inside the thigh component, and the wiring harness connecting the second joint actuator and the third joint actuator is at least partially housed within the first cavity. The first cavity can accommodate the wiring harness, preventing it from being exposed and reducing the probability of damage.

[0026] In one or more embodiments of this utility model, a second cavity is formed inside the lower leg component, and the wiring harness connecting the third joint actuator and the fourth joint actuator is at least partially housed within the second cavity. The second cavity can accommodate the wiring harness, preventing it from being exposed and reducing the probability of damage.

[0027] In one or more embodiments of this utility model, the leg assembly further includes a clamp surrounding the outer periphery of the first joint actuator and connected to the connecting member. The clamp is used to confine the first joint actuator within the installation space of the connecting member. The clamp can fix the first joint actuator to the connecting member, ensuring a stable connection between the body assembly and the leg assembly.

[0028] In one or more embodiments of this utility model, the leg assembly further includes a wire harness fixing member disposed on the joint connector, and the wire harness connecting the first joint actuator and the second joint actuator passes through the wire harness fixing member. The wire harness fixing member can limit and fix the wire harness, preventing the wire harness from moving randomly during robot movement.

[0029] Compared with the prior art, this utility model optimizes the overall structural layout of the quadruped robot, improving its motion performance and integration, specifically in the following aspects.

[0030] Firstly, the fuselage component of this utility model adopts a lightweight design, which removes excess materials and reduces the overall weight of the fuselage component without sacrificing structural rigidity and strength.

[0031] Secondly, the sensing component of this utility model adopts an integrated and modular design, integrating components such as the vision module and radar module of the sensing component together, thereby improving the integration of the sensing component and simplifying the steps of assembling the sensing component onto the robot's body components.

[0032] Thirdly, the leg assembly of this utility model disperses the joint actuators, which not only rebalances the weight distribution of the leg assembly and reduces the moment of inertia of each joint during rotation, thus improving the response speed and energy utilization efficiency of leg movement, but also simplifies the structure at the connection between the leg assembly and the body assembly, providing ample space for the integrated installation of sensors and other components. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a three-dimensional structural diagram of a quadruped robot in one embodiment of the present invention;

[0035] Figure 2 This is a three-dimensional structural view of the fuselage component in one embodiment of the present invention;

[0036] Figure 3 This is an exploded structural view of the fuselage assembly in one embodiment of the present invention;

[0037] Figure 4 This is an exploded structural view of the fuselage body and connecting components in one embodiment of the present invention;

[0038] Figure 5 This is a side view of the main body of the fuselage in one embodiment of the present invention;

[0039] Figure 6 This is a front view of the main body of the fuselage in one embodiment of the present utility model;

[0040] Figure 7 This is a three-dimensional structural diagram of the sensing component in one embodiment of the present invention from a certain perspective;

[0041] Figure 8This is a three-dimensional structural diagram of the sensing component in one embodiment of the present invention from another perspective;

[0042] Figure 9 This is an exploded view of the sensing component in one embodiment of the present invention from another perspective;

[0043] Figure 10 This is a three-dimensional structural diagram of the leg component in one embodiment of the present invention;

[0044] Figure 11 This is an exploded structural view of the leg assembly in one embodiment of the present invention;

[0045] Figure 12 This is a perspective view of the connection between the fuselage assembly and the leg assembly in one embodiment of the present invention.

[0046] Figure 13 This is an exploded structural view of the connection between the fuselage assembly and the leg assembly in one embodiment of the present invention;

[0047] Figure 14 This is a perspective view of the connection between the fuselage assembly and the leg assembly in one embodiment of the present invention.

[0048] Figure 15 This is another exploded view of the leg assembly in one embodiment of the present invention.

[0049] Key reference numerals: 1. Fuselage assembly; 11. Main fuselage body; 111. Battery compartment; 112. Opening; 113. Connecting block; 114. Top plate; 115. Bottom plate; 116. Front baffle; 117. Rear baffle; 118. Intermediate baffle; 119. First hole structure; 1110. Second hole structure; 1111. First compartment space; 1112. Second compartment space; 12. Connecting component; 121. Mounting space. 122. Wiring trough; 123. Board structure; 124. Third hole structure; 125. Fourth hole structure; 13. Battery module; 14. First housing; 15. Power board; 16. Second housing; 17. Third housing; 18. Main control board; 2. Sensing component; 21. Protective shell; 211. Front housing; 2111. First shell plate; 212. Rear protective shell; 2121. Second shell plate; 2122. Connecting part. 213. Top protective shell; 22. Vision module; 221. Camera; 222. Fill light; 23. Radar module; 231. LiDAR; 24. Transmission harness; 25. Protective cover; 251. Protective part; 2511. Spherical crown structure; 252. Loop part; 26. Protective beam; 261. Horizontal beam section; 262. Vertical beam section; 263. Transverse beam section; 27. Base support; 28. UWB module; 29. ​​Indicator light module 3. Leg assembly, 301. First bifurcation, 302. Second bifurcation, 31. Lower leg component, 32. Thigh component, 33. Joint connector, 331. First connecting arm, 332. Second connecting arm, 333. First limiting block, 34. First joint actuator, 341. Second limiting block, 35. Second joint actuator, 36. Third joint actuator, 37. Caster, 38. Clamp, 39. Wiring harness fastener. Detailed Implementation

[0050] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0051] In the description of this utility model, it should be understood that the terms "top", "bottom", "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0052] Furthermore, the "first direction" can be referenced. Figure 1 and Figure 3 The X-axis direction in the diagram; the "second direction" can be referenced. Figure 1 and Figure 3 The Y-axis direction in the figure, the "third direction" can be referred to Figure 1 and Figure 3 In the Z-axis direction, the "first direction," "second direction," and "third direction" are mutually perpendicular. Generally, the "first direction" represents the width direction of the quadruped robot, the "second direction" represents the length direction of the quadruped robot, and the "third direction" represents the height or thickness direction of the quadruped robot.

[0053] Furthermore, the term "first" is used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined as "second" or "first" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0054] In one embodiment, reference is made to Figure 1 As shown, this application provides a quadruped robot with a modular design. The quadruped robot includes a body component 1, a sensing component 2, and leg components 3. The sensing component 2 is disposed on the body component 1 along a second direction, and the four leg components 3 are respectively connected to the corresponding positions of the body component 1.

[0055] The specific structure of fuselage component 1 in this application will be further described below.

[0056] In one embodiment, reference is made to Figures 2 to 6 As shown, the fuselage assembly 1 includes a main body 11, connecting members 12, and a battery module 13. The main body 11 adopts a lightweight design and is generally constructed as a frame structure. A battery compartment 111 is formed inside the main body 11, extending along a first direction, and the battery module 13 is disposed within the battery compartment 111. The connecting members 12 are located on both sides of the main body 11 along a second direction, and are used to connect the sensing component 2 and the leg component 3. The connecting members 12 also adopt a lightweight design and are also generally constructed as a frame structure. One or more cavity structures are formed within the connecting members 12, and these cavity structures extend through the connecting members 12 along the second direction.

[0057] By adopting a lightweight design for the main body 11 and connecting components 12, excess material can be removed and the weight of the body assembly 1 reduced without sacrificing structural rigidity and strength. Furthermore, the battery module 13 occupies almost the entire internal space of the body assembly 1, with the internal cavity primarily used to house the battery module 13. The robot's sensing components 2 and leg components 3 are mainly mounted on the connecting components 12, greatly simplifying the internal structure and reducing structural complexity of the body assembly 1, which is beneficial for achieving modular robot design.

[0058] In one embodiment, reference is made to Figure 4 and Figure 5 As shown, the main body 11 includes two front baffles 116 and two rear baffles 117. The two front baffles 116 are spaced apart, and the cavity between the two front baffles 116 forms a second compartment space 1112 that runs through the main body 11 in a first direction. Similarly, the cavity between the two rear baffles 117 forms a second compartment space 1112 that runs through the main body 11 in a first direction. This reduces the heat transfer efficiency between the battery compartment 111 and the components outside the main body 11, thus providing relatively better heat insulation.

[0059] Furthermore, openings are formed on both the outer front baffle 116 and the outer rear baffle 117, thereby forming an opening 112 on the outer surface of the fuselage body 11 in the second direction. One end of the connecting member 12 is inserted into the corresponding second compartment space 1112 through the opening 112, and the fuselage body 11 and the connecting member 12 form an interlocking relationship in a local area. When assembling the fuselage body 11 and the connecting member 12, the interlocking relationship between the two can play a role in assembly positioning, improve assembly accuracy, and simplify the assembly process. In addition, after the fuselage body 11 and the connecting member 12 are assembled together, the interlocking connection between the two can also form a tenon-and-mortise interlocking structure at the connection point, significantly improving the rigidity and torsional resistance of the connection point, reducing the displacement and shaking of the connecting member 12 under stress, and making the overall structure of the fuselage body 11 more stable.

[0060] Furthermore, a first hole structure 119 is formed on the fuselage body 11, extending from its outer surface to the opening 112. A third hole structure 124 is formed at one end of the connecting member 12. When the end of the connecting member 12 is inserted into the opening 112, the first hole structure 119 faces the third hole structure 124, and the first hole structure 119 and the third hole structure 124 are coaxially arranged. Bolts are installed in the first hole structure 119 and the third hole structure 124, and the fuselage body 11 and the connecting member 12 can be stably connected together by the bolts.

[0061] Preferably, a plurality of first hole structures 119 are formed on the fuselage body 11, and these first hole structures 119 are respectively opened on the top outer surface and the bottom outer surface of the fuselage body 11 and extend to the opening 112.

[0062] Furthermore, the fuselage body 11 includes a connecting block 113 extending toward the connecting member 12. The connecting member 12 includes two plate structures 123 spaced apart along a first direction, and the connecting block 113 of the fuselage body 11 is located between the two plate structures 123. A second hole structure 1110 is formed on the connecting block 113 and extends through it along the first direction. Each plate structure 123 has a fourth hole structure 125 coaxially arranged with the second hole structure 1110. Bolts are also installed in the second hole structure 1110 and the fourth hole structure 125, further improving the connection stability between the fuselage body 11 and the connecting member 12.

[0063] It is understandable that the walls of the first hole structure 119, the second hole structure 1110, the third hole structure 124, and the fourth hole structure 125 can be set as smooth hole walls, and the bolts installed inside are generally fitted with nuts. In addition, the above four hole structures can also be set as threaded holes, with internal threads formed on their hole walls, and the internal threads and the external threads on the bolts forming a threaded connection.

[0064] In one embodiment, reference is made to Figure 6 , Figures 12 to 14 As shown, a mounting space 121 recessed along a first direction is formed on the connecting member 12, and a lateral opening facing the first direction is formed on the connecting member 12. The actuator of the leg assembly 3 can be installed into the mounting space 121 through the lateral opening, so that the connecting member 12 can be mated and assembled with the first joint actuator 34 of the leg assembly 3. A portion of the cavity wall of the mounting space 121 has an arcuate portion, which can fit against the peripheral wall of the circular first joint actuator 34, reducing the gap between the mounting space 121 and the first joint actuator 34 and preventing the actuator from shaking during robot movement.

[0065] Furthermore, a wiring groove 122 is formed on the cavity wall of the mounting space 121. The wiring groove 122 extends through the connecting member 12 along the second direction and is used to accommodate the exposed wire harness on the outer periphery of the first joint actuator 34. The wiring groove 122 is located approximately on the side away from the lateral opening of the mounting space 121, that is, the mounting space 121 and the wiring groove 122 are arranged approximately along the first direction. A portion of the groove wall of the wiring groove 122 also has a curved portion to facilitate the fitting of the wiring groove 122 with the wire harness of the leg assembly 3 and reduce the gap between the wiring groove 122 and the wire harness.

[0066] In one embodiment, reference is made to Figure 3As shown, the fuselage assembly 1 also includes a first housing 14 and a power board 15. The first housing 14 is installed at an opening on one side of the fuselage assembly 1 by means of bolts or clips, etc., to cover the battery compartment 111 from that side of the fuselage assembly 1 and protect the battery module 13 inside the battery compartment 111. The power board 15 is located inside the first housing 14 or on the shell wall of the first housing 14.

[0067] The power board 15 is the core component for robot power distribution and management. It is generally electrically connected to the battery module 13 and functional components (such as the leg assembly 3, vision module 22, radar module 23, etc.) to provide appropriate voltage input to each component. Furthermore, the power board 15 also has functions such as charge / discharge management, charging management, discharge protection, short-circuit protection, and overcurrent protection, and is equipped with functional circuits and circuit elements corresponding to these functions. The specific structure, quantity, and control logic of these functional circuits and circuit elements are readily known to those skilled in the art of robotics and will not be elaborated upon in this application.

[0068] In one embodiment, reference is made to Figure 3 As shown, the body assembly 1 also includes a second housing 16 and a charging dock (not shown). The second housing 16 is installed at the bottom of the main body 11 by bolts or clips. The charging dock is electrically connected to the battery module 13 and is used to assist the battery module 13 in replenishing its power. The charging methods for the battery module 13 mainly include wired charging and wireless charging. When using wired charging, the charging dock generally needs to be connected to an external plug, so the charging dock needs to be installed through the shell wall of the second housing 16. When using wireless charging, the charging dock generally does not need to be connected to an external plug, so the charging dock can be completely installed inside the second housing 16 and not in contact with the external environment.

[0069] In one embodiment, reference is made to Figure 3 As shown, the fuselage assembly 1 also includes a third housing 17 and a main control board 18. The third housing 17 is installed on the top of the fuselage body 11 by means of bolts or clips, etc., and the main control board 18 is located inside the third housing 17 or on the shell wall of the third housing 17.

[0070] The main control board 18 is the computing and control element of the robot. It has the functions of information processing, decision making, issuing instructions and communication transmission. The main control board 18 is equipped with functional circuits and circuit elements corresponding to the above functions. The specific structure, quantity and control logic of the functional circuits and circuit elements are easily known to those skilled in the art of robotics, and will not be described in detail in this application.

[0071] In one embodiment, the fuselage assembly 1 also includes a decorative cover and a sensor (not shown) mounted on the fuselage body 11. The decorative cover is mainly used to cover the opening on the fuselage body 11 and isolate the internal space of the fuselage body 11 from the external environment. The types of sensors include, but are not limited to, temperature sensors, humidity sensors, gas sensors and speed sensors.

[0072] The specific structure of the sensing component 2 in this application will be further described below.

[0073] In one embodiment, reference is made to Figures 7 to 9 As shown, the sensing component 2 includes a protective shell 21, a vision module 22, a radar module 23, and a transmission harness 24. The protective shell 21 has a first accommodating space and a second accommodating space inside. The protective shell 21 includes a first shell plate 2111 and a second shell plate 2121 arranged opposite to each other. The first shell plate 2111 has a first opening and a second opening, which are generally circular. The first opening communicates with the first accommodating space, and the second opening communicates with the second accommodating space. The second shell plate 2121 has a through hole. The vision module 22 is installed in the first accommodating space, and the radar module 23 is installed in the second accommodating space, thus integrating the vision module 22 and the radar module 23 into one unit. The vision module 22 mainly includes a camera 221. The camera end of the camera 221 (generally the lens portion of the camera 221) is at least partially located within the first opening, so that the camera 221 can clearly collect information about the surrounding environment and assist the robot in judging the surrounding situation. The radar module 23 mainly includes a lidar 231. The detection end of the lidar 231 (generally the area where the lidar 231 emits and receives detection lasers) is at least partially located within the second opening to facilitate the lidar 231's accurate emission and reception of detection lasers. The transmission harness 24 is electrically connected to any one or both of the vision module 22 and the radar module 23. The transmission harness 24 extends through a through-hole to the outside of the protective housing 21 so that the vision module 22 or the radar module 23 can be electrically connected to the robot's body assembly 1 via the transmission harness 24, transmitting the data collected by the vision module 22 or the radar module 23 to the control module within the body assembly 1.

[0074] In one embodiment, reference is made to Figure 9 As shown, the protective shell 21 adopts a split assembly structure design. The protective shell 21 includes a front protective shell 211, a rear protective shell 212 and a top protective shell 213 that can be detachably connected. The front protective shell 211, the rear protective shell 212 and the top protective shell 213 can be detachably connected by components such as bolts or clips.

[0075] Furthermore, the sensing component 2 is installed in front of the robot's body component 1, and a first shell plate 2111 is formed on the front protective shell 211 to facilitate the vision module 22 and radar module 23 to accurately collect environmental information in front. The shape of the first shell plate 2111 can be set as a relatively smooth flat plate structure, or as a stepped structure, or as an irregular structure with a partially curved surface.

[0076] The second shell plate 2121 is formed on the rear protective shell 212 to facilitate the electrical connection of the vision module 22 or radar module 23 to the control module inside the fuselage assembly 1 via the transmission harness 24. The shape of the second shell plate 2121 can also be set as a relatively smooth flat plate structure, a stepped structure, or an irregular structure with a partially curved surface.

[0077] Furthermore, the protective shell 21 also includes a connecting portion 2122 disposed on the outer surface of the second shell plate 2121. The connecting portion 2122 is constructed as a rectangular shell-like structure. Multiple holes are formed on the shell plate of the connecting portion 2122. These holes can cooperate with corresponding holes on the body assembly 1 to install bolts, thereby fixing the protective shell 21 to the robot's body assembly 1. Alternatively, in other embodiments, the shell plate of the connecting portion 2122 may only have a single hole, connecting the protective shell 21 and the body assembly 1 with only a single bolt. In this case, other connection structures (such as snap-fit ​​structures) can generally be provided to appropriately enhance the connection strength between the shell plate and the body assembly 1, preventing the protective shell 21 from separating from the body assembly 1 after being impacted during robot walking.

[0078] In one embodiment, reference is made to Figure 7 As shown, the first shell plate 2111 has a third opening, which is generally a circular opening. The third opening is connected to the first accommodating space. The vision module 22 also includes a supplementary light 222. The light-emitting end of the supplementary light 222 is at least partially located inside the third opening, so that the supplementary light 222 can project light to the outside of the protective shell 21 to provide auxiliary light for the camera 221 and help the camera 221 to collect clear image information.

[0079] Furthermore, two supplementary lights 222 are provided, positioned approximately at the same horizontal height and spaced apart in the left-right direction of the robot. In the light emission direction of the supplementary lights 222, the distance between the central axes of the two supplementary lights 222 gradually increases, causing them to be positioned at a certain angle. This allows for the expansion of the effective field of view of the overall illumination through the superposition and extension of the light coverage area.

[0080] Furthermore, the two supplementary lights 222 are arranged approximately symmetrically to balance the coverage of the illumination on both sides. During the robot's walking motion, regardless of how the robot's posture is adjusted, the illumination range and brightness distribution of the two supplementary lights 222 remain basically stable, ensuring uniform illumination around the robot and providing relatively clear lighting conditions for the sensing component 2, thereby minimizing the sensing blind spots of the sensing component 2.

[0081] Furthermore, there are two or more cameras 221, which are spaced apart in the left and right directions of the robot. Multiple cameras 221 cooperate with each other to collect environmental image information from different directions, expand the image acquisition range, improve the image acquisition accuracy, eliminate blind spots, enable the robot to perceive the surrounding environment more accurately, and reduce the probability of the robot bumping or stepping into empty spaces during movement.

[0082] Furthermore, each camera 221 can be a wide-angle camera 221, a telephoto camera 221, or a zoom camera 221 of the same type. Alternatively, some cameras 221 may use one of the wide-angle camera 221, telephoto camera 221, and zoom camera 221, while other cameras 221 may use another one or two of these types. The specific type and number of cameras 221 can be selected according to actual needs, and will not be elaborated further in this application.

[0083] In one embodiment, reference is made to Figure 7 and Figure 9 As shown, the sensing component 2 also includes a protective cover 25, which is fitted onto the lidar 231 to protect it. The protective cover 25 includes a protective part 251 and a collar part 252. The collar part 252 is fitted onto the columnar area of ​​the lidar 231, and the protective part 251 extends from the collar part 252 to the outside of the protective shell 21. The protective part 251 can protect the lidar 231 from the outside of the protective shell 21, preventing the lidar 231 from colliding or scraping with obstacles in the surrounding environment during the robot's walking movement, preventing scratches or cracks on the optical window of the lidar 231, and ensuring that the sensing capability of the lidar 231 is always maintained at a high level.

[0084] Furthermore, a first light-transmitting port for exposing the lidar 231 is formed on the protective part 251. The transmitting end of the lidar 231 is exposed through the gap between the two protective parts 251. The lidar 231 can emit detection lasers to the area in front through the gap and receive the reflected lasers, thus avoiding the impact of the protective part 251 on the sensing ability of the lidar 231 and ensuring that the sensing ability of the lidar 231 is always kept at a high level.

[0085] Furthermore, the protective part 251 includes two symmetrically arranged spherical crown structures 2511, which surround the central axis of the lidar 231 and are spaced apart. A first light-transmitting port is formed between the two spherical crown structures 2511. The spherical crown structure 2511 can be regarded as part of the spherical protective shell 21. The spherical crown structure 2511 has relatively strong structural strength and buffering capacity. When an external impact force (such as the impact force from a collision or compression) acts on a certain point of the spherical crown structure 2511, the impact force will be evenly distributed along the continuous curved surface on the spherical crown structure 2511 to the entire spherical crown structure 2511, rather than concentrated in a certain area. This avoids the generation of stress concentration areas on the protective part 251, thereby reducing the probability of the protective part 251 cracking or deforming under impact.

[0086] Furthermore, the spherical crown structure 2511 adopts a hollow design, with multiple second light-transmitting ports formed on it. The laser emitted by the lidar 231 can be projected into the environment through these ports, further reducing the impact of the protective element 251 on the lidar 231's sensing capability. Of course, in other embodiments, the spherical crown structure 2511 may also have only one second light-transmitting port, similarly reducing the impact of the protective element 251 on the lidar 231's sensing capability. In addition, the hollow design of the spherical crown structure 2511 can also reduce the weight of the sensing component 2 to some extent, facilitating a lightweight design for the sensing component 2.

[0087] In one embodiment, reference is made to Figure 1 As shown, the sensing component 2 also includes a protective beam 26, which protects the vision module 22 and the radar module 23, particularly the radar module 23. The protective beam 26 includes two horizontal beam segments 261, two vertical beam segments 262, and a spanning beam segment 263. The two horizontal beam segments 261 are approximately symmetrically distributed on both sides of the protective shell 21 and extend towards the front of the protective shell 21. The two vertical beam segments 262 are connected to the two horizontal beam segments 261 in a corresponding manner and extend upwards from the end of the horizontal beam segment 261 away from the protective shell 21. The spanning beam segment 263 connects to the top of both vertical beam segments 262, and its height is slightly higher than the top of the lidar 231, preventing the spanning beam segment 263 from obstructing the detection laser emitted by the lidar 231.

[0088] Furthermore, the protective beam 26 is configured as an integrally formed structure, wherein the transverse beam segment 263 is roughly arc-shaped, forming an arch structure in the top region of the protective beam 26. The arch structure can convert the vertical load applied to it into a force along its axial direction and disperse the force to both ends, avoiding stress concentration. This arch structure can withstand relatively large loads.

[0089] Furthermore, the two vertical beam segments 262 are symmetrically arranged and both tilt upwards, extending away from the protective shell 21. In the direction away from the first shell plate 2111, the horizontal distance between the geometric centers of the vertical beam segments 262 and the horizontal beam segments 261 gradually increases. The extension direction of the vertical beam segments 262 allows them to extend forward, increasing their protection range. When the protective beam 26 experiences a frontal collision or scrape, the tilted vertical beam segments 262 can decompose the frontal impact force, preventing the impact force from directly acting on the connection between the vertical beam segments 262 and the horizontal beam segments 261, thus reducing the probability of the protective beam 26 bending or breaking. Moreover, the tilted vertical beam segments 262 allow the main structure of the protective beam 26 to be as far away from the lidar 231 as possible, creating a wider, interference-free field of view for the lidar 231 and greatly reducing its blind spots.

[0090] In one embodiment, reference is made to Figure 7 As shown, the sensing component 2 also includes a base 27 located at the bottom of the protective shell 21. The base 27 is generally constructed as a shell structure and is used to connect the connecting member 12 of the fuselage component 1. The crossbeam section 261 of the protective beam 26 is disposed on the base 27. The base 27 forms a support platform to support the protective shell 21 and the protective beam 26, and also forms an installation structure, improving the connection strength between the sensing component 2 and the fuselage component 1.

[0091] In one embodiment, reference is made to Figure 7 As shown, the perception component 2 also includes a UWB module 28 (Ultra-Wideband Module), which is located on top of the protective shell 21. The UWB module 28 is mainly used to compensate for the shortcomings of the vision module 22 and the radar module 23. In a specific working scenario, multiple positioning base stations can be deployed. The UWB module 28 can communicate with these positioning base stations to determine the robot's precise position in the working scenario in real time, maintain a certain distance from other moving objects, avoid collisions, and make the robot's positioning more stable and reliable.

[0092] Furthermore, the UWB module 28 is an optional module (or expansion module) for the robot in some cases. Therefore, the UWB module 28 is equipped with an independent housing. When the UWB module 28 is required, the housing of the UWB module 28 can be installed on the top outer surface of the top protective shell 213 by means of bolts or clips.

[0093] In one embodiment, reference is made to Figure 7 and Figure 9As shown, the sensing component 2 also includes an indicator light module 29, which is located on the top of the protective shell 21. The indicator light module 29 generally includes a lampshade and an indicator light inside the lampshade. The indicator light module 29 is mainly used to convey the robot's operating status. Through different colors and flashing patterns, the indicator light module 29 can intuitively tell the user the robot's current working status.

[0094] Furthermore, the robot has two sensing components 2, which are connected one-to-one to two connecting members 12. Their positions correspond to the front and rear sides of the robot, respectively, thereby eliminating the blind spot of the robot's rear side and achieving 360° omnidirectional perception.

[0095] The specific structure of the leg component 3 in this application will be further described below.

[0096] In one embodiment, reference is made to Figure 10 , Figure 11 and Figure 15 As shown, the leg assembly 3 includes a lower leg component 31, a thigh component 32, a joint connector 33, a first joint actuator 34, a second joint actuator 35, and a third joint actuator 36. The joint connector 33 is located on the side of the thigh component 32 away from the lower leg component 31. The first joint actuator 34 is connected to the connecting component 12 and the joint connector 33. The second joint actuator 35 is connected to the joint connector 33 and the thigh component 32. The third joint actuator 36 is connected to the lower leg component 31 and the thigh component 32. The first joint actuator 34, the second joint actuator 35, and the third joint actuator 36 have similar structures, each including a fixed part and a rotating part. The fixed part is arranged around the outer periphery of the rotating part, and the rotating part can rotate around its own central axis (generally also the central axis of the joint actuator). The central axis of the first joint actuator 34 is parallel to a second direction, and the first joint actuator 34 is responsible for executing the robot's left and right swinging motion. The central axis of the second joint actuator 35 is perpendicular to the central axis of the first joint actuator 34, and the second joint actuator 35 is responsible for executing the robot's forward and backward swinging motion. The central axis of the third joint actuator 36 is parallel to the central axis of the second joint actuator 35 and also perpendicular to the central axis of the first joint actuator 34. The third joint actuator 36 is responsible for performing the robot's knee bending action.

[0097] The aforementioned structure redesigns the distribution of the three joint actuators, dispersing them. Firstly, this design avoids the three actuators being clustered at the robot's "hip" (the connection between the body assembly 1 and the leg assembly 3), thus simplifying the structure around the hip and freeing up more installation space 121 in the area of ​​the body assembly 1 near the hip, which is more conducive to modular robot design. Secondly, it redistributes the weight of the leg assembly 3, making its weight distribution more even, reducing the rotational inertia of each joint actuator. This allows each joint actuator to provide greater angular acceleration under low torque output conditions, greatly optimizing the dynamic performance of the leg assembly 3. Thirdly, the third joint actuator 36 can directly drive the lower leg component 31 to perform knee bending actions. Compared with the traditional design for performing knee bending actions (transmitting power from the hip to the knee joint over a long distance through a transmission mechanism such as a long link or belt), direct drive is more efficient and the structure is more reliable. It can also avoid interference of the transmission mechanism with the lower leg component 31, increase the rotation range of the lower leg component 31, and enable the quadruped robot to obtain more efficient and agile dynamic motion performance.

[0098] In one embodiment, reference is made to Figures 12 to 14 As shown, the first joint actuator 34 is fixed in the mounting space 121 of the connecting member 12 by a clamp 38, so that the fixing part of the first joint actuator 34 is fixedly connected to the connecting member 12. The joint connector 33 adopts a lightweight design. The joint connector 33 is generally constructed as a vertical structure formed by two connecting arms, rather than as a relatively heavy block structure. This design can reduce the weight of the leg assembly 3.

[0099] Furthermore, the joint connector 33 includes a first connecting arm 331 and a second connecting arm 332 that are vertically connected. The rotating part of the first joint actuator 34 is fixedly connected to the first connecting arm 331, and the rotating part of the second joint actuator 35 is fixedly connected to the second connecting arm 332. The rotating parts of the first joint actuator 34 and the rotating parts of the second joint actuator 35 are respectively connected to two adjacent and mutually perpendicular surfaces of the joint connector 33. The fixed part of the second joint actuator 35 is fixedly connected to the thigh member 32.

[0100] Furthermore, the joint connector 33 is generally constructed in an L-shape. The end of the first connecting arm 331 is connected to the end of the second connecting arm 332. The rotating part of the first joint actuator 34 is fixedly connected to the side of the first connecting arm 331 away from the second connecting arm 332. The rotating part of the second joint actuator 35 is fixedly connected to the side of the second connecting arm 332 away from the first connecting arm 331. It can be understood that the side of the first connecting arm 331 away from the second connecting arm 332 and the side of the second connecting arm 332 away from the first connecting arm 331 represent the outer periphery of the joint connector 33. This structure of the joint connector 33 further simplifies its structure, avoids interference between the joint connector 33 and other components, and further reduces the weight of the leg assembly 3.

[0101] Furthermore, the joint connector 33 is provided with a wire harness fixing member 39, which is installed on the inner side of the joint connector 33. The wire harness connecting the first joint actuator 34 and the second joint actuator 35 passes through the wire harness fixing member 39. The wire harness fixing member 39 can limit and fix the wire harness, preventing the wire harness from moving randomly during the robot's movement.

[0102] In one embodiment, reference is made to Figures 12 to 14 As shown, the joint connector 33 also includes two first limiting blocks 333 spaced apart on the outer periphery of the first connecting arm 331, with the two first limiting blocks 333 protruding from the first connecting arm 331. The first joint actuator 34 includes a second limiting block 341 disposed on its fixed portion, with the second limiting block 341 protruding from the first joint actuator 34 along its axial direction. In the circumferential direction of the first joint actuator 34, the second limiting block 341 is located between the two first limiting blocks 333, and the three together form a limiting mechanism to limit the rotational angle of the joint connector 33, preventing the robot from laterally instability due to excessive left and right swaying. When the robot performs actions such as running and jumping, the center of gravity and landing point of the robot can be controlled more precisely.

[0103] In one embodiment, reference is made to Figure 11 and Figure 15As shown, a bifurcated structure is formed at the connection between the lower leg component 31 and the third joint actuator 36, making the lower leg component 31 generally constructed as a Y-shaped structure. The bifurcated structure includes a first bifurcated portion 301 and a second bifurcated portion 302 arranged at intervals along a first direction, with one end of the thigh component 32 located between the first bifurcated portion 301 and the second bifurcated portion 302. A receiving cavity is formed inside the first bifurcated portion 301, which is used to receive the third joint actuator 36 and the wiring harness around the third joint actuator 36. The fixed portion of the third joint actuator 36 is fixedly connected to the thigh component 32, and the rotating portion of the third joint actuator 36 is fixedly connected to the second bifurcated portion 302. One side of the bifurcated structure is used to receive the third joint actuator 36 and the wiring harness, and to provide movement space for the wiring harness in the receiving cavity when the lower leg component 31 rotates. The other side of the bifurcated structure is used to fixally connect the rotating portion of the third joint actuator 36, realizing power transmission and greatly improving the integration and structural strength of the leg component 3.

[0104] Furthermore, the formation of a bifurcated structure on the lower leg component 31 can reduce the weight of the thigh component 32 and lower the overall rotational inertia of the leg assembly 3.

[0105] Furthermore, the lower leg component 31 is constructed as a split structure, which is formed by assembling two shell-like components, reducing the assembly difficulty and wiring difficulty of the lower leg component 31 and the third joint actuator 36.

[0106] It should be noted that the bifurcated structure formed on the lower leg member 31 in the above embodiments is only one possible solution for practical application. In other embodiments, the bifurcated structure can be provided on the thigh member 32 instead of the lower leg member 31. The bifurcated structure on the thigh member 32 also includes a first bifurcated portion 301 and a second bifurcated portion 302. The first bifurcated portion 301 is used to accommodate the third joint actuator 36 and its surrounding wiring harness. At least one of the first bifurcated portion 301 and the second bifurcated portion 302 is fixedly connected to the fixing portion of the third joint actuator 36, and the rotating portion of the third joint actuator 36 is fixedly connected to the lower leg member 31.

[0107] In one embodiment, reference is made to Figure 15 As shown, the leg assembly 3 also includes a fourth joint actuator and a caster 37. The fourth joint actuator is located on the side of the lower leg assembly 31 away from the thigh assembly 32. The fixed part of the fourth joint actuator is fixedly connected to the lower leg assembly 31, and the rotating part of the fourth joint actuator is fixedly connected to the caster 37 for driving the caster 37 to rotate. On a flat surface, the rolling friction between the caster 37 and the ground is relatively small, resulting in a relatively higher robot movement speed than that achieved by swinging the legs. Furthermore, controlling the robot to move on a flat surface using the caster 37 is relatively easy, eliminating the need for multi-leg coordination to achieve complex gaits.

[0108] In one embodiment, the lower leg component 31 and the thigh component 32 are hollow. A second cavity is formed inside the lower leg component 31, and the main body of the wiring harness connecting the third joint actuator 36 and the fourth joint actuator is housed within this second cavity. A first cavity is formed inside the thigh component 32, and the main body of the wiring harness connecting the second joint actuator 35 and the third joint actuator 36 is housed within this first cavity. This design of the lower leg component 31 and the thigh component 32 can be used to house the wiring harness, preventing it from being exposed, preventing interference between the wiring harness and the external environment or the robot itself, and reducing the probability of wiring harness damage.

[0109] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0110] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A quadruped robot, characterized in that, The quadruped robot includes: The fuselage assembly (1) includes a fuselage body (11) and a connecting member (12), wherein the fuselage body (11) and the connecting member (12) are constructed as a frame structure, and the connecting member (12) is connected to both sides of the fuselage body (11) along a second direction; The sensing component (2) is connected to the fuselage component (1) along the second direction. The sensing component (2) includes a protective shell (21) and a vision module (22) and a radar module (23) disposed in the protective shell (21). The leg assembly (3) is connected to the connecting member (12). The leg assembly (3) includes a lower leg member (31), a thigh member (32), a joint connector (33) located on the side of the thigh member (32) away from the lower leg member (31), a first joint actuator (34) connecting the connecting member (12) and the joint connector (33), a second joint actuator (35) connecting the thigh member (32) and the joint connector (33), and a third joint actuator (36) connecting the lower leg member (31) and the thigh member (32). The central axis of the first joint actuator (34) is parallel to a second direction, and the central axes of the second joint actuator (35) and the third joint actuator (36) are parallel to each other and perpendicular to the central axis of the first joint actuator (34).

2. The quadruped robot according to claim 1, characterized in that, The fuselage body (11) has a battery compartment (111) that extends through the fuselage body (11) in a first direction; and / or, The connecting member (12) has one or more cavity structures extending through it in the second direction.

3. The quadruped robot according to claim 1, characterized in that, The fuselage body (11) has a second compartment space (1112) arranged on both sides along the second direction inside. The fuselage body (11) has an opening (112) on the outer surface of both sides in the second direction. One end of the connecting member (12) is inserted into the opening (112). The fuselage body (11) has a first hole structure (119) extending from its outer surface to the opening (112). The connecting member (12) has a third hole structure (124) corresponding to the first hole structure (119). The first hole structure (119) and the third hole structure (124) are fixedly connected by bolts; and / or, The connecting member (12) includes two plate structures (123) arranged at intervals along a first direction. The fuselage body (11) includes a connecting part (2122) extending between the two plate structures (123). A second hole structure (1110) is formed on the connecting part (2122) and extends through the first direction. A fourth hole structure (125) corresponding to the second hole structure (1110) is formed on the plate structure (123). The second hole structure (1110) and the fourth hole structure (125) are fixedly connected by bolts.

4. The quadruped robot according to claim 1, characterized in that, The connecting member (12) has a mounting space (121) for mounting the actuator of the leg assembly (3), and the mounting space (121) has a lateral opening in the first direction for the actuator to enter the mounting space (121). The connecting member (12) also includes a wiring channel (122) for accommodating the wiring harness of the leg assembly (3), the wiring channel (122) communicating with the mounting space (121) and located on the side away from the lateral opening of the mounting space (121).

5. The quadruped robot according to claim 1, characterized in that, The sensing component (2) further includes a protective cover (25) fitted around the radar module (23). The protective cover (25) includes two spherical crown structures (2511) located outside the protective shell (21). A first light-transmitting port exposing the radar module (23) is formed between the two spherical crown structures (2511), and one or more second light-transmitting ports are formed on the spherical crown structures (2511); and / or, The sensing component (2) further includes a protective beam (26), the protective beam (26) comprising two horizontal beam segments (261) located on both sides of the protective shell (21) and extending towards the front of the protective shell (21), vertical beam segments (262) corresponding to the two horizontal beam segments (261) and extending upward, and a cross beam segment (263) connected to the top of the two vertical beam segments (262); and / or, The protective shell (21) has openings formed on it to expose the vision module (22) and the radar module (23).

6. The quadruped robot according to claim 1, characterized in that, The sensing component (2) has two parts and is connected to the two connecting members (12) in a one-to-one correspondence.

7. The quadruped robot according to claim 1, characterized in that, The joint connector (33) includes a first connecting arm (331) and a second connecting arm (332) that are vertically connected. The fixed part of the first joint actuator (34) is fixedly connected to the connecting member (12). The rotating part of the first joint actuator (34) is fixedly connected to the first connecting arm (331). The fixed part of the second joint actuator (35) is fixedly connected to the thigh member (32). The rotating part of the second joint actuator (35) is fixedly connected to the second connecting arm (332).

8. The quadruped robot according to claim 7, characterized in that, The end of the first connecting arm (331) is connected to the end of the second connecting arm (332), the rotating part of the first joint actuator (34) is fixedly connected to the side of the first connecting arm (331) away from the second connecting arm (332), and the rotating part of the second joint actuator (35) is fixedly connected to the side of the second connecting arm (332) away from the first connecting arm (331).

9. The quadruped robot according to claim 7, characterized in that, The joint connector (33) further includes two first limiting blocks (333) disposed on the outer periphery of the first connecting arm (331) and spaced apart. The first joint actuator (34) includes a second limiting block (341) disposed on its fixed part. In the circumferential direction of the first joint actuator (34), the second limiting block (341) is located between the two first limiting blocks (333) to limit the rotatable angle of the joint connector (33).

10. The quadruped robot according to claim 1, characterized in that, The lower leg component (31) or thigh component (32) has a bifurcated structure at the end where it connects to the third joint actuator (36). The bifurcated structure includes a first bifurcated portion (301) and a second bifurcated portion (302) arranged at intervals along a first direction. The first bifurcated portion (301) has a cavity for accommodating the third joint actuator (36) and the wiring harness around the third joint actuator (36). The second bifurcated portion (302) is used to connect the rotating part of the third joint actuator (36).

11. The quadruped robot according to claim 10, characterized in that, The lower leg member (31) has a bifurcated structure at one end near the thigh member (32). One end of the thigh member (32) extends between the first bifurcated portion (301) and the second bifurcated portion (302). The first bifurcated portion (301) has a cavity for accommodating the third joint actuator (36) and the wiring harness around the third joint actuator (36). The fixed portion of the third joint actuator (36) is fixedly connected to the thigh member (32), and the rotating portion of the third joint actuator (36) is fixedly connected to the second bifurcated portion (302).

12. The quadruped robot according to claim 1, characterized in that, The leg assembly (3) also includes a fourth joint actuator located on the side of the lower leg member (31) away from the thigh member (32), and a caster (37) fixedly connected to the rotating part of the fourth joint actuator.

13. The quadruped robot according to claim 12, characterized in that, The thigh component (32) has a first cavity formed inside, and the wiring harness connecting the second joint actuator (35) and the third joint actuator (36) is at least partially housed within the first cavity; and / or, The lower leg component (31) has a second cavity inside, and the wiring harness connecting the third joint actuator (36) and the fourth joint actuator is at least partially housed in the second cavity.

14. The quadruped robot according to claim 1, characterized in that, The leg assembly (3) further includes a clamp (38) disposed around the periphery of the first joint actuator (34) and connected to the connecting member (12), the clamp (38) for confining the first joint actuator (34) within the mounting space (121) of the connecting member (12); and / or, The leg assembly (3) also includes a wire harness fixing member (39) disposed on the joint connector (33), and the wire harness connecting the first joint actuator (34) and the second joint actuator (35) passes through the wire harness fixing member (39).

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