Multi-legged robot

Abstract

A multi-legged robot according to an embodiment of the present invention includes: a body; and multiple leg parts coupled to the body, wherein the leg parts include: a driving module in which a first driving motor, a second driving motor, and a third driving motor are modularized; a first decelerator having one end coupled to a first driving shaft of the first driving motor and the other end coupled to the body to amplify a motor torque output of the first driving motor so as to enable roll rotation of the first driving motor with respect to the body; a second decelerator coupled to a second driving shaft of the second driving motor to amplify a motor torque output of the second driving motor so as to enable rotation of a connected knee pitch joint; and a third decelerator provided between the third driving motor and the second decelerator and coupled to a third driving shaft of the third driving motor to amplify a motor torque output of the third driving motor so as to enable rotation of a connected hip pitch joint.

Description

multi-legged robot

[0001] The present invention relates to a multi-legged robot, and more particularly, to a multi-legged robot in which a plurality of drive motors are provided in a modularized drive module, thereby unifying and simplifying a power supply structure and a communication connection structure, thereby preventing restrictions on the movement of the leg portion, and enabling freer movement.

[0002] A robot is a multifunctional manipulator designed to perform specific movements and tasks through programmed, variable motions. Robots are widely used in a variety of industries, including manufacturing, transportation, exploration, medicine, surveillance, and patrol.

[0003] Robots can be physically fixed in a specific location, such as an industrial robot arm, but they can also be equipped with one or more legs or wheels to enable mobility. Mobile robots offer a wider range of applications and uses than fixed robots.

[0004] A representative example of a mobile robot is a multi-legged robot with more than one leg, such as a quadruped robot with two legs on each side. Multi-legged robots must avoid stepping on or colliding with obstacles while moving, and require walking control technology to maintain stable balance and speed while avoiding contact with obstacles.

[0005] In a conventional multi-legged robot, the leg portion may include a first drive motor mounted on the body for driving, a first reducer coupled thereto, a second drive motor coupled to the first reducer, a second reducer coupled thereto, a third drive motor coupled to the second reducer, and a reducer coupled thereto.

[0006] To elaborate, for example, roll rotation can be performed through the first drive motor and the first reducer, for example, hip pitch rotation can be performed through the second drive motor and the second reducer, and for example, knee pitch rotation can be performed through the third drive motor and the third reducer.

[0007] However, in the leg parts of conventional multi-legged robots, since power lines must be connected to supply power to each driving motor, the power connection structure may be complex, which may limit the operation of parts that make up the leg parts, and problems such as joint twisting may occur.

[0008] Accordingly, there is a need to develop a multi-legged robot with a new configuration that allows for freer joint movement by simplifying the power connection structure of the leg portion while also enhancing waterproofing.

[0009] An embodiment of the present invention provides a multi-legged robot that can unify and simplify the power supply structure and communication connection structure by having a plurality of drive motors in a modularized drive module, thereby preventing restrictions on the movement of the leg portion, thereby enabling freer movement.

[0010]

[0011] The problems to be solved by the present invention are not limited to the problem(s) mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0012] A multi-legged robot according to an embodiment of the present invention comprises: a body; and a plurality of leg parts coupled to the body; wherein the leg parts include: a first driving motor generating a driving force for rotating a first driving shaft; a second driving motor provided on one side of a rear end of the first driving motor and having a second driving shaft transverse to the first driving shaft; and a third driving motor coupled to a front end of the second driving motor, the third driving motor having a third driving shaft in the same line as the second driving shaft and coupled to the front end of the second driving motor; a first reducer having one end coupled to the first driving shaft of the first driving motor and the other end coupled to the body to amplify a motor torque output of the first driving motor to enable roll rotation of the first driving motor with respect to the body; a second reducer coupled to the second driving shaft of the second driving motor to amplify a motor torque output of the second driving motor to enable rotation of a connected knee pitch joint; And it may include a third reducer which is provided between the third driving motor and the second reducer and is coupled to the third driving shaft of the third driving motor to amplify the motor torque output of the third driving motor to enable rotation of the connected hip pitch joint.

[0013] According to one aspect, a multi-legged robot according to an embodiment of the present invention may further include a power and communication module coupled to the drive module to selectively provide power or communication to the first drive motor, the second drive motor, and the third drive motor.

[0014] According to one side, the power and communication module may be provided with a power connector electrically connected to the power supply unit provided in each of the first driving motor, the second driving motor, and the third driving motor, and a communication connector connected to the communication unit.

[0015] According to one side, a first through-hole is provided on one side of the first driving motor through which the power supply unit and the communication unit of the first driving motor are exposed, and a second through-hole is provided on one side of the second driving motor or the third driving motor through which the power supply unit and the communication unit of the second driving motor and the power supply unit and the communication unit of the third driving motor are exposed, and the power and communication can be connected while the power and communication modules cover the first through-hole and the second through-hole.

[0016] According to one aspect, the power and communication module may include a module frame; a PCB substrate coupled to the inside of the module frame and having the power connector and the communication connector mounted thereon; and a waterproof plate through which the power connector and the communication connector pass and which is waterproof when coupled with the first through-hole and the second through-hole.

[0017] According to one side, the waterproof plate may be provided with a first waterproof O-ring having a ring shape corresponding to the first through-hole and inserted into the first through-hole to prevent a gap from forming with the first through-hole, and a second waterproof O-ring having a ring shape corresponding to the second through-hole and inserted into the second through-hole to prevent a gap from forming with the second through-hole.

[0018] According to one side, the third drive shaft of the third drive motor is a hollow shaft, and the second drive shaft of the second drive motor is coupled to a hollow portion within the third drive shaft so as not to cause interference, but an end of the third drive shaft is exposed from an end of the second drive shaft so that the second reducer can be penetratedly coupled to the second drive shaft and the third reducer can be penetratedly coupled to an end of the third drive shaft.

[0019] According to one side, at least one of the first reducer, the second reducer, and the third reducer may include a reducer body having a hole member in which a coupling hole to which the drive shaft is coupled is formed; a reducer cover member coupled to one side of the reducer body so that the hole member penetrates therethrough; and a cross roller bearing interposed in an area where an outer edge portion of the reducer body and an outer edge portion of the reducer cover member come into contact, and providing waterproofing between the reducer body and the reducer cover member.

[0020] According to one side, an O-ring for waterproofing may be provided at the part where the reduction body and the cross roller bearing come into contact and at the part where the reduction cover member and the cross roller bearing come into contact.

[0021] According to one side, the cross roller bearing is provided in a ring shape with a vertical cross section having a rectangular shape, the reduction body is provided with a stepped portion with which one vertex area of ​​the cross roller bearing comes into contact, and the other vertex area of ​​the cross roller bearing can come into contact with the reduction cover member.

[0022] According to an embodiment of the present invention, a plurality of drive motors are provided with modularized drive modules, thereby unifying and simplifying the power supply structure and the communication connection structure, thereby preventing restrictions on the movement of the leg portion, thereby enabling freer movement.

[0023] In addition, a waterproof structure is applied to the joint structure of the power and communication modules for the drive module, thereby preventing external substances such as liquids from penetrating into the drive module. In addition, a waterproof structure is applied to each reducer, thereby preventing external substances from entering therein.

[0024] FIG. 1 is a conceptual drawing schematically showing the configuration of a multi-legged robot according to one embodiment of the present invention.

[0025] Fig. 2 is a perspective view of the bridge portion shown in Fig. 1.

[0026] Figure 3 is a drawing showing the internal structure of the bridge portion of Figure 2.

[0027] Figure 4 is an exploded perspective view of the leg portion shown in Figure 2.

[0028] Figure 5 is a drawing of the partial bonding state of Figure 4 viewed from below.

[0029] Figure 6 is an enlarged drawing of the combined structure of the power and communication modules in Figure 5.

[0030] Figure 7 is an exploded perspective view of the power and communication module illustrated in Figure 6.

[0031] Fig. 8 is a drawing for explaining the waterproof structure of the reducer shown in Fig. 2.

[0032] The advantages and / or features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. These embodiments are provided only to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

[0033]

[0034] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0035] FIG. 1 is a conceptual drawing schematically showing the configuration of a multi-legged robot according to one embodiment of the present invention, FIG. 2 is a perspective view of the leg portion shown in FIG. 1, FIG. 3 is a drawing showing the internal structure of the leg portion of FIG. 2, FIG. 4 is an exploded perspective view of the leg portion shown in FIG. 2, FIG. 5 is a drawing looking from below at the partial coupling state of FIG. 4, FIG. 6 is an enlarged drawing of the coupling structure of the power and communication modules in FIG. 5, FIG. 7 is an exploded perspective view of the power and communication module shown in FIG. 6, and FIG. 8 is a drawing for explaining the waterproof structure of the reducer shown in FIG. 2.

[0036] First, referring to FIG. 1, a multi-legged robot (100) according to one embodiment of the present invention may include a body (101) forming the main body, and a plurality of leg parts (110) joined at the four corner regions thereof, i.e., four leg parts (110) of the present embodiment.

[0037] By this configuration, it is possible to avoid contact with obstacles or to step on or jump over obstacles and move to a desired location. At this time, the structure of the leg part (110) allows movement while maintaining balance at a stable speed.

[0038] First, the body (101) of the present embodiment, as schematically illustrated in FIG. 1, forms a basic body, and four leg parts (110) capable of various movements can be combined at the four corner areas thereof.

[0039] Although not shown in detail, each leg part (110) is modularized and can be detached from the body (101), thereby allowing the leg part (110) requiring maintenance among the leg parts (110) to be separated and replaced with a new leg part (110) or the leg part (110) to be reattached after maintenance.

[0040] Meanwhile, the bridge part (110) of the present embodiment may include a drive module (120) in which drive motors (130, 140, 150) are modularized, and reducers (160, 170, 180) coupled to the drive module (120).

[0041] More specifically, the drive module (120) of the present embodiment may include, as illustrated in FIGS. 1 to 5, a first drive motor (130) that generates a driving force to rotate a first drive shaft (131), a second drive motor (140) that is provided on one side of the rear end of the first drive motor (130) and has a second drive shaft (141) that is transverse to the first drive shaft (131), and a third drive motor (150) that has a third drive shaft (151) that is on the same line as the second drive shaft (141) and is coupled to the front end of the second drive motor (140).

[0042] In this way, the three drive motors (130, 140, 150) can have a modular structure. As described above, the conventional structure has a structure in which a drive motor is connected to a reducer, and then to a drive motor, and then to a reducer, and then to a drive motor again, so that power must be connected to each drive motor, and thus the power structure is complicated, and this also limits the movement of each part composed of the drive motor and the reducer. However, in the case of the drive module (120) of the present embodiment, the power connection structure as well as the communication connection structure can be greatly simplified due to the modularization of the drive motors (130, 140, 150). This will be described later.

[0043] A first reducer (160) may be connected to the first drive shaft (131) of the first drive motor (130) of the drive module (120). Referring to FIGS. 1 to 3, the first reducer (131) of the present embodiment has one end coupled to the first drive shaft (131) of the first drive motor (130) and the other end coupled to the body (101), thereby amplifying the motor torque output of the first drive motor (130) to enable roll rotation of the first drive motor (130) with respect to the body (101).

[0044] In detail, the first reducer (160) is a reducer that reduces the high-speed rotation of the first driving motor (130) and transmits its power, and through this, the entire leg section (110) can roll and rotate with respect to the body (101).

[0045] In addition, although not illustrated in detail, the first reducer (160) can be detachably coupled to the body (101). For example, the body (101) is provided with a guide groove for coupling, and the outer surface of the first reducer (160) is provided with a guide member inserted into the guide groove, so that the entire leg portion (110) can be coupled to or separated from the body (101) as described above.

[0046] Meanwhile, the second reducer (170) of the present embodiment is coupled to the end of the second drive shaft (141) of the second drive motor (140), as shown in FIGS. 1 to 5, to convert the rotational power of the second drive motor (140) into rotational torque, thereby enabling the rotation of the knee reach joint (171) connected to the second reducer (170).

[0047] In addition, the third reducer (180) of the present embodiment is provided between the third driving motor (150) and the second reducer (170), as shown in detail in FIGS. 1 to 5, and is coupled to the third driving shaft (151) of the third driving motor (150) to amplify the motor torque output of the third driving motor (150), thereby enabling rotation of the hip pitch joint (181) connected to the third reducer (180).

[0048] In this way, the first drive motor (130), the second drive motor (140), and the third drive motor (150) are each coupled with reducers (160, 170, 180), and by the operation of the reducers (160, 170, 180), relative roll rotation with respect to the part coupled thereto, hip pitch rotation, and knee pitch rotation are performed, thereby enabling the leg part (110) to exhibit optimized movement.

[0049] Referring to FIG. 3, the second drive shaft (141) of the second drive motor (140) of the present embodiment and the third drive shaft (151) of the third drive motor (150) may be provided to have the same direction on the same line.

[0050] In detail, the third drive shaft (151) of the third drive motor (150) is a hollow shaft with a hollow center, and the second drive shaft (141) of the second drive motor (140) can be connected so that the hollow portion within the third drive shaft (151) passes through and the end is exposed. The second reducer (170) can be connected through the end of the second drive shaft (141) of the second drive motor (140), and the third reducer (180) can be connected through the end of the third drive shaft (151) between them.

[0051] Here, the diameter of the second drive shaft (141) is smaller than the inner diameter of the hollow portion of the third drive shaft (151), so that the second drive shaft (141) can rotate without interference with respect to the third drive shaft (151), and through this, the second reducer (170) connected to the second drive motor (140) and the third reducer (180) connected to the third drive motor (150) can operate individually.

[0052] Meanwhile, as described above, the leg portion (110) of the multi-legged robot (100) of the present embodiment can simplify the power and communication structure by modularizing the drive motors (130, 140, 150) and can prevent restrictions on the movement of the leg portion (110). This will be described with reference to the drawings.

[0053] Referring to FIGS. 5 to 7, the leg portion (110) of the present embodiment may further include a power and communication module (190) that is detachably coupled to the drive module (120) to selectively provide power or communication to the first drive motor (130), the second drive motor (140), and the third drive motor (150).

[0054] Referring to FIGS. 5 and 6, a power supply unit (132) for providing power to the first driving motor (130) and a communication unit (134) for communication connection may be provided on the inside of the first driving motor (130), and these may be exposed to the outside through a first through hole (133) provided on the bottom surface of the first driving motor (130).

[0055] Likewise, the power supply unit (142) and communication unit (143) of the second driving motor (140) and the power supply unit (152) and communication unit (154) of the third driving motor (150) may be provided in one area on the inside of the second driving motor (140) or the inside of the third driving motor (150). In the case of the present embodiment, the power supply unit (142) and communication unit (143) of the second driving motor (140) and the power supply unit (152) and communication unit (154) of the third driving motor (150) may be provided in the inner space of the third driving motor (150). In addition, these may be exposed to the outside through the second through-hole (153) provided on the bottom surface of the third driving motor (150).

[0056] However, it is not limited thereto, and although not illustrated, it is obvious that each through hole may be provided so that the power supply and communication unit are exposed in the area of ​​each drive motor. That is, three through holes may be provided according to the number of drive motors, and a structure may be provided in which the power supply and communication unit of each drive motor can be exposed to the outside through each through hole.

[0057] And, when the power and communication module (190) is connected to the first through hole (133) and the second through hole (153), power is provided and communication is connected to the first driving motor (130), the second driving motor (140), and the third driving motor (150).

[0058] Referring to FIG. 7, the power and communication module (190) of the present embodiment may include power connectors (193) electrically connected to power supply units (132, 142, 152) provided in the first driving motor (130), the second driving motor (140), and the third driving motor (150), respectively, and communication connectors (194) connected to the respective communication units (134, 143, 154).

[0059] More specifically, the power and communication module (190) of the present embodiment may include a module frame (191) having a plate shape covering the through holes (133, 153), as illustrated in FIGS. 5 to 7, a PCB substrate (192) coupled to the inside of the module frame (191) and having a power connector (193) and a communication connector (194) mounted thereon, and a waterproof plate (195) through which the power connector (193) and the communication connector (194) pass and which is waterproof when coupled with the first through hole (133) and the second through hole (153).

[0060] When the power and communication module (190) of this configuration is coupled to the through holes (133, 153) of the drive module (120), a connection between the power connector (193) and the power unit (132, 142, 152) and a connection between the communication connector (194) and the communication unit (134, 143, 154) can be made, and through this, power supply and communication connection for the first drive motor (130), the second drive motor (140), and the third drive motor (150) can be implemented in a single structure.

[0061] As described above, in the past, the power connection structure was complicated because a power line for connecting power to the first driving motor, a power line for connecting power to the second driving motor, and a power line for connecting power to the third driving motor were separately provided, and also the movement of the leg part (110) was restricted due to the multiple power lines. However, in the present embodiment, by combining one power and communication module (190) with the driving module (120), not only power can be provided to the driving motors (130, 140, 150) but also communication connection can be established, thereby simplifying the structure and allowing the movement of the leg part (110) to be more freely performed.

[0062] The waterproof plate (195) provided in the power and communication module (190) may be provided with a first waterproof O-ring (196) having a ring shape corresponding to the first through-hole (133) and inserted into the first through-hole (133) to prevent the occurrence of a gap with the first through-hole (133), as shown in FIG. 7, and a second waterproof O-ring (197) having a ring shape corresponding to the second through-hole (153) and inserted into the second through-hole (153) to prevent the occurrence of a gap with the second through-hole (153).

[0063] In detail, as mentioned above, the through holes can be provided in each driving motor, and in this case, it goes without saying that the O-ring structure of the waterproof plate can also be provided correspondingly.

[0064] Accordingly, when the multi-legged robot (100) of the present embodiment operates, the waterproof structure provided in the power and communication module (190) can prevent external foreign substances such as water from entering the drive motors, thereby enhancing durability.

[0065] Meanwhile, the first reducer (160), second reducer (170), and third reducer (180) described above have corresponding configurations, and each reducer (160, 170, 180) can have a waterproof structure. Hereinafter, with reference to the drawings, the waterproof structure of the reducers (160, 170, 180) will be described.

[0066] Fig. 8 is a drawing for explaining the waterproof structure of the reducer shown in Fig. 2.

[0067] As described above, the structures of the reducers (160, 170, 180) of the present embodiment correspond, and as an example, the first reducer (160) will be described. The first reducer (160) of the present embodiment may include a reducer body (161) having a hole member (167) in which a coupling hole (167h) to which a first drive shaft (131) of a first drive motor (130) is coupled is formed, a reducer cover member (162) coupled so that the hole member (167) penetrates through one side of the reducer body (161), and a cross roller bearing (163) interposed in an area where the outer edge of the reducer body (161) and the outer edge of the reducer cover member (162) come into contact, and waterproofing the space between the reducer body (161) and the reducer cover member (162).

[0068] By this configuration, the first reducer (160) can be provided with a waterproof function. That is, it can have a sturdy waterproof structure by a simple structure in which a cross roller bearing (163) is placed and connected between a reducer body (161) and a reducer cover member (162), and it can prevent substances such as liquids from entering the first reducer (160).

[0069] In detail, an O-ring (164: 165, 166) for waterproofing is provided at the part where the reduction body (161) and the cross roller bearing (163) come into contact and at the part where the reduction cover member (162) and the cross roller bearing (163) come into contact, thereby preventing external substances from entering.

[0070] Here, the cross roller bearing (163) may be provided in a ring shape with a vertical cross-section having a rectangular shape, and the reduction body (161) may be provided with a stepped portion where one vertex area of ​​the cross roller bearing (163) comes into contact. This not only complicates the path through which external substances can penetrate, but also enhances the waterproof function by providing an O-ring (165) in that area.

[0071] Likewise, the reduction cover member (162) is provided with a stepped portion where another vertex area of ​​the cross roller bearing (163) comes into contact, and an O-ring (166) is interposed in that portion, thereby effectively preventing external substances from penetrating therebetween.

[0072] In this way, according to the present embodiment, the power supply structure and communication connection structure can be unified and simplified by having a plurality of drive motors (130, 140, 150) equipped with a modularized drive module (120), thereby preventing restrictions on the movement of the leg portion (110), thereby enabling freer movement.

[0073] In addition, a waterproof structure is applied to the coupling structure of the power and communication module (190) to the drive module (120), thereby preventing external substances such as liquids from penetrating into the drive module (120). In addition, a waterproof structure is also applied to each reducer (160, 170, 180), thereby preventing external substances from entering therein.

[0074]

[0075] While specific embodiments of the present invention have been described so far, it is clear that various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the scope of the claims set forth below, but also by equivalents thereof.

[0076] Although the present invention has been described with reference to limited embodiments and drawings, it is not limited to the above-described embodiments. Those skilled in the art will appreciate that various modifications and variations are possible based on this disclosure. Therefore, the scope of the present invention should be understood solely by the scope of the claims set forth below, and all equivalent or equivalent modifications thereof are deemed to fall within the scope of the present invention.

Claims

1. Body; and A plurality of leg parts coupled to the above body; Including, The above bridge part, A drive module in which a first drive motor generating a driving force for rotating a first drive shaft, a second drive motor provided on one side of the rear end of the first drive motor and having a second drive shaft transverse to the first drive shaft, and a third drive motor having a third drive shaft in the same line as the second drive shaft and coupled to the front end of the second drive motor are modularized; A first reducer having one end coupled to the first drive shaft of the first drive motor and the other end coupled to the body to amplify motor torque output of the first drive motor and enable roll rotation of the first drive motor with respect to the body; A second reducer coupled to the second drive shaft of the second drive motor to amplify the motor torque output of the second drive motor to enable rotation of the connected knee pitch joint; and A third reducer provided between the third driving motor and the second reducer and coupled to the third driving shaft of the third driving motor to amplify the motor torque output of the third driving motor to enable rotation of the connected hip pitch joint; A multi-legged robot characterized by including a .

2. In paragraph 1, A multi-legged robot further comprising a power and communication module coupled to the drive module to selectively provide power or communication to the first drive motor, the second drive motor, and the third drive motor.

3. In paragraph 2, A multi-legged robot, characterized in that the power and communication module is provided with a power connector electrically connected to the power supply units provided in each of the first driving motor, the second driving motor, and the third driving motor, and a communication connector connected to the communication unit.

4. In paragraph 3, A first through hole is provided on one side of the first driving motor to expose the power supply unit and the communication unit of the first driving motor. A second through hole is provided on one side of the second driving motor or the third driving motor to expose the power supply unit and the communication unit of the second driving motor and the power supply unit and the communication unit of the third driving motor. A multi-legged robot characterized in that the power and communication modules cover the first through-hole and the second through-hole while power and communication are connected.

5. In paragraph 4, The above power and communication modules, module frame; A PCB substrate coupled to the inside of the above module frame and having the above power connector and the above communication connector mounted thereon; and A multi-legged robot characterized in that it includes a waterproof plate through which the power connector and the communication connector pass, and which makes it waterproof when combined with the first through-hole and the second through-hole.

6. In paragraph 5, A multi-legged robot characterized in that the waterproof plate is provided with a first waterproof O-ring having a ring shape corresponding to the first through-hole and inserted into the first through-hole to prevent the formation of a gap with the first through-hole, and a second waterproof O-ring having a ring shape corresponding to the second through-hole and inserted into the second through-hole to prevent the formation of a gap with the second through-hole.

7. In paragraph 1, A multi-legged robot characterized in that the third drive shaft of the third drive motor is a hollow shaft, and the second drive shaft of the second drive motor is coupled to a hollow portion within the third drive shaft so as not to cause interference, and an end of the third drive shaft is exposed from an end of the second drive shaft, so that the second reducer is penetrably coupled to the second drive shaft, and the third reducer is penetrably coupled to the end of the third drive shaft.

8. In paragraph 1, At least one of the first reducer, the second reducer and the third reducer, A reduction body having a hole member formed with a coupling hole to which the driving shaft is coupled; A reduction cover member coupled so that the hole member penetrates through one side of the reduction body; and A multi-legged robot characterized by including a cross roller bearing interposed in an area where the outer edge of the above-mentioned reduction body and the outer edge of the above-mentioned reduction cover member come into contact, and providing waterproofing between the above-mentioned reduction body and the above-mentioned reduction cover member.

9. In paragraph 8, A multi-legged robot characterized in that an O-ring for waterproofing is provided at a portion where the reduction body and the cross roller bearing come into contact and at a portion where the reduction cover member and the cross roller bearing come into contact.

10. In paragraph 8, The above cross roller bearing is provided in a ring shape with a vertical cross section having a rectangular shape. The above reduction body is provided with a stepped portion that contacts one vertex area of ​​the cross roller bearing, A multi-legged robot, characterized in that the above-mentioned reduction cover member is provided with a stepped portion that makes contact with another vertex area of ​​the above-mentioned cross roller bearing.

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