WO2017219315A1

WO2017219315A1 - Multi-legged robot

Info

Publication number: WO2017219315A1
Application number: PCT/CN2016/086884
Authority: WO
Inventors: 贝世猛
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-06-23
Filing date: 2016-06-23
Publication date: 2017-12-28
Also published as: CN107223104A; CN107223104B

Abstract

A multi-legged robot (100) comprises a main body (10) and mechanical legs (50) movably disposed on the main body (10). The mechanical leg (50) comprises a driven arm (545) and a first transmission assembly (543) movably connected to the main body (10), and the first transmission assembly (543) can drive the driven arm (545) to move with respect to the main body (10). The first transmission assembly (543) comprises an engagement retainer structure used to provide a sufficient support force to the driven arm (545), and to enable the first transmission assembly (543) to remain in a transmission state when the power is cut off, such that the mechanical legs (50) can also remain in a traveling state.

Description

多足机器人Multi-footed robot

技术领域Technical field

本发明涉及机器人领域，尤其涉及一种多足机器人。The invention relates to the field of robots, and in particular to a multi-legged robot.

背景技术Background technique

随着科技的发展，在现代社会中，多足机器人例如爬虫机器人、仿生机器人的应用越来越广泛。目前的多足机器人的机械腿的关节通常由舵机直接进行驱动，使所述多足机器人能够实现行走、攀爬的功能。然而，当所述多足机器人的动力被切断时，例如，当所述多足机器人断电后，所述舵机失去能量来源，由于舵机没有自锁功能，使所述多足机器人的机械腿的关节失去支撑力，导致所述多足机器人在动力被切断时便瘫软在地。因此，上述的多足机器人使用局限性较大。With the development of science and technology, in modern society, the application of multi-footed robots such as reptile robots and bionic robots is becoming more and more widespread. The joints of the mechanical legs of the current multi-footed robot are usually directly driven by the steering gear, so that the multi-legged robot can realize the functions of walking and climbing. However, when the power of the multi-legged robot is cut off, for example, when the multi-legged robot is powered off, the steering gear loses its energy source, and the mechanical mechanism of the multi-legged robot is made because the steering gear has no self-locking function. The joint of the leg loses support, causing the multi-legged robot to soften to the ground when the power is cut. Therefore, the above-mentioned multi-legged robot has a large limitation in use.

发明内容Summary of the invention

鉴于上述状况，有必要提供一种多足机器人，该多足机器人即使在动力被切断时仍能够保持动力被切断前的运行状态。In view of the above circumstances, it is necessary to provide a multi-legged robot capable of maintaining an operating state before power is turned off even when power is cut off.

本发明实施例提供一种多足机器人，包括机身及可活动地设置在所述机身上的机械腿。所述机械腿包括与所述机身可活动连接的从动臂以及第一传动组件，所述第一传动组件能够驱动所述从动臂相对所述机身运动。其中，所述第一传动组件包括卡合止退结构，所述卡合止退结构用于在所述第一传动组件在被切断动力时，锁止所述第一传动组件，以使所述第一传动组件能够维持当前的传动状态，从而使所述机械腿能够保持当前的运行状态。Embodiments of the present invention provide a multi-legged robot including a body and a mechanical leg movably disposed on the body. The mechanical leg includes a follower arm movably coupled to the body and a first drive assembly that is configured to drive the follower arm to move relative to the body. Wherein the first transmission assembly includes a snap-stop structure for locking the first transmission assembly when the first transmission assembly is powered off to enable the The first transmission assembly is capable of maintaining the current transmission state, thereby enabling the mechanical leg to maintain the current operating state.

本发明实施例还提供一种多足机器人，包括机身以及多个机械腿。多个所述机械腿与所述机身连接，用于提供所述机身的移动动力。每个所述机械腿包括：第一关节，与所述机身可转动连接；第二关节，与所述第一关节可转动连接；以及第三关节，与所述第二关节可转动连接。其中，所述第一关节相对于所述机身转动时，以调节所述第三关节的水平方向的位置；所述第二关节相对所述第一关节转动时，以调节所述第三关节的竖直方向的位置；所述第三关节相对于所述第二关节转动时，以调节所述第三关节着陆时的角度。Embodiments of the present invention also provide a multi-legged robot including a fuselage and a plurality of mechanical legs. A plurality of the mechanical legs are coupled to the fuselage for providing mobile power of the fuselage. Each of the mechanical legs includes a first joint rotatably coupled to the body, a second joint rotatably coupled to the first joint, and a third joint rotatably coupled to the second joint. Wherein the first joint is rotated relative to the body to adjust a position of the third joint in a horizontal direction; and the second joint is rotated relative to the first joint to adjust the third joint a position in a vertical direction; the third joint is rotated relative to the second joint to adjust an angle at which the third joint is landed.

上述的多足机器人中，由于所述第一传动组件具有卡合止退结构，所述卡合止退结构用于给予所述从动臂足够的支撑力，并使所述第一传动组件在被切断动力的情况下能够维持当前的传动状态，从而使所述机械腿能够保持当前的运行状态，避免了所述多足机器人因被切断动力而瘫软的情况。In the above multi-legged robot, since the first transmission assembly has a snap-stop structure, the snap-stop structure is used to give the slave arm sufficient supporting force, and the first transmission component is When the power is cut off, the current transmission state can be maintained, so that the mechanical leg can maintain the current operating state, and the multi-legged robot can be prevented from being soft due to the power to be cut.

附图说明DRAWINGS

图1为本发明实施例提供的多足机器人的组装立体图。FIG. 1 is an assembled perspective view of a multi-legged robot according to an embodiment of the present invention.

图2为图1所示的多足机器人的侧面示意图。2 is a side view of the multipod robot shown in FIG. 1.

图3为图1所示的多足机器人的机械腿的组装立体图。3 is an assembled perspective view of the mechanical leg of the multi-legged robot shown in FIG. 1.

图4为图3所示的机械腿的另一视角的立体示意图。4 is a perspective view of another perspective view of the mechanical leg shown in FIG. 3.

图5为图3所示的机械腿的又一视角的立体示意图。Figure 5 is a perspective view of still another perspective view of the mechanical leg shown in Figure 3.

图6为图3所示的机械腿的侧面示意图。Figure 6 is a side elevational view of the mechanical leg shown in Figure 3.

主要元件符号说明Main component symbol description

多足机器人 Multi-footed robot	100100
机身 body	1010
负载机构 Load mechanism	3030
机械腿 Mechanical leg	5050
第一关节 First joint	5252
主动驱动件 Active drive	521521
主动臂 Active arm	523523
第二关节 Second joint	5454
从动驱动件 Driven drive	541541
第一传动组件 First transmission component	543543
丝杆 Screw	5431，56315431,5631
螺母 Nut	5433，56335433,5633
万向节 Universal joint	5435，56355435, 5635
从动臂 Slave arm	545545
枢轴 Pivot	5451，56515451,5651
转轴 Rotating shaft	5453，56535453,5653
第三关节 Third joint	5656
执行驱动件 Execution drive	561561
第二传动组件 Second transmission component	563563
执行臂 Executive arm	565565
支脚 Feet	5858
减震组件 Shock absorption component	581581
固定件Fastener	58115811
装设件Mounting parts	58135813
弹性件 Elastic part	58155815
活动件Moving parts	58175817
触角 antenna	583583

如下具体实施方式将结合上述附图进一步说明本发明。The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

具体实施方式detailed description

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component. When a component is considered to be "set to" another component, it can be placed directly on another component or possibly with a centered component. The terms "vertical," "horizontal," "left," "right," and the like, as used herein, are for illustrative purposes only.

除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“或／及”包括一个或多个相关的所列项目的任意的和所有的组合。All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

本发明实施例提供一种多足机器人，设有一个或多个机械腿。其中至少一个所述机械腿包括从动臂以及第一传动组件。所述第一传动组件能够驱动所述从动臂相对所述机身运动。Embodiments of the present invention provide a multi-legged robot provided with one or more mechanical legs. At least one of the mechanical legs includes a follower arm and a first transmission assembly. The first transmission assembly is capable of driving the slave arm to move relative to the body.

其中，所述第一传动组件包括卡合止退结构，所述卡合止退结构用于在所述第一传动组件在被切断动力时，锁止所述第一传动组件，以使所述第一传动组件能够维持当前的传动状态，从而使所述机械腿能够保持当前的运行状态。Wherein the first transmission assembly includes a snap-stop structure for locking the first transmission assembly when the first transmission assembly is powered off to enable the The first transmission assembly is capable of maintaining the current transmission state, thereby enabling the mechanical leg to maintain the current operating state.

在其中一些实施例中，所述卡合止退结构可以为电动自锁结构。在断电时，所述电动自锁结构处于自锁状态。在通电时，所述电动自锁机构解除自锁。In some of these embodiments, the snap-back structure can be an electrically self-locking structure. The electric self-locking structure is in a self-locking state when the power is off. The electric self-locking mechanism releases the self-locking when energized.

例如，所述第一传动组件可以包括电动伸缩气缸以及止退部件，所述卡合止退结构为所述电动伸缩气缸与所述止退部件的卡合结构。当所述电动伸缩气缸通电时，所述电动伸缩气缸的伸缩杆处于收缩状态，此时伸缩杆与相对应的止退部件脱离；当所述电动伸缩气缸断电时，所述伸缩杆在自身重力作用下自动伸出而处于初始状态，并且与相对应的止退部件卡合。具体地，止退部件可以为直齿条或者卡合齿槽等。For example, the first transmission assembly may include an electric telescopic cylinder and a retaining member, and the snap-stop structure is an engaging structure of the electric telescopic cylinder and the retaining member. When the electric telescopic cylinder is energized, the telescopic rod of the electric telescopic cylinder is in a contracted state, at which time the telescopic rod is disengaged from the corresponding anti-return member; when the electric telescopic cylinder is de-energized, the telescopic rod is in itself It automatically protrudes under the action of gravity and is in an initial state, and is engaged with the corresponding retaining member. Specifically, the retaining member may be a straight rack or a snap groove or the like.

或者，卡合止退结构可以为包括电磁铁部件、铁质卡合部件以及止退部件。当电磁铁部件在通电时，吸引所述铁质卡合部件，使铁质卡合部件与所述止退部件分离；电磁铁部件在断电时，所述铁质卡合部件在自身重力下与所述止退部件相卡合。具体地，止退部件可以为直齿条或者卡合齿槽等。Alternatively, the snap-stop structure may include an electromagnet component, an iron snap component, and a retaining component. When the electromagnet member is energized, attracting the iron engaging member to separate the iron engaging member from the retaining member; when the electromagnet member is powered off, the iron engaging member is under its own gravity Engaged with the retaining member. Specifically, the retaining member may be a straight rack or a snap groove or the like.

在其中一些实施中，所述卡合止退结构可以为机械自锁结构，例如，相互啮合的螺纹。In some implementations, the snap-stop structure can be a mechanical self-locking structure, such as an intermeshing thread.

本发明实施例还提供一种多足机器人，设有一个或多个机械腿。其中至少一个所述机械腿包括一个或多个关节。所述关节可以调节所述机械腿的位置方向，例如，所述关节可以调节水平方向的位置、竖直方向的位置、着陆时的角度等。Embodiments of the present invention also provide a multi-legged robot provided with one or more mechanical legs. At least one of the mechanical legs includes one or more joints. The joint can adjust the positional direction of the mechanical leg, for example, the joint can adjust the position in the horizontal direction, the position in the vertical direction, the angle at the time of landing, and the like.

在其中一些实施例中，所述机械腿可以包括多个所述关节。例如，所述机械腿包括第一关节、第二关节、以及第三关节。其中，第一关节，与所述机身可转动连接。第二关节，与所述第一关节可转动连接。第三关节，与所述第二关节可转动连接。In some of these embodiments, the mechanical leg can include a plurality of the joints. For example, the mechanical leg includes a first joint, a second joint, and a third joint. The first joint is rotatably coupled to the body. a second joint rotatably coupled to the first joint. a third joint rotatably coupled to the second joint.

其中，所述第一关节相对于所述机身转动时，以调节所述第三关节的水平方向的位置。所述第二关节相对所述第一关节转动时，以调节所述第三关节的竖直方向的位置。所述第三关节相对于所述第二关节转动时，以调节所述第三关节着陆时的角度，例如，相对于地面的倾斜角度。Wherein, when the first joint rotates relative to the body, the position of the third joint in the horizontal direction is adjusted. The second joint is rotated relative to the first joint to adjust a position of the third joint in a vertical direction. The third joint is rotated relative to the second joint to adjust an angle at which the third joint is landed, for example, an angle of inclination with respect to the ground.

下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

请同时参阅图1至图2，图1及图2示出了本发明的一实施方式提供的多足机器人100，所述多足机器人100可以为爬虫机器人、仿生机器人等等，其可以应用在竞技机器人领域、服务机器人领域、医疗器械领域等等。在本实施方式中，所述多足机器人100包括机身10以及设置于所述机身10上的负载机构30和机械腿50。所述负载机构30用于实现所述多足机器人100的附加功能。所述机械腿50用于为所述多足机器人100提供支撑、行走、攀爬的动力。Please refer to FIG. 1 to FIG. 2 . FIG. 1 and FIG. 2 illustrate a multi-legged robot 100 according to an embodiment of the present invention. The multi-legged robot 100 may be a crawler robot, a bionic robot, or the like, which may be applied to Competitive robotics, service robotics, medical devices, etc. In the present embodiment, the multi-legged robot 100 includes a body 10 and a load mechanism 30 and a mechanical leg 50 disposed on the body 10. The load mechanism 30 is used to implement additional functions of the multi-legged robot 100. The mechanical leg 50 is used to provide the multi-legged robot 100 with power to support, walk, and climb.

在本实施方式中，所述机身10大致为块状基座，其用于承载所述负载机构30，并用于***述多足机器人100的电子元件，如控制器、传感器等。In the present embodiment, the body 10 is substantially a block-shaped base for carrying the load mechanism 30 and for accommodating electronic components of the multi-legged robot 100, such as a controller, a sensor, and the like.

所述负载机构30设置在所述机身10上，并能够相对所述机身10运动，或相对所述机身10固定。在本实施方式中，所述多足机器人100为遥控机器人，设有无线传输模块，用于接收遥控指令；所述负载机构30为炮塔，其可以发射***或者准直的激光束等。可以理解，在其他的实施方式中，所述负载机构30的类型可以根据所述多足机器人100的实际需要设置，例如，当所述多足机器人100为服务型机器人时，所述负载机构30可以为人机交互装置；当所述多足机器人100为医用机器人时，所述负载机构30可以为机械手臂或者传感装置等等。当然，在一些实施方式中，所述负载机构30也可以省略，而直接通过所述机身10来实现所述多足机器人100的附加功能。The load mechanism 30 is disposed on the body 10 and is movable relative to the body 10 or fixed relative to the body 10. In this embodiment, the multi-legged robot 100 is a remote control robot, and is provided with a wireless transmission module for receiving a remote control command; the load mechanism 30 is a turret, which can emit a BB bomb or a collimated laser beam or the like. It can be understood that in other embodiments, the type of the load mechanism 30 can be set according to the actual needs of the multi-legged robot 100. For example, when the multi-foot robot 100 is a service robot, the load mechanism 30 It may be a human-machine interaction device; when the multi-footed robot 100 is a medical robot, the load mechanism 30 may be a robot arm or a sensing device or the like. Of course, in some embodiments, the load mechanism 30 can also be omitted, and the additional function of the multi-legged robot 100 can be realized directly through the body 10.

所述机械腿50可活动地连接于所述机身10上，并位于所述机身10背离所述负载机构30的一侧。所述机械腿50用于支撑所述机身10，并带动所述机身10及所述负载机构30行走、攀爬，或执行其他的工作任务。在本实施方式中，所述机械腿50的数量为八个，八个所述机械腿50分为两组，两组所述机械腿50呈对称状设置在所述机身10的相对两侧部，以对所述机身10提供对称的支撑力，使得所述多足机器人100整体重力平衡且运行平稳。可以理解，在其他的实施方式中，所述机械腿50也可以为其他数量，例如，所述机械腿50可以为一个、两个、三个、四个、五个……等等。The mechanical leg 50 is movably coupled to the body 10 and is located on a side of the body 10 that faces away from the load mechanism 30. The mechanical leg 50 is used to support the body 10 and drive the body 10 and the load mechanism 30 to walk, climb, or perform other work tasks. In the present embodiment, the number of the mechanical legs 50 is eight, and the eight mechanical legs 50 are divided into two groups, and the two sets of the mechanical legs 50 are symmetrically disposed on opposite sides of the body 10. In order to provide a symmetrical supporting force to the body 10, the multi-legged robot 100 is gravity balanced and runs smoothly. It can be understood that in other embodiments, the mechanical legs 50 may also be other numbers. For example, the mechanical legs 50 may be one, two, three, four, five, and the like.

请参阅图3，所述机械腿50包括第一关节52、第二关节54以及第三关节56，所述第一关节52、所述第二关节54以及所述第三关节56依次连接。具体而言，所述第一关节52可转动地连接于所述机身10，所述第二关节54可转动地连接于所述第一关节52，所述第三关节56可转动地连接于所述第二关节54。Referring to FIG. 3, the mechanical leg 50 includes a first joint 52, a second joint 54, and a third joint 56. The first joint 52, the second joint 54, and the third joint 56 are sequentially connected. Specifically, the first joint 52 is rotatably coupled to the body 10, the second joint 54 is rotatably coupled to the first joint 52, and the third joint 56 is rotatably coupled to The second joint 54.

所述第一关节52相对于所述机身10转动时，能够调节所述第三关节56在水平方向上的位置，从而调节所述机械腿50在水平方向上的位置。因此，通过控制所述第一关节52相对于所述机身10转动的角度，能够控制所述机械腿50移动的步长及方向。When the first joint 52 is rotated relative to the body 10, the position of the third joint 56 in the horizontal direction can be adjusted, thereby adjusting the position of the mechanical leg 50 in the horizontal direction. Therefore, by controlling the angle at which the first joint 52 is rotated relative to the body 10, the step size and direction of movement of the mechanical leg 50 can be controlled.

在本实施方式中，所述第一关节52相对于所述机身10转动的转轴，基本平行于所述机身10的竖直中心轴设置，所述第一关节52相对于所述机身10转动的角度小于或等于180度。In this embodiment, a rotating shaft of the first joint 52 relative to the body 10 is disposed substantially parallel to a vertical central axis of the body 10, and the first joint 52 is opposite to the body The angle of rotation of 10 is less than or equal to 180 degrees.

可以理解，在其他的实施方式中，所述第一关节52相对于所述机身10转动的转轴的设置角度以及设置方式，可以根据所述多足机器人100的实际需要而设置，例如，所述第一关节52相对于所述机身10转动的转轴可以相对于所述机身10的竖直中心轴倾斜设置。类似地，所述第一关节52相对于所述机身10转动的角度范围，也可以根据所述多足机器人100的实际需要而设置，例如，所述第一关节52相对于所述机身10转动的角度可以小于或等于150度、小于或等于100度、小于或等于90等等。It can be understood that, in other embodiments, the setting angle and setting manner of the rotating shaft of the first joint 52 relative to the rotating body 10 can be set according to the actual needs of the multi-legged robot 100, for example, The rotating shaft of the first joint 52 with respect to the body 10 can be inclined with respect to the vertical central axis of the body 10. Similarly, the angular range of rotation of the first joint 52 relative to the body 10 can also be set according to the actual needs of the multi-legged robot 100, for example, the first joint 52 is opposite to the fuselage. The angle of rotation of 10 may be less than or equal to 150 degrees, less than or equal to 100 degrees, less than or equal to 90, and the like.

所述第二关节54相对所述第一关节52转动时，能够调节所述第三关节56在竖直方向的位置，从而调节所述机械腿50在竖直方向的位置。因此，通过控制所述第二关节54相对于所述第一关节52转动的角度，能够控制所述机械腿50攀爬/抬起的高度。When the second joint 54 is rotated relative to the first joint 52, the position of the third joint 56 in the vertical direction can be adjusted, thereby adjusting the position of the mechanical leg 50 in the vertical direction. Therefore, by controlling the angle at which the second joint 54 is rotated relative to the first joint 52, the height at which the mechanical leg 50 climbs/lifts can be controlled.

在本实施方式中，所述第二关节54相对于所述第一关节52转动的转轴，基本垂直于所述机身10的竖直中心轴设置。具体在图示的实施方式中，所述第二关节54相对于所述第一关节52转动的转轴，基本垂直于所述第一关节52相对所述机身10转动的转轴设置。所述第二关节54相对于所述第一关节52转动的角度小于或等于100度。In the present embodiment, the rotation axis of the second joint 54 relative to the first joint 52 is disposed substantially perpendicular to the vertical central axis of the body 10. Specifically, in the illustrated embodiment, the rotation axis of the second joint 54 relative to the first joint 52 is disposed substantially perpendicular to the rotation axis of the first joint 52 relative to the rotation of the body 10. The angle of rotation of the second joint 54 relative to the first joint 52 is less than or equal to 100 degrees.

可以理解，在其他的实施方式中，所述第二关节54相对于所述第一关节52转动的转轴的设置角度以及设置方式，可以根据所述多足机器人100的实际需要而设置。例如，所述第二关节54相对于所述第一关节52转动的转轴可以相对于所述机身10的竖直中心轴倾斜设置；或者，所述第二关节54相对于所述第一关节52转动的转轴，可以相对于所述第一关节52相对所述机身10转动的转轴倾斜设置。类似地，所述第二关节54相对于所述第一关节52转动的角度范围，也可以根据所述多足机器人100的实际需要而设置，例如，所述第二关节54相对于所述第一关节52转动的角度可以小于或等于180度、小于或等于150度、小于或等于90等等。It can be understood that, in other embodiments, the setting angle and setting manner of the rotating shaft of the second joint 54 relative to the first joint 52 can be set according to the actual needs of the multi-legged robot 100. For example, a rotation axis of the second joint 54 relative to the first joint 52 may be inclined with respect to a vertical central axis of the body 10; or, the second joint 54 may be opposite to the first joint The rotating shaft of 52 can be inclined with respect to the rotation axis of the first joint 52 with respect to the rotation of the body 10. Similarly, the angular range of rotation of the second joint 54 relative to the first joint 52 may also be set according to the actual needs of the multi-legged robot 100, for example, the second joint 54 is opposite to the first The angle at which a joint 52 rotates may be less than or equal to 180 degrees, less than or equal to 150 degrees, less than or equal to 90, and the like.

所述第三关节56相对于所述第二关节54转动时，能够调节所述第三关节56着陆时的角度，从而调节所述机械腿50着陆时的角度。因此，通过控制所述第三关节56相对于所述第二关节54转动的角度，能够控制所述机械腿50攀爬/抬起的角度。When the third joint 56 is rotated relative to the second joint 54, the angle at which the third joint 56 is landed can be adjusted, thereby adjusting the angle at which the mechanical leg 50 is landed. Therefore, by controlling the angle at which the third joint 56 is rotated relative to the second joint 54, the angle at which the mechanical leg 50 climbs/lifts can be controlled.

在本实施方式中，所述第三关节56相对于所述第二关节54转动的转轴，基本平行于所述第二关节54相对于所述第一关节52转动的转轴，所述第三关节56相对于所述第二关节54转动的角度小于或等于100度。In the present embodiment, the rotation axis of the third joint 56 relative to the second joint 54 is substantially parallel to the rotation axis of the second joint 54 relative to the first joint 52, the third joint The angle of rotation of 56 relative to the second joint 54 is less than or equal to 100 degrees.

可以理解，在其他的实施方式中，所述第三关节56相对于所述第二关节54转动的转轴的设置角度以及设置方式，可以根据所述多足机器人100的实际需要而设置。例如，所述第三关节56相对于所述第二关节54转动的转轴，可以相对于所述机身10的竖直中心轴倾斜设置；或者，所述第三关节56相对于所述第二关节54转动的转轴，可以相对于所述第二关节54相对所述机身10转动的转轴倾斜设置。类似地，所述第三关节56相对于所述第二关节54转动的角度范围，也可以根据所述多足机器人100的实际需要而设置，例如，所述第三关节56相对于所述第二关节54转动的角度可以小于或等于180度、小于或等于150度、小于或等于90等等。It can be understood that, in other embodiments, the setting angle and setting manner of the rotating shaft of the third joint 56 relative to the second joint 54 can be set according to the actual needs of the multi-legged robot 100. For example, a rotation axis of the third joint 56 relative to the second joint 54 may be inclined with respect to a vertical central axis of the body 10; or, the third joint 56 may be opposite to the second The rotating shaft of the joint 54 is tiltably disposed with respect to the rotation axis of the second joint 54 with respect to the rotation of the body 10. Similarly, the range of angles at which the third joint 56 is rotated relative to the second joint 54 may also be set according to the actual needs of the multi-legged robot 100, for example, the third joint 56 is relative to the first The angle at which the two joints 54 rotate may be less than or equal to 180 degrees, less than or equal to 150 degrees, less than or equal to 90, and the like.

请同时参阅图3至图6，具体在图中所示的实施例中，所述第一关节52包括主动驱动件521及主动臂523。所述主动驱动件521设置于所述机身10上。所述主动臂523与所述主动驱动件521相连接。Please refer to FIG. 3 to FIG. 6 . Specifically, in the embodiment shown in the figures, the first joint 52 includes an active driving member 521 and an active arm 523 . The active driving member 521 is disposed on the body 10. The active arm 523 is coupled to the active drive member 521.

在本实施方式中，所述主动驱动件521为旋转驱动件，其用于驱动所述主动臂523转动，从而带动所述机械腿50整体相对所述机身10转动。所述主动驱动件521上设置有转接部（图中未标出），所述主动驱动件521通过所述转接部装设于所述机身10上。具体地，所述主动驱动件521为旋转电机，其包括定子（图中未标出）及转子（图中未标出）。所述定子固定于所述机身10上，所述转子与所述定子可转动连接。所述主动臂523连接在所述转子上，所述转子能够带动所述主动臂523相对所述机身10转动，从而使所述第一关节52相对所述机身10转动。In the embodiment, the driving device 521 is a rotating driving member for driving the driving arm 523 to rotate, thereby driving the mechanical leg 50 to rotate integrally with the body 10. The active driving member 521 is provided with an adapter portion (not shown), and the active driving member 521 is mounted on the body 10 through the adapter portion. Specifically, the active driving member 521 is a rotating electrical machine including a stator (not shown) and a rotor (not shown). The stator is fixed to the body 10, and the rotor is rotatably coupled to the stator. The active arm 523 is coupled to the rotor, and the rotor can drive the active arm 523 to rotate relative to the body 10 to rotate the first joint 52 relative to the body 10.

所述主动臂523用于装设所述第二关节54。所述主动驱动件521驱动所述主动臂523转动时，所述主动臂523相对所述机身10转动的轴线，基本平行于所述机身10的竖直中心轴设置。当所述多足机器人100运行于大致水平的工作场所时，所述主动臂523的转动轴线大致沿竖直方向设置。The active arm 523 is used to mount the second joint 54. When the active driving member 521 drives the driving arm 523 to rotate, the axis of the driving arm 523 relative to the body 10 is substantially parallel to the vertical central axis of the body 10. When the multi-footed robot 100 is operated at a substantially horizontal working position, the rotational axis of the active arm 523 is disposed substantially in a vertical direction.

所述第二关节54可活动地设置在所述主动臂523上。具体在图示的实施方式中，所述第二关节54包括从动驱动件541、第一传动组件543以及从动臂545。所述从动驱动件541设置在所述主动臂523上。所述第一传动组件543连接于所述从动驱动件541。所述从动臂545连接于所述第一传动组件543。The second joint 54 is movably disposed on the active arm 523. Specifically in the illustrated embodiment, the second joint 54 includes a driven drive member 541, a first transmission assembly 543, and a follower arm 545. The driven driver 541 is disposed on the active arm 523. The first transmission assembly 543 is coupled to the driven drive member 541. The follower arm 545 is coupled to the first transmission assembly 543.

在本实施方式中，所述从动驱动件541为旋转驱动件，具体地，所述从动驱动件541为旋转电机。所述从动驱动件541设置在所述主动臂523上，并相对所述主动臂523固定。所述从动驱动件541用于驱动所述第一传动组件543运动，以带动所述从动臂545相对所述主动臂523转动，从而使所述第二关节54相对所述第一关节52转动。In the present embodiment, the driven driving member 541 is a rotary driving member, and specifically, the driven driving member 541 is a rotating electrical machine. The driven driver 541 is disposed on the active arm 523 and fixed relative to the active arm 523. The driven driver 541 is configured to drive the first transmission component 543 to move to rotate the slave arm 545 relative to the active arm 523 such that the second joint 54 is opposite to the first joint 52. Turn.

在本实施方式中，所述第一传动组件543为丝杠机构。具体地，所述第一传动组件543包括丝杆5431以及套设于所述丝杆5431上的螺母5433。所述丝杆5431通过万向节5435连接于所述从动驱动件541的驱动轴，所述螺母5433与所述丝杆5431相啮合。所述从动驱动件541能够驱动所述丝杆5431转动，以带动所述螺母5433移动。所述螺母5433与所述丝杆5431之间的啮合结构，构成所述第一传动组件543的卡合止退结构。当所述从动驱动件541被切断动力时，例如，所述从动驱动件541断电时，所述卡合止退结构能够防止第一传动组件543继续传动，即，螺母5433的螺纹与丝杆5431的螺纹啮合后，使所述螺母5433难以自动相对所述丝杆5431移动，使得所述第一传动组件543仍能够保持对所述从动臂545的支撑力，从而避免了所述第二关节54因被切断动力而瘫软的情况。In the embodiment, the first transmission component 543 is a screw mechanism. Specifically, the first transmission component 543 includes a screw rod 5431 and a nut 5433 sleeved on the screw rod 5431. The lead screw 5431 is coupled to the drive shaft of the driven drive member 541 via a universal joint 5435, and the nut 5433 is engaged with the lead screw 5431. The driven driving member 541 can drive the screw 5431 to rotate to drive the nut 5433 to move. The engaging structure between the nut 5433 and the lead screw 5431 constitutes a snap-stop structure of the first transmission component 543. When the driven driving member 541 is powered off, for example, when the driven driving member 541 is powered off, the snap-retracting structure can prevent the first transmission assembly 543 from continuing to drive, that is, the thread of the nut 5433 After the threads of the lead screw 5431 are engaged, it is difficult for the nut 5433 to automatically move relative to the lead screw 5431, so that the first transmission assembly 543 can still maintain the supporting force on the follower arm 545, thereby avoiding the The second joint 54 is soft due to the power to be cut.

所述从动臂545可转动地设置于所述主动臂523上，且与所述螺母5433可转动连接。具体地，所述从动臂545通过枢轴5451枢接于所述主动臂523上，所述从动臂545通过转轴5453与所述螺母5433可转动地连接。当所述从动驱动件541驱动所述丝杆5431转动时，所述螺母5433能够沿着所述丝杆5431移动，从而带动所述从动臂545相对所述主动臂523转动，使所述第二关节54整体相对所述第一关节52转动。所述从动驱动件541通过所述第一传动组件543驱动所述从动臂545转动时，所述从动臂545相对所述主动臂523转动的轴线，大致垂直于所述主动臂523相对所述机身10转动的轴线。当所述多足机器人100运行于大致水平的工作场所时，所述从动臂545的转动轴线大致沿水平方向设置。The follower arm 545 is rotatably disposed on the active arm 523 and rotatably coupled to the nut 5433. Specifically, the follower arm 545 is pivotally connected to the active arm 523 via a pivot 5451. The follower arm 545 is rotatably coupled to the nut 5433 via a rotating shaft 5453. When the driven driving member 541 drives the screw 5431 to rotate, the nut 5433 can move along the screw 5431 to drive the driven arm 545 to rotate relative to the active arm 523, so that the The second joint 54 is integrally rotated relative to the first joint 52. When the driven driver 541 drives the slave arm 545 to rotate by the first transmission component 543, an axis of rotation of the slave arm 545 relative to the active arm 523 is substantially perpendicular to the active arm 523. The axis of rotation of the fuselage 10. When the multi-footed robot 100 is operated at a substantially horizontal working position, the rotational axis of the follower arm 545 is disposed substantially in a horizontal direction.

所述第三关节56可活动地设置在所述从动臂545上。在本实施方式中，所述第三关节56的结构与所述第二关节54的结构大致相同。具体在图示的实施方式中，所述第三关节56包括执行驱动件561、第二传动组件563以及执行臂565，所述执行驱动件561设置在所述从动臂545上，所述第二传动组件563连接于所述执行驱动件561，所述执行臂565连接于所述第二传动组件563。The third joint 56 is movably disposed on the follower arm 545. In the present embodiment, the structure of the third joint 56 is substantially the same as the structure of the second joint 54. Specifically, in the illustrated embodiment, the third joint 56 includes an execution driving member 561, a second transmission assembly 563, and an execution arm 565. The execution driving member 561 is disposed on the driven arm 545. A second transmission assembly 563 is coupled to the actuator member 561, and the actuator arm 565 is coupled to the second transmission assembly 563.

在本实施方式中，所述执行驱动件561为旋转驱动件，具体地，所述执行驱动件561为旋转电机。所述执行驱动件561设置在所述从动臂545上，并相对所述从动臂545固定。所述执行驱动件561用于驱动所述第二传动组件563运动，以带动所述执行臂565相对所述从动臂545转动，从而使所述第三关节56相对所述第二关节54转动。In the embodiment, the actuator 561 is a rotary driving member. Specifically, the actuator 561 is a rotating electrical machine. The actuator member 561 is disposed on the slave arm 545 and fixed relative to the slave arm 545. The execution driving member 561 is configured to drive the second transmission component 563 to move to rotate the actuator arm 565 relative to the slave arm 545 to rotate the third joint 56 relative to the second joint 54 .

在本实施方式中，所述第二传动组件563为丝杠机构。具体地，所述第二传动组件563包括丝杆5631以及套设于所述丝杆5631上的螺母5633。所述丝杆5631通过万向节5635连接于所述执行驱动件561的驱动轴，所述螺母5633与所述丝杆5631相啮合。所述执行驱动件561能够驱动所述丝杆5631转动，以带动所述螺母5633移动。所述螺母5633与所述丝杆5631之间的啮合结构，构成所述第二传动组件563的卡合止退结构。当所述执行驱动件561被切断动力时，例如，所述执行驱动件561断电时，所述卡合止退结构能够防止第二传动组件563继续传动，即，螺母5633的螺纹与丝杆5631的螺纹啮合后，使所述螺母5633难以自动相对所述丝杆5631移动，使得所述第二传动组件563仍能够保持对所述执行臂565的支撑力，从而避免了所述第三关节56因被切断动力而瘫软的情况。In the embodiment, the second transmission component 563 is a screw mechanism. Specifically, the second transmission component 563 includes a lead screw 5631 and a nut 5633 sleeved on the screw shaft 5631. The lead screw 5631 is coupled to the drive shaft of the actuator 561 by a universal joint 5635, and the nut 5633 is engaged with the lead screw 5631. The actuator 561 can drive the screw 5631 to rotate to drive the nut 5633 to move. The meshing structure between the nut 5633 and the lead screw 5631 constitutes a snap-stop structure of the second transmission component 563. When the execution driving member 561 is powered off, for example, when the execution driving member 561 is powered off, the snap-stop structure can prevent the second transmission assembly 563 from continuing to drive, that is, the thread and the screw of the nut 5633 After the threads of 5631 are engaged, it is difficult for the nut 5633 to automatically move relative to the lead screw 5631, so that the second transmission assembly 563 can still maintain the supporting force on the actuator arm 565, thereby avoiding the third joint. 56 is soft due to the power cut off.

所述执行臂565可转动地设置于所述从动臂545上，且与所述螺母5633可转动连接。具体地，所述执行臂565通过枢轴5651枢接于所述从动臂545上，所述执行臂565通过转轴5653与所述螺母5633可转动地连接。当所述执行驱动件561驱动所述丝杆5631转动时，所述螺母5633能够沿着所述丝杆5631移动，从而带动所述执行臂565相对所述从动臂545转动，使所述第三关节56整体相对所述第二关节54转动。所述执行驱动件561通过所述第二传动组件563驱动所述执行臂565转动时，所述执行臂565相对所述从动臂545转动的轴线，大致平行于所述从动臂545对所述主动臂523转动的轴线。当所述多足机器人100运行于大致水平的工作场所时，所述执行臂565的转动轴线大致沿水平方向设置。The actuator arm 565 is rotatably disposed on the slave arm 545 and rotatably coupled to the nut 5633. Specifically, the actuator arm 565 is pivotally connected to the slave arm 545 via a pivot 5651. The actuator arm 565 is rotatably coupled to the nut 5633 via a shaft 5653. When the driving member 561 drives the screw 5631 to rotate, the nut 5633 can move along the screw 5631, thereby driving the actuator arm 565 to rotate relative to the slave arm 545, so that the first The three joints 56 are integrally rotated relative to the second joint 54. When the actuator 561 drives the actuator arm 565 to rotate by the second transmission component 563, the axis of rotation of the actuator arm 565 relative to the slave arm 545 is substantially parallel to the slave arm 545. The axis of rotation of the active arm 523. When the multi-footed robot 100 is operated at a substantially horizontal working position, the rotational axis of the executive arm 565 is disposed substantially in a horizontal direction.

进一步地，所述多足机器人100还包括设置于所述第三关节56上的支脚58，所述支脚58用作所述多足机器人100的机械腿50在着陆时的支撑。所述支脚58包括减震组件581以及触角583，所述减震组件581设置于所述执行臂565上，所述触角583抵持于所述减震组件581上，所述触角583及所述减震组件581用于将所述多足机器人100支撑于使用场所上，并对所述多足机器人100的行走、攀爬进行减震。Further, the multipod robot 100 further includes a leg 58 disposed on the third joint 56, the leg 58 serving as a support for the mechanical leg 50 of the multipod robot 100 when landing. The leg 58 includes a shock absorbing component 581 and an antenna 583 disposed on the actuator arm 565. The antenna 583 abuts against the shock absorbing component 581, the antenna 583 and the antenna The damper assembly 581 is for supporting the multi-legged robot 100 on a use place, and dampens the walking and climbing of the multi-legged robot 100.

具体在图示的实施方式中，所述减震组件581包括固定件5811、装设件5813、弹性件5815以及活动件5817。所述固定件5811固定于所述执行臂565上，所述装设件5813设置于所述固定件5811上，所述弹性件5815可活动地设置于所述装设件5813上。所述活动件5817可活动地抵持于所述弹性件5815上，并用于抵接所述触角583，使所述减震组件581在所述第三关节56与所述触角583之间形成弹性抵持作用，从而实现所述多足机器人100在行走时的减震。Specifically, in the illustrated embodiment, the shock absorbing assembly 581 includes a fixing member 5811, a mounting member 5813, an elastic member 5815, and a movable member 5917. The fixing member 5811 is fixed on the mounting arm 565, the mounting member 5813 is disposed on the fixing member 5811, and the elastic member 5815 is movably disposed on the mounting member 5813. The movable member 5917 is movably abutted against the elastic member 5815 and serves to abut the tentacles 583 to make the shock absorbing assembly 581 elastic between the third joint 56 and the antenna 583 The resisting action is performed to achieve the damping of the multi-legged robot 100 while walking.

具体而言，在本实施方式中，所述固定件5811为两个，两个所述固定件5811彼此间隔设置在所述执行臂565上。所述装设件5813大致呈杆状，其设置在两个所述固定件5811之间，且所述装设件5813的两端分别连接于两个所述固定件5811上。所述活动件5817可活动地套设于所述装设件5813上，所述活动件5817用于装设所述触角583。所述弹性件5815可活动地设置在所述装设件5813上，并抵持于所述固定件5811与所述活动件5817之间。在本实施方式中，所述弹性件5815为两组，两组所述弹性件5815分别设置在所述活动件5817的两侧，且每组所述弹性件5815的两端分别抵持在所述固定件5811及所述活动件5817上，从而实现所述机械腿50的双向减震。Specifically, in the embodiment, the fixing members 5811 are two, and the two fixing members 5811 are spaced apart from each other on the execution arm 565. The mounting member 5813 is substantially in the shape of a rod, and is disposed between the two fixing members 5811, and two ends of the mounting member 5813 are respectively connected to the two fixing members 5811. The movable member 5917 is movably sleeved on the mounting member 5813, and the movable member 5917 is configured to mount the antenna 583. The elastic member 5815 is movably disposed on the mounting member 5813 and is abutted between the fixing member 5811 and the movable member 5917. In the present embodiment, the elastic members 5815 are two sets, and the two sets of the elastic members 5815 are respectively disposed on two sides of the movable member 5917, and the two ends of each set of the elastic members 5815 are respectively respectively resisted. The fixing member 5811 and the movable member 5917 are arranged to realize the two-way vibration damping of the mechanical leg 50.

所述触角583连接于所述活动件5817上，其用于将所述多足机器人100支撑于使用场所。所述触角583上设置有传感器（图中未示出），所述传感器用于感测所述触角583是否着陆。所述传感器可以为压力传感器、距离传感器、视觉传感器等。The antenna 583 is coupled to the movable member 5917 for supporting the multi-legged robot 100 at a place of use. A sensor (not shown) is provided on the antenna 583 for sensing whether the antenna 583 is landing. The sensor may be a pressure sensor, a distance sensor, a visual sensor, or the like.

上述的多足机器人100，其机械腿50的第一关节52作为主动关节、第二关节54作为从动关节、第三关节56作为执行关节，所述主动关节通过所述从动关节带动所述执行关节运动，从而实现所述多足机器人100的站立、行走、攀爬等功能。由于所述第二关节54的第一传动组件543具有上述的卡合止退结构，所述卡合止退结构用于给予所述从动臂545足够的支撑力，并使所述第一传动组件543在被切断动力的情况下能够维持当前的传动状态，从而使所述机械腿能够保持当前的运行状态，避免了所述多足机器人100因被切断动力而瘫软的情况。类似地，由于所述第三关节56的第二传动组件563具有上述的卡合止退结构，使所述第二传动组件563在被切断动力的情况下能够维持当前的传动状态，避免了所述多足机器人100因被切断动力而瘫软的情况。In the above-described multi-legged robot 100, the first joint 52 of the mechanical leg 50 serves as an active joint, the second joint 54 serves as a driven joint, and the third joint 56 functions as an execution joint, and the active joint drives the driven joint through the driven joint. The joint motion is performed to realize the functions of standing, walking, climbing, and the like of the multi-footed robot 100. Since the first transmission assembly 543 of the second joint 54 has the above-described snap-stop structure, the snap-stop structure is used to give the slave arm 545 sufficient supporting force and to make the first transmission The assembly 543 is capable of maintaining the current transmission state when the power is turned off, thereby enabling the mechanical leg to maintain the current operating state, thereby avoiding the situation in which the multi-legged robot 100 is softened by the power to be cut. Similarly, since the second transmission assembly 563 of the third joint 56 has the above-described snap-stop configuration, the second transmission assembly 563 can maintain the current transmission state in the case of being powered off, avoiding the The ED robot 100 is soft due to the power being cut.

可以理解的是，上述的多足机器人100，可以仅具有上述第二关节54或第三关节56中的任一个，以实现所述多足机器人100的站立、行走、攀爬等功能；甚至，所述多足机器人100的机械腿50，可以省略所述第一关节52，而将所述第二关节54直接装设于所述机身10上，并通过所述第二关节54的第一传动组件543给予所述机械腿50足够的支撑力，使所述机械腿50在被切断动力的情况下能够维持当前的传动状态。It can be understood that the multi-legged robot 100 described above may have only one of the second joint 54 or the third joint 56 described above to realize the functions of standing, walking, climbing, etc. of the multi-legged robot 100; The mechanical leg 50 of the multi-legged robot 100 may omit the first joint 52 and directly mount the second joint 54 on the body 10 and pass the first of the second joint 54 The transmission assembly 543 imparts sufficient support to the mechanical leg 50 to maintain the current transmission state of the mechanical leg 50 with the power being shut off.

可以理解的是，所述第一传动组件543可以为除丝杠机构以外的传动机构，而使所述第一传动组件543具有卡合止退结构，从而使所述第一传动组件543在被切断动力的情况下能够维持当前的传动状态即可。It can be understood that the first transmission component 543 can be a transmission mechanism other than the screw mechanism, and the first transmission component 543 has a snap-stop structure, so that the first transmission component 543 is When the power is turned off, the current transmission state can be maintained.

例如，所述第一传动组件543可以为蜗轮蜗杆机构。具体而言，所述第一传动组件543可以包括蜗杆及与所述蜗杆相啮合的蜗轮。所述蜗杆连接于所述从动驱动件541的驱动轴，所述从动臂545设置于所述蜗轮上。所述从动驱动件541能够驱动所述蜗杆转动，以带动所述蜗轮转动，从而带动所述从动臂545转动。所述卡合止退结构为所述蜗轮及所述蜗杆的啮合结构，由此，当所述从动驱动件541被切断动力时，所述卡合止退结构能够防止所述蜗轮相对所述蜗杆转动，所述第一传动组件543仍能够保持对所述从动臂545的支撑力，从而避免了所述第二关节54因被切断动力而瘫软的情况。For example, the first transmission component 543 can be a worm gear mechanism. In particular, the first transmission assembly 543 can include a worm and a worm gear that meshes with the worm. The worm is coupled to a drive shaft of the driven drive member 541, and the follower arm 545 is disposed on the worm gear. The driven driving member 541 can drive the worm to rotate to drive the worm wheel to rotate, thereby driving the driven arm 545 to rotate. The snap-stop structure is an engaging structure of the worm wheel and the worm, whereby the snap-stop structure prevents the worm wheel from being opposite to the whirl when the driven member 541 is powered off When the worm rotates, the first transmission assembly 543 can still maintain the supporting force to the follower arm 545, thereby avoiding the situation in which the second joint 54 is softened by the power to be cut.

或者，所述第一传动组件543可以为直线电机。具体而言，所述第一传动组件543可以包括导轨及与所述导轨相适配的滑块，此时，所述从动驱动件541可以省略。所述导轨上设置有转接部，所述导轨通过所述转接部装设于所述机身10上。所述导轨可转动地连接于所述主动臂523，所述滑块可滑动地设置在所述导轨上。所述从动臂545与所述主动臂523相枢接的同时，可转动地连接于所述滑块上。当所述直线电机的所述滑块相对所述导轨滑动时，所述滑块能够带动所述从动臂545相对所述主动臂523运动。其中，所述导轨可以通过万向节、球铰或者枢轴等可转动地连接于所述主动臂523上。所述卡合止退结构为所述直线电机内部的自锁结构，由此，当所述从动驱动件541被切断动力时，所述卡合止退结构能够防止所述滑块相对所述导轨移动，所述第一传动组件543仍能够保持对所述从动臂545的支撑力，从而避免了所述第二关节54因被切断动力而瘫软的情况。Alternatively, the first transmission component 543 can be a linear motor. Specifically, the first transmission component 543 may include a guide rail and a slider adapted to the guide rail, and at this time, the driven driving member 541 may be omitted. An adapter portion is disposed on the rail, and the rail is mounted on the body 10 through the adapter portion. The rail is rotatably coupled to the active arm 523, and the slider is slidably disposed on the rail. The follower arm 545 is rotatably coupled to the slider while being pivotally connected to the active arm 523. The slider can drive the follower arm 545 to move relative to the active arm 523 when the slider of the linear motor slides relative to the guide rail. Wherein, the guide rail may be rotatably connected to the active arm 523 by a universal joint, a ball joint or a pivot. The snap-stop structure is a self-locking structure inside the linear motor, whereby the snap-stop structure can prevent the slider from being opposite to the slider when the driven driver 541 is powered off The guide rail is moved, and the first transmission assembly 543 can still maintain the supporting force to the follower arm 545, thereby avoiding the situation in which the second joint 54 is softened by the power to be cut.

又如，所述第一传动组件543可以为电动伸缩气缸以及止退部件的结合。具体而言，所述第一传动组件543可以包括电动伸缩气缸及止退部件，此时，所述从动驱动件541可以省略。所述电动伸缩气缸包括缸体及与所述缸体滑动配合的伸缩杆，所述伸缩杆能够与所述止退部件相卡合或相分离。所述缸体可转动地连接于所述主动臂523，所述从动臂545与所述主动臂523相枢接的同时，可转动地连接于所述伸缩杆上。当所述伸缩杆相对于所述缸体滑动时，所述伸缩杆能够带动所述从动臂545相对所述主动臂523运动。其中，所述缸体可以通过万向节、球铰或者枢轴等可转动地连接于所述主动臂523上。所述卡合止退结构为所述电动伸缩气缸与所述止退部件的卡合结构。具体地，当所述电动伸缩气缸通电时，所述伸缩杆处于收缩状态，此时伸缩杆与相对应的止退部件相分离；当所述电动伸缩气缸断电时，所述伸缩杆在自身重力作用下自动伸出而处于初始状态，并且与相对应的止退部件相卡合。具体地，所述止退部件可以为直齿条或者卡合齿槽等。As another example, the first transmission assembly 543 can be a combination of an electric telescopic cylinder and a retaining member. Specifically, the first transmission component 543 may include an electric telescopic cylinder and a retaining member, and at this time, the driven driving member 541 may be omitted. The electric telescopic cylinder includes a cylinder and a telescopic rod that is slidingly engaged with the cylinder, and the telescopic rod can be engaged or disengaged from the retaining member. The cylinder is rotatably coupled to the active arm 523, and the driven arm 545 is rotatably coupled to the telescopic rod while being pivotally coupled to the active arm 523. The telescopic rod can move the follower arm 545 relative to the active arm 523 when the telescopic rod slides relative to the cylinder. Wherein, the cylinder block may be rotatably coupled to the active arm 523 by a universal joint, a ball joint or a pivot. The snap-retracting structure is an engaging structure of the electric telescopic cylinder and the retaining member. Specifically, when the electric telescopic cylinder is energized, the telescopic rod is in a contracted state, at which time the telescopic rod is separated from the corresponding retaining member; when the electric telescopic cylinder is powered off, the telescopic rod is in itself It automatically protrudes under the action of gravity and is in an initial state, and is engaged with the corresponding retaining member. Specifically, the retaining member may be a straight rack or a snap tooth groove or the like.

再如，所述第一传动组件543可以为电动旋转气缸以及止退部件的结合。具体而言，所述第一传动组件543可以包括电动旋转气缸及止退部件，此时，所述从动驱动件541可以省略。所述电动旋转气缸包括缸体、与所述缸体转动配合的旋转杆以及设置于苏搜狐缸体及所述旋转杆之间的复位件，所述旋转杆能够与所述止退部件相卡合或相分离。所述缸体固定地连接于所述主动臂523，所述从动臂545连接于所述旋转杆上。当所述旋转杆相对于所述缸体转动时，所述旋转杆能够带动所述从动臂545相对所述主动臂523运动。所述卡合止退结构为所述电动旋转气缸与所述止退部件的卡合结构。具体地，当所述电动旋转气缸通电时，所述旋转杆与相对应的止退部件相分离；当所述电动旋转气缸断电时，所述旋转杆在所述复位件作用下回复而处于初始状态，并且与相对应的止退部件相卡合。具体地，所述复位件可以为弹性件，所述止退部件可以为直齿条或者卡合齿槽等。As another example, the first transmission assembly 543 can be a combination of an electric rotary cylinder and a retaining member. Specifically, the first transmission component 543 may include an electric rotating cylinder and a retaining member, and at this time, the driven driving member 541 may be omitted. The electric rotary cylinder includes a cylinder, a rotating rod rotatably engaged with the cylinder, and a resetting member disposed between the Su Sohu cylinder and the rotating rod, the rotating rod being capable of being engaged with the stopping member Combination or phase separation. The cylinder is fixedly coupled to the active arm 523, and the driven arm 545 is coupled to the rotating rod. The rotating rod can move the follower arm 545 relative to the active arm 523 when the rotating rod rotates relative to the cylinder. The snap-stop structure is an engagement structure of the electric rotary cylinder and the retaining member. Specifically, when the electric rotary cylinder is energized, the rotating rod is separated from the corresponding retaining member; when the electric rotating cylinder is powered off, the rotating rod is returned by the resetting member and is in The initial state is engaged with the corresponding retaining member. Specifically, the reset member may be an elastic member, and the retaining member may be a straight rack or a snap groove or the like.

类似地，述第二传动组件563也可以为除丝杠机构以外的传动机构，例如，为蜗轮蜗杆机构、直线电机、伸缩气缸、旋转气缸等，使所述第二传动组件563具有相应的卡合止退结构，从而使所述第二传动组件563在被切断动力的情况下能够维持当前的传动状态即可。Similarly, the second transmission component 563 can also be a transmission mechanism other than the screw mechanism, for example, a worm gear mechanism, a linear motor, a telescopic cylinder, a rotary cylinder, etc., so that the second transmission component 563 has a corresponding card. The retracting structure is configured such that the second transmission assembly 563 can maintain the current transmission state when the power is cut off.

以上实施方式仅用以说明本发明的技术方案而非限制，尽管参照以上较佳实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换都不应脱离本发明技术方案的精神和范围。本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting, and the present invention will be described in detail with reference to the preferred embodiments of the present invention. Neither should the spirit and scope of the technical solutions of the present invention be deviated. Those skilled in the art can also make other variations and the like in the spirit of the present invention for use in the design of the present invention as long as it does not deviate from the technical effects of the present invention. All changes made in accordance with the spirit of the invention are intended to be included within the scope of the invention.

Claims

一种多足机器人，包括机身及能够活动地设置在所述机身上的机械腿，其特征在于：所述机械腿包括与所述机身可活动连接的从动臂以及第一传动组件，所述第一传动组件能够驱动所述从动臂相对所述机身运动；其中，所述第一传动组件包括卡合止退结构，所述卡合止退结构用于在所述第一传动组件在被切断动力时，锁止所述第一传动组件，以使所述第一传动组件能够维持当前的传动状态，从而使所述机械腿能够保持当前的运行状态。 A multi-legged robot comprising a fuselage and a mechanical leg movably disposed on the fuselage, wherein the mechanical leg includes a slave arm movably coupled to the body and a first transmission component The first transmission assembly is configured to drive the slave arm to move relative to the body; wherein the first transmission assembly includes a snap-stop structure, and the snap-stop structure is used in the first The transmission assembly locks the first transmission assembly when the power is turned off to enable the first transmission assembly to maintain the current transmission state, thereby enabling the mechanical leg to maintain the current operating state.
如权利要求1所述的多足机器人，其特征在于：所述机械腿还包括连接于所述机身的从动驱动件，所述第一传动组件连接于所述从动驱动件上，所述从动驱动件能够驱动所述第一传动组件带动所述从动臂运动。 A multi-legged robot according to claim 1, wherein said mechanical leg further comprises a driven drive member coupled to said body, said first drive assembly being coupled to said driven drive member The driven drive member can drive the first transmission assembly to drive the follower arm to move.
如权利要求2所述的多足机器人，其特征在于：所述第一传动组件为丝杠机构，所述从动驱动件为旋转电机。 A multi-legged robot according to claim 2, wherein said first transmission assembly is a screw mechanism and said driven drive member is a rotary electric machine.
如权利要求3所述的多足机器人，其特征在于：所述第一传动组件包括丝杆及与所述丝杆相啮合的螺母，所述丝杆连接于所述旋转电机的驱动轴，所述从动臂可转动地连接于所述机身，且可转动地连接于所述螺母上，所述卡合止退结构为所述丝杆及所述螺母的啮合结构。 A multi-legged robot according to claim 3, wherein said first transmission assembly includes a lead screw and a nut that meshes with said screw, said screw being coupled to a drive shaft of said rotary electric machine, The slave arm is rotatably coupled to the body and rotatably coupled to the nut, and the snap-stop structure is an engagement structure of the screw rod and the nut.
如权利要求4所述的多足机器人，其特征在于：所述丝杆通过万向节连接于所述旋转电机的驱动轴。 A multi-legged robot according to claim 4, wherein said lead screw is coupled to a drive shaft of said rotary electric machine via a universal joint.
如权利要求4所述的多足机器人，其特征在于：所述螺母通过转轴与所述从动臂可转动连接。 A multi-legged robot according to claim 4, wherein said nut is rotatably coupled to said slave arm via a rotating shaft.
如权利要求2所述的多足机器人，其特征在于：所述第一传动组件为蜗轮蜗杆机构，所述从动驱动件为旋转电机。 A multi-foot robot according to claim 2, wherein said first transmission assembly is a worm gear mechanism and said driven drive member is a rotary electric machine.
如权利要求7所述的多足机器人，其特征在于：所述第一传动组件包括蜗杆及与所述蜗杆相啮合的蜗轮，所述蜗杆连接于所述旋转电机的驱动轴，所述从动臂连接于所述蜗轮上，所述卡合止退结构为所述蜗轮及所述蜗杆的啮合结构。 A multi-legged robot according to claim 7, wherein said first transmission assembly comprises a worm and a worm gear meshing with said worm, said worm being coupled to a drive shaft of said rotary electric machine, said driven The arm is coupled to the worm wheel, and the snap-stop structure is an engaging structure of the worm wheel and the worm.
如权利要求2所述的多足机器人，其特征在于：所述机械腿还包括主动臂，所述主动臂可转动地连接于所述机身，所述从动驱动件设置于所述主动臂上，所述从动臂可转动地连接于所述主动臂上，以与所述机身相连接。 A multi-legged robot according to claim 2, wherein said mechanical leg further comprises an active arm, said active arm being rotatably coupled to said body, said driven drive member being disposed on said active arm The slave arm is rotatably coupled to the active arm for connection with the body.
如权利要求9所述的多足机器人，其特征在于：所述机械腿还包括固定于所述机身上的主动驱动件，所述主动臂连接于所述主动驱动件，所述主动驱动件能够驱动所述主动臂相对所述机身转动，以带动所述机械腿整体相对所述机身转动。 A multi-legged robot according to claim 9, wherein said mechanical leg further comprises an active driving member fixed to said body, said active arm being coupled to said active driving member, said active driving member The driving arm can be driven to rotate relative to the body to drive the mechanical leg to rotate integrally with the body.
如权利要求10所述的多足机器人，其特征在于：所述主动驱动件为旋转驱动件，所述旋转驱动件能够通过所述主动臂带动所述机械腿整体相对所述机身转动，以改变所述机械腿在水平方向的位置。 The multi-legged robot according to claim 10, wherein the active driving member is a rotary driving member, and the rotary driving member is configured to drive the mechanical leg to rotate integrally with respect to the body through the active arm, Changing the position of the mechanical leg in the horizontal direction.
如权利要求11所述的多足机器人，其特征在于：所述主动驱动件通过控制所述机械腿相对所述机身转动的角度，控制所述机械腿移动的步长。 A multi-footed robot according to claim 11, wherein said active drive member controls a step size of said mechanical leg movement by controlling an angle at which said mechanical leg rotates relative to said body.
如权利要求11所述的多足机器人，其特征在于：所述主动驱动件驱动所述机械腿转动的转轴基本平行于所述机身的竖直中心轴设置。 The multi-legged robot of claim 11 wherein said drive shaft for driving said mechanical leg to rotate is disposed substantially parallel to a vertical central axis of said body.
如权利要求11所述的多足机器人，其特征在于：所述机械腿相对所述机身转动的角度小于或等于180度。 The multipod robot according to claim 11, wherein the angle at which the mechanical leg rotates relative to the body is less than or equal to 180 degrees.
如权利要求10所述的多足机器人，其特征在于：所述从动驱动件能够通过所述第一传动组件带动所述从动臂相对所述主动臂转动，以改变所述机械腿在竖直方向的位置。 A multi-legged robot according to claim 10, wherein said driven drive member is rotatable relative to said active arm by said first transmission assembly to change said mechanical leg in a vertical position Straight position.
如权利要求15所述的多足机器人，其特征在于：所述从动驱动件通过控制所述从动臂相对所述主动臂转动的角度，控制所述机械腿攀爬的高度。 A multi-legged robot according to claim 15, wherein said driven drive member controls the height at which said mechanical leg climbs by controlling an angle at which said follower arm rotates relative to said active arm.
如权利要求15所述的多足机器人，其特征在于：所述从动驱动件驱动所述从动臂相对所述主动臂转动的转轴，基本垂直于所述机身的竖直中心轴设置。 A multi-footed robot according to claim 15, wherein said driven drive member drives a rotating shaft of said driven arm that rotates relative to said active arm, substantially perpendicular to a vertical central axis of said body.
如权利要求15所述的多足机器人，其特征在于：所述从动臂相对所述主动臂转动的转动角度小于或等于100度。 The multi-legged robot according to claim 15, wherein a rotation angle of said follower arm with respect to said active arm is less than or equal to 100 degrees.
如权利要求2所述的多足机器人，其特征在于：所述多足机器人还包括执行关节，所述执行关节设置在所述从动臂上，所述从动臂能够带动所述执行关节运动。 A multi-footed robot according to claim 2, wherein said multi-foot robot further comprises an execution joint, said execution joint being disposed on said slave arm, said slave arm being capable of driving said joint movement .
如权利要求19所述的多足机器人，其特征在于：还包括设置于所述从动臂上的执行驱动件以及连接于所述执行驱动件上的执行臂，所述执行驱动件用于驱动所述执行臂相对所述从动臂转动。 A multi-legged robot according to claim 19, further comprising an actuator for being disposed on said slave arm and an actuator arm coupled to said actuator member, said actuator member for driving The actuator arm rotates relative to the slave arm.
如权利要求20所述的多足机器人，其特征在于：所述执行驱动件通过驱动所述执行臂相对所述从动臂转动，能够调节所述机械腿在着陆时的角度。 A multi-footed robot according to claim 20, wherein said actuator member is capable of adjusting an angle of said mechanical leg when landing by driving said actuator arm to rotate relative to said slave arm.
如权利要求21所述的多足机器人，其特征在于：所述执行驱动件通过控制所述执行臂相对所述从动臂转动的角度，控制所述机械腿攀爬的角度。 A multi-footed robot according to claim 21, wherein said actuator member controls an angle at which said mechanical leg climbs by controlling an angle at which said actuator arm rotates relative to said slave arm.
如权利要求21所述的多足机器人，其特征在于：所述执行臂相对所述从动臂转动的转轴，基本垂直于所述机身的竖直中心轴设置。 A multi-footed robot according to claim 21, wherein said rotating shaft of said actuator arm that rotates relative to said slave arm is disposed substantially perpendicular to a vertical central axis of said body.
如权利要求21所述的多足机器人，其特征在于：所述执行臂相对所述从动臂转动的角度小于或等于100度。 The multi-legged robot of claim 21, wherein the angle of rotation of the actuator arm relative to the slave arm is less than or equal to 100 degrees.
如权利要求20所述的多足机器人，其特征在于：还包括第二传动组件，通过所述第二传动件能够驱动所述第二传动组件带动所述执行臂相对于所述从动臂运动，所述第二传动组件包括卡合止退结构，以使所述从动臂在被切断动力时，所述执行关节能够保持当前的运行状态。 A multi-legged robot according to claim 20, further comprising a second transmission assembly, said second transmission member being drivable by said second transmission member for driving said actuator arm relative to said slave arm The second transmission assembly includes a snap-stop structure to enable the actuator to maintain a current operating state when the slave arm is powered off.
如权利要求25所述的多足机器人，其特征在于：所述第二传动组件为丝杠机构，所述执行驱动件为旋转电机。 A multi-legged robot according to claim 25, wherein said second transmission assembly is a screw mechanism, and said execution drive member is a rotary electric machine.
如权利要求26所述的多足机器人，其特征在于：所述第二传动组件包括丝杆及与所述丝杆相啮合的螺母，所述丝杆连接于所述旋转电机的驱动轴，所述执行臂可转动地连接于所述从动臂，且可转动地连接于所述螺母上，所述第二传动件的所述卡合止退结构为所述丝杆及所述螺母的啮合结构。 A multi-legged robot according to claim 26, wherein said second transmission assembly comprises a lead screw and a nut engaged with said screw, said screw being coupled to a drive shaft of said rotary electric machine, An actuator arm is rotatably coupled to the slave arm and rotatably coupled to the nut, and the snap-stop structure of the second transmission member is an engagement of the screw rod and the nut structure.
如权利要求27所述的多足机器人，其特征在于：所述丝杆通过万向节连接于所述旋转电机的驱动轴。 A multi-legged robot according to claim 27, wherein said lead screw is coupled to a drive shaft of said rotary electric machine via a universal joint.
如权利要求27所述的多足机器人，其特征在于：所述螺母通过转轴与所述执行臂可转动连接。 The multipod robot according to claim 27, wherein said nut is rotatably coupled to said actuator arm via a rotating shaft.
如权利要求25所述的多足机器人，其特征在于：所述第二传动组件为蜗轮蜗杆机构，所述执行驱动件为旋转电机。 A multi-footed robot according to claim 25, wherein said second transmission assembly is a worm gear mechanism and said actuator is a rotary electric machine.
如权利要求30所述的多足机器人，其特征在于：所述第二传动组件包括蜗杆及与所述蜗杆相啮合的蜗轮，所述蜗杆连接于所述旋转电机的驱动轴，所述执行臂连接于所述蜗轮上，所述第二传动件的所述卡合止退结构为所述蜗轮及所述蜗杆的啮合结构。 A multi-legged robot according to claim 30, wherein said second transmission assembly comprises a worm and a worm gear meshing with said worm, said worm being coupled to a drive shaft of said rotary electric machine, said actuator arm Attached to the worm wheel, the snap-stop structure of the second transmission member is an engagement structure of the worm wheel and the worm.
如权利要求19所述的多足机器人，其特征在于：所述机械腿还包括设置于所述执行关节上的减震组件，所述减震组件用于对所述多足机器人进行减震。 A multi-footed robot according to claim 19, wherein said mechanical leg further comprises a shock absorbing assembly disposed on said executive joint, said shock absorbing assembly for damping said multi-legged robot.
如权利要求32所述的多足机器人，其特征在于：所述机械腿还包括连接在所述减震组件上的触角，所述触角用于将所述多足机器人支撑于使用场所上。 A multi-footed robot according to claim 32, wherein said mechanical leg further comprises an antenna attached to said shock absorbing assembly, said antenna for supporting said multi-foot robot on a place of use.
如权利要求33所述的多足机器人，其特征在于：所述减震组件包括连接于所述执行关节上的装设件以及设置于所述装设件上的弹性件，所述触角抵持于所述弹性件上。 A multi-legged robot according to claim 33, wherein said shock absorbing assembly comprises an attachment member coupled to said execution joint and an elastic member disposed on said attachment member, said tentacles resisting On the elastic member.
如权利要求34所述的多足机器人，其特征在于：所述减震组件还包括设置于所述执行关节上的固定件，所述装设件与所述固定件固定连接，所述弹性件抵持于所述固定件与所述触角之间。 The multi-legged robot according to claim 34, wherein said shock absorbing assembly further comprises a fixing member disposed on said execution joint, said mounting member being fixedly coupled to said fixing member, said elastic member Resisting between the fixing member and the antenna.
如权利要求35所述的多足机器人，其特征在于：所述减震组件还包括可活动地设置于所述装设件上的活动件，所述弹性件的一端抵持于所述固定件上，另一端抵持于所述活动件上，所述触角连接于所述活动件上。 The multi-legged robot according to claim 35, wherein said shock absorbing assembly further comprises a movable member movably disposed on said mounting member, one end of said elastic member abutting said fixing member The other end is abutted on the movable member, and the antenna is connected to the movable member.
如权利要求36所述的多足机器人，其特征在于：所述固定件及所述弹性件均为两组，两组所述固定件彼此间隔设置在所述执行关节上，所述装设件设置于两组所述固定件之间，两组所述弹性件分别设置在所述活动件的两侧，以实现所述多足机器人的双向减震。 The multi-legged robot according to claim 36, wherein said fixing member and said elastic member are two sets, and said two sets of said fixing members are spaced apart from each other on said execution joint, said mounting member The two sets of the elastic members are respectively disposed on two sides of the movable member to realize two-way vibration damping of the multi-foot robot.
如权利要求33所述的多足机器人，其特征在于：所述触角上设置有传感器，所述传感器用于感测所述触角是否着陆。 A multi-footed robot according to claim 33, wherein said antenna is provided with a sensor for sensing whether said antennae landed.
如权利要求38所述的多足机器人，其特征在于：所述传感器为以下几种中的任一种：压力传感器、距离传感器、视觉传感器。 A multipod robot according to claim 38, wherein said sensor is any one of the following: a pressure sensor, a distance sensor, and a vision sensor.
如权利要求1所述的多足机器人，其特征在于：所述第一传动组件为直线电机，所述直线电机包括导轨及与所述导轨相适配的滑块，所述导轨可转动地连接于所述机身上，所述从动臂可转动地连接于所述机身，且可转动地连接于所述滑块上。 A multi-legged robot according to claim 1, wherein said first transmission assembly is a linear motor, said linear motor comprising a guide rail and a slider adapted to said guide rail, said guide rail being rotatably coupled The slave arm is rotatably coupled to the body and rotatably coupled to the slider.
如权利要求40所述的多足机器人，其特征在于：所述导轨通过万向节、球铰或者枢轴连接于所述机身上。 A multi-footed robot according to claim 40, wherein said guide rail is coupled to said body by a universal joint, a ball joint or a pivot.
如权利要求1所述的多足机器人，其特征在于：所述多足机器人还包括可活动地设置于所述机身上的负载机构，所述负载机构用于实现所述多足机器人的附加功能。 A multi-footed robot according to claim 1, wherein said multi-foot robot further comprises a load mechanism movably disposed on said body, said load mechanism for effecting attachment of said multi-foot robot Features.
如权利要求42所述的多足机器人，其特征在于：所述负载机构为炮塔。 A multi-footed robot according to claim 42, wherein said load mechanism is a turret.
一种多足机器人，其特征在于，包括： A multi-foot robot characterized by comprising:

机身；以及Body; and

多个机械腿，与所述机身连接，用于提供所述机身的移动动力；每个所述机械腿包括：a plurality of mechanical legs coupled to the fuselage for providing mobile power of the fuselage; each of the mechanical legs includes:

第一关节，与所述机身可转动连接；a first joint rotatably coupled to the body;

第二关节，与所述第一关节可转动连接；以及a second joint rotatably coupled to the first joint;

第三关节，与所述第二关节可转动连接；a third joint rotatably coupled to the second joint;

其中，所述第一关节相对于所述机身转动时，以调节所述第三关节的水平方向的位置；所述第二关节相对所述第一关节转动时，以调节所述第三关节的竖直方向的位置；所述第三关节相对于所述第二关节转动时，以调节所述第三关节着陆时的角度。Wherein the first joint is rotated relative to the body to adjust a position of the third joint in a horizontal direction; and the second joint is rotated relative to the first joint to adjust the third joint a position in a vertical direction; the third joint is rotated relative to the second joint to adjust an angle at which the third joint is landed.
如权利要求44所述的多足机器人，其特征在于：通过所述第一关节相对于所述机身转动的角度，控制相应所述机械腿移动的步长。 A multi-footed robot according to claim 44, wherein a step size of movement of said mechanical leg is controlled by an angle at which said first joint rotates relative to said body.
如权利要求45所述的多足机器人，其特征在于：所述第一关节相对于所述机身转动的转轴，基本平行于所述机身的竖直中心轴设置。 A multi-footed robot according to claim 45, wherein said first joint is pivoted relative to said body, substantially parallel to a vertical central axis of said fuselage.
如权利要求45所述的多足机器人，其特征在于：所述第一关节相对于所述机身转动的角度小于或等于180度。 A multi-footed robot according to claim 45, wherein said first joint is rotated at an angle of less than or equal to 180 degrees with respect to said body.
如权利要求45所述的多足机器人，其特征在于：所述第一关节包括设置于所述机身上的主动驱动件以及连接于所述主动驱动件的主动臂，所述主动驱动件能够驱动所述主动臂相对所述机身转动，所述第二关节设置在所述主动臂上。 A multi-footed robot according to claim 45, wherein said first joint includes an active drive member disposed on said body and an active arm coupled to said active drive member, said active drive member being capable of The active arm is driven to rotate relative to the body, and the second joint is disposed on the active arm.
如权利要求48所述的多足机器人，其特征在于：所述主动驱动件为旋转驱动件。 A multi-footed robot according to claim 48, wherein said active drive member is a rotary drive member.
如权利要求44所述的多足机器人，其特征在于：通过所述第二关节相对于所述第一关节转动的角度，控制相应所述机械腿攀爬的高度。 A multi-footed robot according to claim 44, wherein a height at which said mechanical leg climbs is controlled by an angle at which said second joint rotates relative to said first joint.
如权利要求50所述的多足机器人，其特征在于：所述第二关节相对于所述第一关节转动的转轴，基本垂直于所述机身的竖直中心轴设置。 A multi-footed robot according to claim 50, wherein said second joint is pivoted relative to said first joint and disposed substantially perpendicular to a vertical central axis of said fuselage.
如权利要求50所述的多足机器人，其特征在于：所述第二关节相对于所述第一关节转动的角度小于或等于100度。 A multipod robot according to claim 50, wherein said second joint is rotated at an angle of less than or equal to 100 degrees with respect to said first joint.
如权利要求50所述的多足机器人，其特征在于：所述第二关节包括设置于所述第一关节上的从动驱动件以及连接于所述从动驱动件的从动臂，所述从动驱动件能够驱动所述从动臂相对所述第一关节转动，所述第三关节连接于所述从动臂上。 A multi-footed robot according to claim 50, wherein said second joint includes a driven drive member disposed on said first joint and a follower arm coupled to said driven drive member, The driven drive member is capable of driving the slave arm to rotate relative to the first joint, and the third joint is coupled to the slave arm.
如权利要求53所述的多足机器人，其特征在于：所述第二关节还包括第一传动组件，所述第一传动组件连接于所述从动驱动件与所述从动臂之间，并用于带动所述从动臂转动。 A multi-footed robot according to claim 53, wherein said second joint further comprises a first transmission assembly, said first transmission assembly being coupled between said driven drive member and said driven arm, And used to drive the slave arm to rotate.
如权利要求54所述的多足机器人，其特征在于：所述第一传动组件包括卡合止退结构，所述卡合止退结构用于给予所述从动臂足够的支撑力，并使所述第一传动组件在被切断动力的情况下能够维持当前的传动状态，从而使所述第二关节能够保持当前的运行状态。 A multi-footed robot according to claim 54, wherein said first transmission assembly includes a snap-stop structure for imparting sufficient supporting force to said slave arm and The first transmission assembly is capable of maintaining the current transmission state when the power is turned off, thereby enabling the second joint to maintain the current operating state.
如权利要求55所述的多足机器人，其特征在于：所述第一传动组件为丝杠机构，所述从动驱动件为旋转电机。 A multi-foot robot according to claim 55, wherein said first transmission assembly is a screw mechanism and said driven drive member is a rotary electric machine.
如权利要求56所述的多足机器人，其特征在于：所述第一传动组件包括丝杆及与所述丝杆相啮合的螺母，所述丝杆连接于所述旋转电机的驱动轴，所述从动臂可转动地连接于所述机身，且可转动地连接于所述螺母上，所述卡合止退结构为所述丝杆及所述螺母的啮合结构。 A multi-legged robot according to claim 56, wherein said first transmission assembly includes a lead screw and a nut that meshes with said screw, said screw being coupled to a drive shaft of said rotary electric machine, The slave arm is rotatably coupled to the body and rotatably coupled to the nut, and the snap-stop structure is an engagement structure of the screw rod and the nut.
如权利要求57所述的多足机器人，其特征在于：所述丝杆通过万向节连接于所述旋转电机的驱动轴。 A multi-legged robot according to claim 57, wherein said lead screw is coupled to a drive shaft of said rotary electric machine via a universal joint.
如权利要求57所述的多足机器人，其特征在于：所述螺母通过转轴与所述从动臂可转动连接。 A multi-footed robot according to claim 57, wherein said nut is rotatably coupled to said slave arm via a rotating shaft.
如权利要求55所述的多足机器人，其特征在于：所述第一传动组件为蜗轮蜗杆机构，所述从动驱动件为旋转电机。 A multi-legged robot according to claim 55, wherein said first transmission assembly is a worm gear mechanism and said driven drive member is a rotary electric machine.
如权利要求60所述的多足机器人，其特征在于：所述第一传动组件包括蜗杆及与所述蜗杆相啮合的蜗轮，所述蜗杆连接于所述旋转电机的驱动轴，所述从动臂连接于所述蜗轮上，所述卡合止退结构为所述蜗轮及所述蜗杆的啮合结构。 A multi-legged robot according to claim 60, wherein said first transmission assembly includes a worm and a worm gear meshing with said worm, said worm being coupled to a drive shaft of said rotary electric machine, said driven The arm is coupled to the worm wheel, and the snap-stop structure is an engaging structure of the worm wheel and the worm.
如权利要求44所述的多足机器人，其特征在于：通过所述第三关节相对于所述第二关节转动的角度，控制相应所述机械腿攀爬的角度。 A multi-footed robot according to claim 44, wherein an angle at which said mechanical leg climbs is controlled by an angle at which said third joint rotates relative to said second joint.
如权利要求62所述的多足机器人，其特征在于：所述第三关节相对于所述第二关节转动的转轴，基本平行于所述第二关节相对于所述第一关节转动的转轴。 A multipod robot according to claim 62, wherein the axis of rotation of said third joint relative to said second joint is substantially parallel to the axis of rotation of said second joint relative to said first joint.
如权利要求62所述的多足机器人，其特征在于：所述第三关节相对于所述第二关节转动的角度小于或等于100度。 A multipod robot according to claim 62, wherein said third joint is rotated at an angle of less than or equal to 100 degrees with respect to said second joint.
如权利要求62所述的多足机器人，其特征在于：所述第三关节包括设置于所述第二关节上的执行驱动件以及连接于所述执行驱动件的执行臂，所述执行驱动件能够驱动所述执行臂相对所述第二关节转动。 A multi-footed robot according to claim 62, wherein said third joint includes an actuator that is disposed on said second joint and an actuator that is coupled to said actuator, said actuator The actuator arm can be driven to rotate relative to the second joint.
如权利要求65所述的多足机器人，其特征在于：所述第三关节还包括第二传动组件，所述第二传动组件连接于所述执行驱动件与所述执行臂之间，并用于带动所述执行臂转动。 A multi-footed robot according to claim 65, wherein said third joint further comprises a second transmission assembly, said second transmission assembly being coupled between said execution drive member and said actuator arm, and for The actuator arm is rotated.
如权利要求66所述的多足机器人，其特征在于：所述第二传动组件包括卡合止退结构，所述卡合止退结构用于给予所述执行臂足够的支撑力，并使所述第一传动组件在被切断动力的情况下能够维持当前的传动状态，从而使所述第三关节能够保持当前的运行状态。 A multi-footed robot according to claim 66, wherein said second transmission assembly includes a snap-stop structure for imparting sufficient support to said actuator arm and The first transmission assembly is capable of maintaining the current transmission state when the power is turned off, thereby enabling the third joint to maintain the current operating state.
如权利要求67所述的多足机器人，其特征在于：所述第二传动组件为丝杠机构，所述执行驱动件为旋转电机。 A multi-foot robot according to claim 67, wherein said second transmission assembly is a screw mechanism, and said execution drive member is a rotary electric machine.
如权利要求68所述的多足机器人，其特征在于：所述第二传动组件包括丝杆及与所述丝杆相啮合的螺母，所述丝杆连接于所述旋转电机的驱动轴，所述执行臂可转动地连接于所述机身，且可转动地连接于所述螺母上，所述卡合止退结构为所述丝杆及所述螺母的啮合结构。 A multi-legged robot according to claim 68, wherein said second transmission assembly comprises a lead screw and a nut that meshes with said screw, said screw being coupled to a drive shaft of said rotary electric machine, The actuator arm is rotatably coupled to the body and rotatably coupled to the nut, and the snap-stop structure is an engagement structure of the screw rod and the nut.
如权利要求69所述的多足机器人，其特征在于：所述丝杆通过万向节连接于所述旋转电机的驱动轴。 A multi-foot robot according to claim 69, wherein said lead screw is coupled to a drive shaft of said rotary electric machine via a universal joint.
如权利要求69所述的多足机器人，其特征在于：所述螺母通过转轴与所述执行臂可转动连接。 A multi-footed robot according to claim 69, wherein said nut is rotatably coupled to said actuator arm via a rotating shaft.
如权利要求67所述的多足机器人，其特征在于：所述第二传动组件为蜗轮蜗杆机构，所述执行驱动件为旋转电机。 A multi-footed robot according to claim 67, wherein said second transmission assembly is a worm gear mechanism and said actuator is a rotary electric machine.
如权利要求72所述的多足机器人，其特征在于：所述第二传动组件包括蜗杆及与所述蜗杆相啮合的蜗轮，所述蜗杆连接于所述旋转电机的驱动轴，所述执行臂连接于所述蜗轮上，所述卡合止退结构为所述蜗轮及所述蜗杆的啮合结构。 A multi-legged robot according to claim 72, wherein said second transmission assembly comprises a worm and a worm gear meshing with said worm, said worm being coupled to a drive shaft of said rotary electric machine, said actuator arm Attached to the worm wheel, the snap-stop structure is an engaging structure of the worm wheel and the worm.
如权利要求44所述的多足机器人，其特征在于：所述机械腿还包括设置于所述第三关节上的减震组件，所述减震组件用于对所述多足机器人进行减震。 A multi-legged robot according to claim 44, wherein said mechanical leg further comprises a shock absorbing assembly disposed on said third joint, said shock absorbing assembly for damping said multi-foot robot .
如权利要求74所述的多足机器人，其特征在于：所述机械腿还包括连接在所述减震组件上的触角，所述触角用于将所述多足机器人支撑于使用场所上。 A multi-footed robot according to claim 74, wherein said mechanical leg further comprises an antenna attached to said shock absorbing assembly, said antenna for supporting said multi-foot robot on a place of use.
如权利要求75所述的多足机器人，其特征在于：所述减震组件包括连接于所述第三关节上的装设件以及设置于所述装设件上的弹性件，所述触角抵持于所述弹性件上。 A multi-legged robot according to claim 75, wherein said damper assembly comprises a mounting member coupled to said third joint and an elastic member disposed on said mounting member, said tentacles Hold on the elastic member.
如权利要求76所述的多足机器人，其特征在于：所述减震组件还包括设置于所述第三关节上的固定件，所述装设件与所述固定件固定连接，所述弹性件抵持于所述固定件与所述触角之间。 A multi-legged robot according to claim 76, wherein said shock absorbing assembly further comprises a fixing member disposed on said third joint, said mounting member being fixedly coupled to said fixing member, said elastic The piece is resisted between the fixing member and the antenna.
如权利要求77所述的多足机器人，其特征在于：所述减震组件还包括可活动地设置于所述装设件上的活动件，所述弹性件的一端抵持于所述固定件上，另一端抵持于所述活动件上，所述触角连接于所述活动件上。 A multi-legged robot according to claim 77, wherein said shock absorbing assembly further comprises a movable member movably disposed on said mounting member, one end of said elastic member abutting said fixing member The other end is abutted on the movable member, and the antenna is connected to the movable member.
如权利要求78所述的多足机器人，其特征在于：所述固定件及所述弹性件均为两组，两组所述固定件彼此间隔设置在所述第三关节上，所述装设件设置于两组所述固定件之间，两组所述弹性件分别设置在所述活动件的两侧，以实现所述多足机器人的双向减震。 The multi-legged robot according to claim 78, wherein the fixing member and the elastic member are two sets, and two sets of the fixing members are spaced apart from each other on the third joint, and the mounting is performed. The piece is disposed between the two sets of the fixing members, and the two sets of the elastic members are respectively disposed on two sides of the movable member to realize the two-way vibration damping of the multi-legged robot.
如权利要求75所述的多足机器人，其特征在于：所述触角上设置有传感器，所述传感器用于感测所述触角是否着陆。 A multi-footed robot according to claim 75, wherein said antennae is provided with a sensor for sensing whether said antennae landed.
如权利要求80所述的多足机器人，其特征在于：所述传感器为以下几种中的任一种：压力传感器、距离传感器、视觉传感器。 A multipod robot according to claim 80, wherein said sensor is any one of the following: a pressure sensor, a distance sensor, and a vision sensor.
如权利要求44所述的多足机器人，其特征在于：所述多足机器人还包括可活动地设置于所述机身上的负载机构，所述负载机构用于实现所述多足机器人的附加功能。 A multi-foot robot according to claim 44, wherein said multi-foot robot further comprises a load mechanism movably disposed on said body, said load mechanism for effecting attachment of said multi-legged robot Features.
如权利要求82所述的多足机器人，其特征在于：所述负载机构为炮塔。 A multi-footed robot according to claim 82, wherein said load mechanism is a turret.