The multi-mode quadruped robot capable of walking and rolling is applied to the technical field of intelligent robots and comprises a shell and a control circuit in the shell, the shell is of a cylinder-like structure, a plurality of walking mechanisms are installed at the front end and the rear end of the shell correspondingly, and the walking mechanisms and the shell form a cylinder-like surface in the folded state; a reserved groove corresponding to the walking mechanism in position is formed in the outer wall of the shell, the walking mechanism comprises a hip joint motor fixedly installed on the shell, the output end of the hip joint motor is connected with a thigh joint motor, and the hip joint motor is matched with the thigh joint motor and a shank joint motor to control the thigh and the shank to walk. And meanwhile, the walking mechanism can be controlled to be folded and stored in the reserved groove, a structure capable of rolling forward is formed in cooperation with the shell of the similar-cylinder structure, so that the robot can replace walking with rolling at extremely low energy consumption in the flat ground and the downhill terrain, the energy consumption of the robot is effectively reduced, and the working duration of the robot is prolonged.

    本发明提供了应用于智能机器人技术领域的一种能够行走、翻滚的多模态四足机器人,包括壳体及其内部的控制电路,壳体呈类圆柱结构,壳体前后两端均安装有多个行走机构,多个行走机构在收合状态下与壳体组成类圆柱面,壳体外壁开设有与行走机构位置对应的预留槽,行走机构包括固定安装于壳体上的臀关节电机,臀关节电机输出端连接有大腿关节电机,利用臀关节电机配合大腿关节电机以及小腿关节电机可以控制大腿和小腿行走,同时可以控制行走机构折叠并收纳至预留槽中,配合类圆柱结构的壳体形成可以翻滚前进的结构,使得该机器人可以在平地和下坡地形中以极低的能耗用翻滚代替行走,有效降低了机器人的能耗,延长了其工作时长。


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    Title :

    Multi-mode quadruped robot capable of walking and rolling


    Additional title:

    一种能够行走、翻滚的多模态四足机器人


    Contributors:
    SUN SHUAISHUAI (author) / CAI HAORUI (author)

    Publication date :

    2024-04-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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