Walking mechanism for quadruped robot, and quadruped robot having the same
A walking mechanism for a quadruped robot includes a support arm and a wheel mechanism. The wheel mechanism includes a first roller connected to a first connecting rod and a second roller connected to a second connecting rod. The first and second connecting rods are controlled to rotate or swing within a vertical plane, causing the wheel mechanism to be in a first state or a second state. In the first state, the first connecting rod is deployed to a first angle relative to a central axis of the support arm, and the second connecting rod is folded upward. In the second state, the first and second connecting rods are deployed to a preset angle. The walking mechanism can both ensure the energy utilization efficiency and travel speed of the quadruped robot on flat terrain, and guarantee the traversability on complex terrain.
1 . A walking mechanism for a quadruped robot, comprising:
a support arm, comprising a first end configured to connect to a main body of the quadruped robot and a second end provided with a control device; and
a wheel mechanism, comprising a first roller connected to the control device via a first connecting rod and a second roller connected to the control device via a second connecting rod;
wherein the control device is configured to control the first connecting rod and the second connecting rod to rotate or swing within a vertical plane, causing the wheel mechanism to be in a first state or a second state;
in the first state, the first connecting rod is deployed to a first angle relative to a central axis of the support arm, and the second connecting rod is folded upward, such that the support arm lands and moves by the first roller, with the second roller suspended;
in the second state, the first connecting rod is deployed to a second angle relative to the central axis of the support arm, and the second connecting rod is deployed to a third angle relative to the central axis of the support arm, such that the support arm lands and moves by both the first roller and the second roller, wherein the second angle is greater than the first angle;
wherein the support arm is provided with an accommodation cavity inside, and a side surface of the support arm is provided with an opening communicating with the accommodation cavity; when the wheel mechanism is in the second state, the second connecting rod and the second roller are accommodated within the accommodation cavity via the opening;
wherein the second connecting rod is provided with a locking portion, and an inner side wall of the support arm is provided with a matching portion; when the second connecting rod is accommodated within the accommodation cavity, the locking portion is locked with the matching portion.
2 . The walking mechanism for a quadruped robot according to claim 1 , wherein the first angle is zero, and the second angle is indicated by α which satisfies: 30°≤α≤60°.
3 . The walking mechanism for a quadruped robot according to claim 1 , wherein the third angle is equal to the second angle.
4 . The walking mechanism for a quadruped robot according to claim 1 , wherein the control device comprises a first gear arranged within the support arm and a drive motor connected to the first gear for transmission; an end of the first connecting rod opposite to the first roller is provided with a second gear meshing with the first gear, and an end of the second connecting rod opposite to the second roller is provided with a third gear meshing with the first gear.
5 . The walking mechanism for a quadruped robot according to claim 1 , wherein hub motors are respectively disposed within the first roller and the second roller.
6 . The walking mechanism for a quadruped robot according to claim 1 , wherein the locking portion comprises any one of a suction cup, a magnetic member, or an engagement member.
7 . The walking mechanism for a quadruped robot according to claim 1 , wherein the control device further comprises a camera provided on an exterior of the first end of the support arm for detecting ground conditions around the support arm, and the wheel mechanism adaptively selects to be in the first state or the second state based on feedback from the camera.
8 . A quadruped robot, comprising a main body and walking mechanisms connected to the main body, wherein each of the walking mechanisms comprises:
a support arm, comprising a first end configured to connect to the main body and a second end provided with a control device; and
a wheel mechanism, comprising a first roller connected to the control device via a first connecting rod and a second roller connected to the control device via a second connecting rod;
wherein the control device is configured to control the first connecting rod and the second connecting rod to rotate or swing within a vertical plane, causing the wheel mechanism to be in a first state or a second state;
in the first state, the first connecting rod is deployed to a first angle relative to a central axis of the support arm, and the second connecting rod is folded upward, such that the support arm lands and moves by the first roller, with the second roller suspended;
in the second state, the first connecting rod is deployed to a second angle relative to the central axis of the support arm, and the second connecting rod is deployed to a third angle relative to the central axis of the support arm, such that the support arm lands and moves by both the first roller and the second roller, wherein the second angle is greater than the first angle;
wherein the support arm is provided with an accommodation cavity inside, and a side surface of the support arm is provided with an opening communicating with the accommodation cavity; when the wheel mechanism is in the second state, the second connecting rod and the second roller are accommodated within the accommodation cavity via the opening;
wherein the second connecting rod is provided with a locking portion, and an inner side wall of the support arm is provided with a matching portion; when the second connecting rod is accommodated within the accommodation cavity, the locking portion is locked with the matching portion.
9 . The quadruped robot according to claim 8 , wherein the first angle is zero, and the second angle is indicated by α which satisfies: 30°≤α≤60°.
10 . The quadruped robot according to claim 8 , wherein the third angle is equal to the second angle.
11 . The quadruped robot according to claim 8 , wherein the control device comprises a first gear arranged within the support arm and a drive motor connected to the first gear for transmission; an end of the first connecting rod opposite to the first roller is provided with a second gear meshing with the first gear, and an end of the second connecting rod opposite to the second roller is provided with a third gear meshing with the first gear.
12 . The quadruped robot according to claim 8 , wherein hub motors are respectively disposed within the first roller and the second roller.
13 . The quadruped robot according to claim 8 , wherein the locking portion comprises any one of a suction cup, a magnetic member, or an engagement member.
14 . The quadruped robot according to claim 8 , wherein the control device further comprises a camera provided on an exterior of the first end of the support arm for detecting ground conditions around the support arm, and the wheel mechanism adaptively selects to be in the first state or the second state based on feedback from the camera.