CN115214817A - A sliding quadruped robot - Google Patents

Abstract

The invention belongs to the technical field of robots and discloses a slidable quadruped robot which comprises a front body, a rear body and four legs distributed on two sides of the front body and the rear body. The invention realizes the sliding gait of the robot under the condition of not influencing the leg type movement of the robot, and improves the movement efficiency of the robot in the downward movement of a flat ground, especially a slope.

Description

A sliding quadruped robot

technical field

The invention belongs to the technical field of robots, and in particular relates to a quadruped robot that can slide.

Background technique

Due to its discrete contact with the ground, the quadruped robot can achieve smooth motion on rough terrain through motion planning and feedback control, and has strong terrain adaptability. But compared to wheeled exercises, legged exercises are less efficient, especially when going down a slope.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the purpose of the present invention is to provide a quadruped robot that can slide, which solves the problems mentioned in the background art.

The object of the present invention can be realized through the following technical solutions:

A slidable quadruped robot, comprising a front body, a rear body and four legs distributed on both sides of the front body and the rear body, characterized in that the front body and the rear body are rotationally connected by a waist joint, and a single leg It includes a pelvis, a thigh, a calf, a first follower wheel, a second follower wheel and a foot end. The upper end of the pelvis is rotatably connected with the front body and the rear body, and the connection is a rolling hip joint, The upper end of the thigh and the lower end of the pelvis are rotatably connected, and the connection is the pitching hip joint, the upper end of the calf and the lower end of the thigh are rotatably connected, and the connection is the knee joint, and the lower end of the calf is connected. The side of the upper end is rotatably provided with the first follower wheel, the side of the lower end of the calf is rotatably provided with the second follower wheel, and the end of the lower end of the calf is fixedly provided with the foot end.

Further, when the robot is in the sliding mode, the lower leg of the rear leg of the robot is parallel to the ground, the first follower wheel and the second follower wheel on the lower leg of the rear leg are in contact with the ground, and the center of gravity of the robot is in contact with the ground. The projection in the vertical direction falls between the first follower wheel and the second follower wheel.

Further, the process of switching the robot from the leg mode to the sliding mode on the flat ground and the sliding gait on the flat ground, the reverse conversion process performs the opposite steps; the process of switching the robot to the sliding mode when the robot is in the leg mode on the flat ground, the robot In leg mode, the two legs are in the forward position and the two legs are in the rear position, driving the pitch hip joints of the front two legs to rotate around direction 12, driving the pitch hip joints of the rear two legs The joint rotates around the direction 13 until the four legs of the robot are in the same posture, and the projection of the center of gravity G of the robot in the vertical direction is located in the support area formed by the feet of the four legs, driving the pitching hip joints of the four legs Rotate around the direction 12, and drive the knee joints of the four legs to rotate around the direction 17 at the same time, reduce the distance between the front body and the rear body from the ground, and drive the knee joints of the four legs to continue to rotate around the direction 17 until the four The lower leg of the leg is parallel to the ground, and the first follower wheel and the second follower wheel on the lower leg are in contact with the ground, driving the pitching hip joints of the four legs to rotate around the direction 13, driving the knee joints Rotate around the direction 16 until the robot is in the sliding mode; the sliding gait of the robot when the robot is in the sliding mode on the flat ground, the roll hip joint of the rear leg of the robot, the pitching hip joint of the rear leg, the knee joint of the rear leg, the The waist joint and the rolling hip joint of the front leg remain stationary, and the front leg continuously performs the actions of rowing backward and swinging forward. The knee joint first rotates around the direction 17 and then around the direction 16, while keeping the foot end in contact with the ground, and the first follower wheel and the second follower wheel on the rear leg are kept in contact with the ground, and the front leg is in contact with the ground. During the rear rowing process, the movement speed of the foot end is higher than the current movement speed of the robot. With the backward rowing of the front leg, the robot accelerates and slides forward through the first follower wheel and the second follower wheel. During the forward swing, the pitching hip joint is driven to rotate around the direction 12 first and then the direction 13, and the knee joint is driven to rotate around the direction 17 first and then the direction 16, so that the foot end is not in contact with the ground. Swing forward.

Further, the process of the robot switching from the leg mode to the sliding mode on the slope and the sliding gait on the slope, the reverse conversion process performs the opposite steps; the process of the robot switching to the sliding mode when the robot is in the leg mode on the slope, the robot In leg mode, the two legs are in the forward position and the two legs are in the rear position, driving the pitch hip joints of the front two legs to rotate around direction 12, driving the pitch hip joints of the rear two legs The joint rotates around the direction 13 until the four legs of the robot are in the same posture, and the projection of the center of gravity G of the robot in the vertical direction is located in the support area formed by the feet of the four legs, driving the pitching hip joints of the four legs Rotate around the direction 12, at the same time drive the knee joints of the four legs to rotate around the direction 17, reduce the distance between the front body and the rear body and the ground, and drive the knee joints of the four legs to continue to rotate around the direction 17, Until the lower legs of the four legs are parallel to the ground, the first follower wheel and the second follower wheel on the lower legs are in contact with the ground, driving the pitching hip joints of the four legs to rotate around the direction 13, driving the The knee joint 15 rotates around the direction 16 until the robot is in the sliding mode; the sliding gait of the robot when the robot is in the sliding mode on the slope, the roll hip joint of the rear leg of the robot, the pitch hip joint of the rear leg, the knee of the rear leg The joint, the waist joint and the rolling hip joint of the front leg remain stationary, the front leg continuously performs backward strokes and forward swings, and during the backward stroke, the pitching hip joint is driven around the direction 12 Rotate, drive the knee joint to rotate around the direction 17, while keeping the foot end in contact with the ground, and the first follower wheel and the second follower wheel on the rear leg are kept in contact with the ground, and the front leg is drawn backwards During the movement process, the movement speed of the foot end is higher than the current movement speed of the robot. With the backward stroke of the front leg, the robot accelerates and slides forward through the first follower wheel and the second follower wheel. During the swinging process, the pitching hip joint is driven to rotate first around the direction 12 and then around the direction 13, and the knee joint is driven to rotate around the direction 17 first and then around the direction 16, so that the foot end moves forward without contacting the ground. swing.

Further, in the process of switching the robot from the sliding mode to the wheel mode on the slope, the reverse conversion process performs the opposite steps. When the robot is in the sliding mode, the rear legs support the front body and the rear body, and the front legs reciprocate back and forth. Movement, drive the pitching hip joint of the front leg to rotate around the direction 13, and drive the knee joint to rotate around the direction 16 or 17, so that the knee joint of the front leg and the knee joint of the rear leg have the same angle, and the The lower leg is parallel to the front body and the rear body, and the pitching hip joint of the rear leg is driven to rotate around the direction 13, so that the lower leg of the rear leg is parallel to the front body and the rear body, and the four legs are at this time. The first follower wheel and the second follower wheel keep contact with the ground at the same time, drive the pitching hip joints of the four legs to rotate around the direction 12, and drive the knee joints of the four legs to rotate around the direction 17 until the robot is in wheel mode.

Further, when the robot is in a sliding gait, when turning to the right, the rolling hip joint of the rear leg rotates a certain angle around the direction 8, and the pitching hip joint and the knee joint of the rear leg are adjusted during this process. joints to keep the first follower wheel and the second follower wheel of the rear leg in contact with the ground, and the rotation of the waist joint makes the front body rotate relative to the rear body around the direction 5, so as to move the rear leg toward the ground. The center position of the support area formed by the first follower wheel and the second follower wheel adjusts the position of the center of gravity of the robot, the left front leg reciprocates with a larger amplitude relative to the right front leg, and the foot end and the foot end are maintained during the backward swing. The contact between the first follower wheel and the second follower wheel of the rear leg and the ground; when turning to the left, the rolling hip joint of the rear leg rotates at a certain angle around the direction 9, and during this process, adjust the position of the rear leg. The hip joint and the knee joint are pitched, so that the first follower wheel and the second follower wheel of the rear leg are kept in contact with the ground, and the rotation of the waist joint makes the front body rotate in the direction 4 relative to the rear body. Rotate to adjust the position of the center of gravity of the robot to the center of the support area formed by the first follower wheel and the second follower wheel of the rear leg, and the right front leg reciprocates with a larger amplitude relative to the left front leg, and swings backwards During the process, the first follower wheel and the second follower wheel of the foot end and the rear leg are kept in contact with the ground.

Further, when the robot is in wheeled motion, when turning to the right, the rotation of the waist joint makes the front body rotate around the direction 5 relative to the rear body, and when turning to the left, the waist joint rotates to make all the The front body rotates around the direction 4 relative to the rear body.

Further, when the robot stops in the sliding mode on the slope, the pitching hip joint of the front leg is driven to rotate around the direction 12, and the knee joint is driven to rotate around the direction 17, so that the foot end is separated from the ground and moved backwards. The foot end moves to the rear end of the robot, drives the pitching hip joint of the front leg to rotate around the direction 13, and drives the knee joint to rotate around the direction 16, so that the foot end is in contact with the ground, thereby using the foot end and the ground friction braking.

Further, when the robot is in wheeled motion on the slope, the braking stops, and the pitching hip joints of the four legs are driven to rotate around the direction 12, so that the foot end is in contact with the ground, so as to use the friction brake between the foot end and the ground. stop.

Beneficial effects of the present invention:

By introducing a follower wheel into the quadruped robot, the invention can realize the sliding gait of the robot without affecting the leg motion of the robot, and improve the motion efficiency of the robot in the flat ground, especially the downward movement of the slope.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. In other words, other drawings can also be obtained from these drawings without any creative effort.

1 is a perspective view of a slidable quadruped robot leg pattern of the present invention;

Figure 2 is a front view of the slidable quadruped robot leg pattern of the present invention;

Figure 3 is a right side view of the slidable quadruped robot leg pattern of the present invention;

Figure 4 is a top view of the slidable quadruped robot leg pattern of the present invention;

5 is a perspective view of the gliding quadruped robot gliding mode of the present invention;

FIG. 6 is a schematic diagram of the slidable quadruped robot of the present invention being switched from a leg mode to a gliding mode on flat ground;

7 is a schematic diagram of the slidable quadruped robot of the present invention gliding gait on flat ground;

FIG. 8 is a schematic diagram of the sliding quadruped robot of the present invention being switched from a leg mode to a sliding mode on a slope;

9 is a schematic diagram of the slidable quadruped robot of the present invention gliding gait on a slope;

10 is a schematic diagram of the sliding mode of the quadruped robot of the present invention being switched from a sliding mode to a wheel mode on a slope;

Fig. 11 is a perspective view of the slidable quadruped robot of the present invention turning to the right in the skating gait;

FIG. 12 is a schematic front view of the slidable quadruped robot of the present invention turning to the right in the skating gait;

Fig. 13 is the right side schematic diagram of the slidable quadruped robot of the present invention turning to the right in the skating gait;

14 is a schematic top view of the slidable quadruped robot of the present invention turning to the right in the skating gait;

Figure 15 is a schematic diagram of the wheeled rightward steering of the slidable quadruped robot of the present invention;

16 is a schematic diagram of the braking method of the slidable quadruped robot of the present invention when sliding on a slope;

FIG. 17 is a schematic diagram of the braking method of the slidable quadruped robot of the present invention when it is wheeled on a slope.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "around", etc. Indicates the orientation or positional relationship, only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, are constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention .

An embodiment provided by the present invention.

As shown in FIGS. 1-4, FIG. 1 is a perspective view of a slidable quadruped robot leg mode of the present invention, FIG. 2 is a front view of a slidable quadruped robot leg mode of the present invention, and FIG. 3 is a slidable quadruped robot leg mode of the present invention. The right side view of the sliding quadruped robot leg mode, FIG. 4 is a top view of the sliding quadruped robot leg mode of the present invention. A sliding quadruped robot includes a front body 1 , a rear body 2 and four legs distributed on both sides of the front body 1 and the rear body 2 . The front body 1 and the rear body 2 are rotatably connected by a waist joint 3 , and the front body 1 can rotate relative to the rear body 2 in the yaw directions 4 and 5 . The four legs use the same mechanism. A single leg includes a pelvis 6, a thigh 10, a lower leg 14, a first follower wheel 18, a second follower wheel 19 and a foot end 20. The upper end of the pelvis 6 is installed on the front body 1 or the rear body 2. , driven by the power machine, it can rotate in the roll directions 8 and 9 to form the roll hip joint 7, the upper end of the thigh 10 is mounted on the lower end of the pelvis 6, driven by the power machine, it can rotate in the pitch directions 12 and 13 to form a pitch hip joint The joint 11, the upper end of the calf 14 is installed on the lower end of the thigh 10, driven by the power machine, and can rotate in the pitch directions 16 and 17 to form the knee joint 15, the first follower wheel 18 is installed on the upper end of the calf 14, the second follower wheel 19 Installed on the lower end of the lower leg 14 , the foot end 20 is fixedly installed at the end of the lower leg 14 . The introduction of the follower wheel into the quadruped robot can realize the sliding gait of the robot without affecting the leg motion of the robot, and improve the movement efficiency of the robot on a flat ground, especially when moving down a slope.

As shown in FIG. 5 , FIG. 5 is a perspective view of the sliding mode of the quadruped robot capable of sliding according to the present invention. In the sliding mode, the lower leg 14 of the robot's rear leg is parallel to the ground, the first follower wheel 18 and the second follower wheel 19 on the lower leg 14 are in contact with the ground, and the projection of the robot's center of gravity in the vertical direction falls on the first follower wheel 18 Between the robot and the second follower wheel 19, the rear legs of the robot are used to support the robot and provide a motion mechanism, namely the first follower wheel 18 and the second follower wheel 19, and the front legs of the robot are used to push the robot to accelerate and move forward.

As shown in FIG. 6 , FIG. 6 is a schematic diagram of the slidable quadruped robot of the present invention switching from the leg mode to the gliding mode on flat ground. When the robot is in the leg mode, the two legs are in the forward position and the two legs are in the rear position. As shown in Figure 6(A), the pitching hip joints 11 that drive the two front legs are rotated in the direction 12, and the driving is backward. The pitching hip joints 11 of the two legs are rotated around the direction 13 until the four legs of the robot are in the same posture, and the projection of the center of gravity G of the robot in the vertical direction is located in the support area formed by the feet 20 of the four legs, as shown in the figure As shown in 6(B), the pitching hip joints 11 of the four legs are driven to rotate around the direction 12, while the knee joints 15 of the four legs are driven to rotate around the direction 17 to reduce the distance between the front body 1 and the rear body 2 and the ground. During the process, the front body 1 and the rear body 2 are parallel to the ground, and the projection of the center of gravity G of the robot in the vertical direction is located in the support area formed by the foot ends 20 of the four legs. The knee joint 15 continues to rotate around the direction 17 until the lower legs 14 of the four legs are parallel to the ground, and the first follower wheel 18 and the second follower wheel 19 on the lower leg 14 are in contact with the ground, as shown in Figure 6(D), drive the four legs The pitched hip joint 11 rotates around the direction 13, and drives the knee joint 15 to rotate around the direction 16, as shown in Figure 6(E), until the robot is in the sliding mode as shown in Figure 5, as shown in Figure 6(F).

As shown in FIG. 7 , FIG. 7 is a schematic diagram of the slidable quadruped robot of the present invention gliding gait on flat ground. The rear legs of the robot support the front body 1 and the rear body 2, and the rear leg roll hip joint 7, the rear leg pitch hip joint 11, the rear leg knee joint 15, the waist joint 3 and the front leg roll hip joint 7 remain motionless. The legs continuously perform backward strokes (as shown in Fig. 7(A)-(C)) and forward swings (as shown in Fig. 7(D)-(F)). During the backward rowing process, the pitching hip joint 11 is driven to rotate around the direction 12, the knee joint 15 is driven to rotate around the direction 17 first and then the direction 16, while keeping the foot end 20 in contact with the ground, and the first follower wheel 18 on the rear leg. Keeping contact with the ground with the second follower wheel 19, the movement speed of the foot end 20 during the backward stroke of the front leg is higher than the current movement speed of the robot. With the backward stroke of the front leg, the robot passes the first follower wheel 18 and the second follower wheel 19 accelerate and slide forward. During the forward swing, the pitching hip joint 11 is driven to rotate first around the direction 12 and then around the direction 13, and the knee joint 15 is driven to rotate around the direction 17 and then around the direction 16, so that the foot end 20 swings forward without contacting the ground. .

As shown in FIG. 8 , FIG. 8 is a schematic diagram of the sliding quadruped robot of the present invention switching from the leg mode to the sliding mode on the slope. When the robot is in the leg mode, the two legs are in the front position and the two legs are in the rear position. As shown in Figure 8(A), the pitching hip joints 11 that drive the two front legs are rotated in the direction 12, and the driving is backward The pitching hip joints 11 of the two legs are rotated around the direction 13 until the four legs of the robot are in the same posture, and the projection of the center of gravity G of the robot in the vertical direction is located in the support area formed by the feet 20 of the four legs, as shown in the figure As shown in 8(B), the pitching hip joints 11 of the four legs are driven to rotate around the direction 12, while the knee joints 15 of the four legs are driven to rotate around the direction 17, and the distance between the front body 1 and the rear body 2 from the ground is reduced. The front body 1 and the rear body 2 are parallel to the ground, and the projection of the center of gravity G of the robot in the vertical direction is located in the support area formed by the foot ends 20 of the four legs, until the shanks 14 of the four legs are parallel to the ground, and the No. A follower wheel 18 and a second follower wheel 19 are in contact with the ground, as shown in FIG. 8(C), drive the pitching hip joint 11 of the four legs to rotate around the direction 13, and drive the knee joint 15 to rotate around the direction 16, until the robot is in the position shown in the figure. 5, as shown in Figure 8(D).

As shown in FIG. 9 , FIG. 9 is a schematic diagram of the gliding gait of the gliding quadruped robot of the present invention on a slope. The rear legs of the robot support the front body 1 and the rear body 2, and the rear leg roll hip joint 7, the rear leg pitch hip joint 11, the rear leg knee joint 15, the waist joint 3 and the front leg roll hip joint 7 remain motionless. The legs continuously perform backward strokes (as shown in Fig. 7(A)-(B)) and forward swings (as shown in Fig. 7(B)-(D)). During the backward rowing process, the pitching hip joint 11 is driven to rotate around the direction 12, and the knee joint 15 is driven to rotate around the direction 17, while keeping the foot end 20 in contact with the ground, and the first follower wheel 18 and the second follower wheel on the rear leg. 19 is in contact with the ground, and the movement speed of the foot end 20 during the backward stroke of the front leg is higher than the current movement speed of the robot. The moving wheel 19 accelerates and slides forward. During the forward swing, the pitching hip joint 11 is driven to rotate first around the direction 12 and then around the direction 13, and the knee joint 15 is driven to rotate around the direction 17 and then around the direction 16, so that the foot end 20 swings forward without contacting the ground. .

As shown in FIG. 10 , FIG. 10 is a schematic diagram of the sliding mode of the quadruped robot of the present invention being switched from the sliding mode to the wheel mode on the slope. When the robot is in the sliding mode, the rear legs support the front body 1 and the rear body 2, and the front legs reciprocate back and forth. As shown in Figure 10(A), the front legs are driven to pitch the hip joint 11 to rotate in the direction 13, and the knee joint 15 is driven to rotate around the direction 13. Rotate in the direction 16 or 17, so that the knee joint 15 of the front leg and the knee joint 15 of the rear leg are at the same angle, and the lower leg 14 of the front leg is parallel to the front body 1 and the rear body 2, as shown in FIG. The pitching hip joint 11 rotates around the direction 13, so that the calf 14 of the rear leg is parallel to the front body 1 and the rear body 2, as shown in FIG. At the same time, it maintains contact with the ground, drives the pitching hip joints 11 of the four legs to rotate around the direction 12, and drives the knee joints 15 of the four legs to rotate around the direction 17. While lowering the robot's center of gravity, the robot's center of gravity moves forward, as shown in Figure 10(D). It can reduce the risk of overturning of the robot while reducing the wind resistance.

As shown in Figures 11-14, Figure 11 is a three-dimensional schematic diagram of the slidable quadruped robot of the present invention turning to the right in the gait, and Figure 12 is the front view of the slidable quadruped robot of the present invention turning to the right in the gait 13 is a schematic diagram of the right side of the slidable quadruped robot of the present invention, and FIG. 14 is a top view of the slidable quadruped robot of the present invention, which is turned to the right. The roll hip joint 7 of the rear leg rotates around the direction 8 by a certain angle, which is related to the required angular velocity of the steering. The center of gravity of the robot is unstable. During this process, the pitching hip joint 11 and knee joint 15 of the rear leg are adjusted to keep the first follower wheel 18 and the second follower wheel 19 of the rear leg in contact with the ground. The rotation of the waist joint 3 makes the front body 1 rotate in the direction 5 relative to the rear body 2 to adjust the center of gravity of the robot toward the center of the support area formed by the first follower wheel 18 and the second follower wheel 19 of the rear leg. The left front leg reciprocates with a larger amplitude than the right front leg, and the foot end 20 and the first follower wheel 18 and the second follower wheel 19 of the rear leg are kept in contact with the ground during the backward swing. When turning to the left, the joints of the rear leg and the waist joint 3 are adjusted in opposite directions, and the left front leg reciprocates in a smaller range than the right front leg.

As shown in FIG. 15 , FIG. 15 is a schematic diagram of the wheeled rightward steering of the slidable quadruped robot of the present invention. The rotation of the waist joint 3 makes the front body 1 rotate relative to the rear body 2 around the direction 5 . When turning to the left, the waist joint 3 rotates so that the front body 1 rotates in the opposite direction relative to the rear body 2 .

As shown in FIG. 16 , FIG. 16 is a schematic diagram of the braking method of the slidable quadruped robot of the present invention when sliding on a slope. Drive the front leg pitching hip joint 11 to rotate around the direction 12, drive the knee joint 15 to rotate around the direction 17, as shown in FIG. The leg pitching hip joint 11 rotates around the direction 13, and drives the knee joint 15 to rotate around the direction 16, so that the foot end 20 is in contact with the ground, as shown in FIG. The end 20 moves to the rear end of the robot, which can prevent the robot from overturning due to excessive speed.

As shown in FIG. 17 , FIG. 17 is a schematic diagram of the braking method of the slidable quadruped robot of the present invention when it is wheeled on a slope. The pitching hip joints 11 of the four legs are driven to rotate around the direction 12, so that the foot end 20 is in contact with the ground, so that the friction between the foot end 20 and the ground is used for braking.

In the description of this specification, description with reference to the terms "one embodiment," "example," "specific example," etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one aspect of the present invention. in one embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the description are only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have Various changes and modifications fall within the scope of the claimed invention.

Claims (9)

1. A slidable quadruped robot, comprising a front body (1), a rear body (2) and four legs distributed on both sides of the front body (1) and the rear body (2), The body (1) and the rear body (2) are rotatably connected by a waist joint (3), and a single leg includes a pelvis (6), a thigh (10), a calf (14), a first follower wheel (18), a second A follower wheel (19) and a foot end (20), the upper end of the pelvis (6) is rotationally connected with the front body (1) and the rear body (2), and the connection is a rolling hip joint ( 7), the upper end of the thigh (10) is connected in rotation with the lower end of the pelvis (6), and the connection is a pitching hip joint (11), and the upper end of the lower leg (14) is connected to the upper end of the thigh (10). ), the lower end of the shank is connected in rotation, the joint is the knee joint (15), the side surface of the upper end of the lower leg (14) is rotatably provided with the first follower wheel (18), and the side surface of the lower end of the lower leg (14) is rotatably provided with the first follower wheel (18). The second follower wheel (19) is rotatably arranged, and the foot end (20) is fixedly arranged at the end of the lower end of the lower leg (14). 2. A kind of slidable quadruped robot according to claim 1 is characterized in that, the robot is in the posture under the gliding mode, the described calf (14) of the robot hind leg is parallel to the ground, and the described calf of the hind leg is parallel to the ground. The first follower wheel (18) and the second follower wheel (19) on (14) are in contact with the ground, and the projection of the robot's center of gravity in the vertical direction falls on the first follower wheel (18) and the ground. between the second follower wheel (19). 3. A kind of slidable quadruped robot according to claim 1, is characterized in that, the process that the robot is switched from leg mode to gliding mode and the gliding gait on flat ground on flat ground, the opposite conversion process performs the opposite A step of; The process of switching to the sliding mode when the robot is in the leg mode on the flat ground. When the robot is in the leg mode, the two legs are in the front position, and the two legs are in the rear position, which drives the pitching hip joints of the two front legs ( 11) Rotate around direction 12, and drive the pitching hip joints (11) of the two rear legs to rotate around direction 13, until the four legs of the robot are in the same posture, and the projection of the center of gravity G of the robot in the vertical direction is located at In the support area formed by the foot ends (20) of the four legs, the pitching hip joints (11) of the four legs are driven to rotate around the direction 12, and at the same time, the knee joints (15) of the four legs are driven to rotate around the direction 17, Reduce the distance between the front body (1) and the rear body (2) from the ground, and drive the knee joints (15) of the four legs to continue to rotate around the direction 17 until the lower legs (14) of the four legs and the ground In parallel, the first follower wheel (18) and the second follower wheel (19) on the lower leg (14) are in contact with the ground, driving the pitching hip joints (11) of the four legs to rotate around the direction 13, Drive the knee joint (15) to rotate around the direction 16 until the robot is in the sliding mode; The sliding gait of the robot when the robot is in the sliding mode on flat ground, the roll hip joint (7) of the rear leg of the robot, the pitching hip joint (11) of the rear leg, the knee joint (15) of the rear leg, and the waist The joint (3) and the rolling hip joint (7) of the front leg remain motionless, the front leg continuously performs backward rowing and forward swinging movements, and during the backward rowing process, the pitching hip joint (11) is driven. ) rotates around the direction 12, drives the knee joint (15) to rotate around the direction 17 first and then around the direction 16, while keeping the foot end (20) in contact with the ground, and the first follower wheel (18 on the rear leg) ) and the second follower wheel (19) are kept in contact with the ground, and the movement speed of the foot end (20) during the backward rowing of the front leg is higher than the current movement speed of the robot. When rowing, the robot accelerates and slides forward through the first follower wheel (18) and the second follower wheel (19). During the forward swing, the pitching hip joint (11) is driven to first circle the direction 12 and then circle back. Rotation in direction 13 drives the knee joint (15) to rotate around direction 17 and then around direction 16, so that the foot end (20) swings forward without contacting the ground. 4. A sliding quadruped robot according to claim 1, characterized in that, the robot is switched from the leg mode to the sliding mode on the slope and the sliding gait on the slope, and the opposite conversion process performs the opposite A step of; The process of switching to the sliding mode when the robot is in the leg mode on the slope. When the robot is in the leg mode, the two legs are in the front position, and the two legs are in the rear position, which drives the pitching hip joints of the two front legs ( 11) Rotate around direction 12, and drive the pitching hip joints (11) of the two rear legs to rotate around direction 13, until the four legs of the robot are in the same posture, and the projection of the center of gravity G of the robot in the vertical direction is located at In the support area formed by the foot ends (20) of the four legs, the pitching hip joints (11) of the four legs are driven to rotate around the direction 12, and at the same time, the knee joints (15) of the four legs are driven to rotate around the direction 17, Reduce the distance between the front body (1) and the rear body (2) and the ground, and drive the knee joints (15) of the four legs to continue to rotate around the direction 17 until the lower legs (14) of the four legs Parallel to the ground, the first follower wheel (18) and the second follower wheel (19) on the lower leg (14) are in contact with the ground, driving the pitching hip joints (11) of the four legs around the direction 13 Rotate, drive the knee joint 15 to rotate around the direction 16, until the robot is in the sliding mode; The sliding gait of the robot when it is in the sliding mode on the slope, the roll hip joint (7) of the rear leg of the robot, the pitching hip joint (11) of the rear leg, the knee joint (15) of the rear leg, the waist joint (15) of the rear leg The joint (3) and the rolling hip joint (7) of the front leg remain motionless, the front leg continuously performs backward rowing and forward swinging movements, and during the backward rowing process, the pitching hip joint (11) is driven. ) rotates around the direction 12, drives the knee joint (15) to rotate around the direction 17, while keeping the foot end (20) in contact with the ground, and the first follower wheel (18) on the rear leg and the The second follower wheel (19) keeps in contact with the ground, and the movement speed of the foot end (20) during the backward stroke of the front leg is higher than the current movement speed of the robot. With the backward stroke of the front leg, the robot passes The first follower wheel (18) and the second follower wheel (19) accelerate and slide forward. During the forward swing, the pitching hip joint (11) is driven to rotate first around the direction 12 and then around the direction 13, driving the The knee joint (15) rotates first around the direction 17 and then around the direction 16, so that the foot end (20) swings forward without contacting the ground. 5. A sliding quadruped robot according to claim 1, wherein the robot is switched from the sliding mode to the wheel mode on the slope, and the opposite conversion process executes the opposite steps, and when the robot is in the sliding mode , the rear legs support the front body (1) and the rear body (2), the front legs do back-and-forth reciprocating motion, drive the pitching hip joint (11) of the front leg to rotate around the direction 13, and drive the knee joint (15) ) rotate around the direction 16 or 17, so that the knee joint (15) of the front leg and the knee joint (15) of the rear leg are at the same angle, and the lower leg (14) of the front leg and the front body (1) and The rear body (2) is parallel, and the pitching hip joint (11) of the rear leg is driven to rotate around the direction 13, so that the lower leg (14) of the rear leg is connected to the front body (1) and the rear body ( 2) Parallel, at this time, the first follower wheel (18) and the second follower wheel (19) of the four legs are kept in contact with the ground at the same time, and the pitching hip joint (11) of the four legs is driven to rotate around the direction 12 , the knee joints (15) of the four legs are driven to rotate around the direction 17 until the robot is in wheel mode. 6. A kind of slidable quadruped robot according to claim 1, it is characterized in that, when the robot is in the steering when sliding gait, when turning to the right, the described rolling hip joint (7) of the rear leg goes around the direction 8. Rotate a certain angle, and adjust the pitching hip joint (11) and the knee joint (15) of the rear leg in the process, so that the first follower wheel (18) and the second follower wheel ( 19) Keeping contact with the ground, the rotation of the waist joint (3) makes the front body (1) rotate around the direction 5 relative to the rear body (2) to move the first follower wheel (18) to the rear leg The center position of the support area formed with the second follower wheel (19) adjusts the position of the center of gravity of the robot, the left front leg reciprocates with a larger amplitude relative to the right front leg, and the foot end (20) is maintained during the backward swing. ) and the contact between the first follower wheel (18) and the second follower wheel (19) of the rear leg and the ground; When turning to the left, the rolling hip joint (7) of the rear leg rotates at a certain angle around the direction 9, and the pitching hip joint (11) and the knee joint (15) of the rear leg are adjusted in the process so that the The first follower wheel (18) and the second follower wheel (19) of the rear leg are kept in contact with the ground, and the waist joint (3) rotates to make the front body (1) relative to the rear body (2) ) rotate around the direction 4 to adjust the position of the center of gravity of the robot to the center of the support area formed by the first follower wheel (18) and the second follower wheel (19) of the rear leg, and the right front leg is larger than the left front leg. The amplitude of the reciprocating motion is performed, and the first follower wheel (18) and the second follower wheel (19) of the foot end (20) and the rear leg are kept in contact with the ground during the backward swing. 7. A kind of slidable quadruped robot according to claim 1, is characterized in that, when the robot is in wheeled motion, when turning to the right, the waist joint (3) rotates to make the front body (3) rotate. 1) Rotate around the direction 5 relative to the rear body (2), when turning to the left, the waist joint (3) rotates so that the front body (1) rotates around the direction 4 relative to the rear body (2) . 8. A kind of slidable quadruped robot according to claim 1, is characterized in that, the braking when the robot is in the sliding mode on the slope drives the described pitching hip joint (11) of the front leg to rotate around the direction 12, The knee joint (15) is driven to rotate around the direction 17, so that the foot end (20) moves backward from the ground, the foot end (20) is moved to the rear end of the robot, and the pitching hip joint (20) of the front leg is driven. 11) Rotate around the direction 13, drive the knee joint (15) to rotate around the direction 16, so that the foot end (20) is in contact with the ground, so as to use the friction between the foot end (20) and the ground to brake. 9. A kind of slidable quadruped robot according to claim 1, is characterized in that, when the robot is in wheeled motion on the slope, the braking stops, and the pitching hip joint (11) of the four legs is driven around the direction 12 By rotating, the foot end (20) is brought into contact with the ground, so that the friction between the foot end (20) and the ground is used for braking.

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