CN210707687U - Multi-supporting-leg-unit walking robot with speed equalizer - Google Patents

Abstract

The utility model provides a many support leg unit walking robot with speed regulator, including speed regulator, moving platform, many support leg unit, the support that bed frame and bed frame cooperation are connected, the uniform velocity ware sets up on moving platform, and moving platform sets up on the bed frame. The utility model discloses a set up many supporting leg units, supporting leg in every supporting leg unit is its rotation of independent control respectively and flexible, controls and moves the action cooperation between even speed ware and the moving platform, and the load relative geodetic coordinate system of uniform velocity ware top is at the uniform velocity when having realized the many supporting leg unit walking robot of even speed ware on the road the level steady removal.

Description

Multi-supporting-leg-unit walking robot with speed equalizer

Technical Field

The utility model relates to a robot field, concretely relates to many supporting leg units walking robot.

Background

With the development of scientific technology, robots are applied in various industries, but the turning radius of the current walking robot is large, the stability of a platform cannot be realized on a rugged road, and when the robot is used for carrying a load, the load movement speed is the same as the robot speed, so that the load movement state can be changed along with the change of the robot movement state, and the problem can cause that the load carried by the robot cannot realize the uniform movement of a relatively geodetic coordinate system.

When the robot which can not carry loads at a constant speed is applied to the industrial field requiring loads to move at a constant speed, the robot needs to have a small turning radius and a simple structure, and can ensure the performance of stable and constant-speed horizontal movement and the like of the loads, the current non-constant-speed load carrying robot can hardly meet the requirement under the special working scene, and great challenge is brought to the structural design of the robot which carries the loads at a constant speed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to the above-mentioned defect, provide a many support leg unit walking robot with homodromous ware and control method to solve the problem that exists among the prior art, make the relative geodetic coordinate system of load above the walking robot do uniform motion when realizing that the walking robot simple structure, can be steady keep platform horizontal migration.

The utility model provides a many supporting leg unit walking robot with speed equalizer, include:

the device comprises a speed equalizer, a mobile platform and a plurality of supporting leg units; wherein the content of the first and second substances,

the uniform speed device is used for supporting a load and is movably arranged on the mobile platform;

the mobile platform is supported on the plurality of supporting leg units;

the plurality of supporting leg units are rotatably arranged below different sides of the mobile platform; each supporting leg unit comprises a support, a base frame and two supporting legs, wherein:

the upper part of the bracket is rotatablely arranged with the mobile platform, and the lower part of the bracket is movably arranged with the base frame;

two supporting legs are arranged below the base frame and respectively comprise a first supporting leg and a second supporting leg, and the first supporting leg and the second supporting leg can be independently controlled to rotate and change the telescopic length;

the first support legs of the plurality of support leg units jointly form a first support leg group, the second support legs of the plurality of support leg units jointly form a second support leg group, and each support leg of the first support leg group and each support leg of the second support leg group can be controlled to synchronously rotate;

the plurality of supports can synchronously move and are matched with the corresponding base frames;

the moving direction of the speed equalizer relative to the moving platform is the same as the moving direction of the bracket relative to the base frame.

When the walking robot with the multiple support leg units with the speed equalizer needs to step out of the first support leg group or the second support leg group, the multiple supports can synchronously move on the corresponding base frames to enable the gravity center of the mobile platform to move to the support leg group needing bearing; when the gravity center of the mobile platform falls on the supporting leg group needing bearing, the supporting leg group at one end is controlled to enable the mobile platform to form a stable plane and enable the plane to be kept horizontal; when the robot walks, the first supporting leg group and the second supporting leg group alternately take out to finish walking action, and the moving platform and the uniform speed device are controlled to move at different speeds respectively so that the load does uniform motion relative to a geodetic coordinate system.

Further alternatively, the plurality of brackets may form an integral frame or be individually provided.

Further optionally, a moving part is formed on the support of the support leg unit, and a corresponding guide rail or guide groove structure formed on the base frame is matched with the moving part.

Further optionally, the moving part is a roller or a slider.

Further optionally, each support is provided with a support driving unit, so that the support can move relative to the base frame and drive the corresponding support leg unit to rotate integrally relative to the moving platform.

Further optionally, each of the carriage drive units includes a carriage movement drive motor and a carriage rotation drive motor.

Further optionally, each support leg is one of an electric push rod, a hydraulic rod, a pneumatic rod, or an electric telescopic frame.

Further optionally, each support leg is provided with a support leg drive unit so that the support legs can be independently controlled to telescope and rotate.

Further optionally, each support leg driving unit includes a support leg rotation driving motor and a support leg expansion driving motor.

Further optionally, the moving platform and the base frames of the plurality of support leg units are provided with level sensors.

Further optionally, the number of the plurality of support leg units is greater than or equal to 3.

Further optionally, the uniform velocity device comprises a load moving device, a guide part, a sliding part and a driving assembly.

Further optionally, a guide portion is provided above the moving platform, and the load moving device is provided above the guide portion by a sliding portion so that the load moving device can move along the guide portion.

Further optionally, the sliding part and the guiding part of the speed equalizer are correspondingly formed with a guide rail or a guide groove structure for cooperation.

Further optionally, the sliding portion of the homogenizer is a roller or a slider.

Further alternatively, a drive connection may be formed between the load moving means and the drive assembly such that the drive assembly transfers power to the load moving means through the connection to effect movement of the load moving means.

The utility model also provides a control method of many supporting leg unit walking robots with speed equalizer, include:

s1: when the leg group to be taken is the first support leg group, enabling the plurality of supports to carry the moving platform and synchronously move towards the second support legs of the respective support leg units until the gravity center of the moving platform falls on the second support leg group consisting of the plurality of second support legs;

s2: shortening each first support leg of the first support leg group;

s3: enabling each supporting leg unit to rotate around each second supporting leg to the same moving direction;

s4: during or after the process that each first support leg of the first support leg group rotates to the appointed direction, each first support leg of the first support leg group is reset and rotated and completed before the first support leg group falls to the ground;

s5: during or after the process of resetting and rotating each first support leg of the first support leg group, extending each first support leg of the first support leg group, and ensuring that the mobile platform is stable and level after the first support leg group finishes resetting, rotating and landing;

s6, controlling the load moving device to move at a constant speed at a preset speed V in the processes of rotation, reset rotation and extension of each first support leg of the first support leg group;

s7: when the first support legs fall back to the ground, the supports of the mobile platform move, acceleration a is used for acceleration in the moving process, meanwhile, the load moving device is used for deceleration in the acceleration-a process, the acceleration generated by the load relative to the earth coordinate system is equal to the sum of the acceleration of the mobile platform and the acceleration of the load moving device, namely equal to 0, and the load does not accelerate or decelerate relative to the earth coordinate system, so that the load does uniform motion at a speed V relative to the earth coordinate system;

s8: after the multiple supports of the mobile platform do acceleration movement, controlling the supports of the mobile platform to do deceleration movement with the acceleration a, wherein in the deceleration movement process of the mobile platform, the load moving device does acceleration movement with the acceleration a, and similarly to the step S7, the acceleration generated by the load in the process is still equal to 0, the load is not accelerated or decelerated relative to the geodetic coordinate system, and the load still does uniform movement with the speed V relative to the geodetic coordinate system;

s9, when the plurality of supports of the mobile platform complete deceleration movement and the load moving device completes acceleration movement, the speed of the mobile platform is reduced to 0, the speed of the load moving device is increased to a preset speed V, and the gravity center of the mobile platform is located on a first support leg group consisting of a plurality of first support legs;

s10: completing the movement action of a first support leg group of the walking robot with the multiple support leg units provided with the speed equalizers;

s11: after the movement action of the first support leg group is finished, controlling a second support leg group consisting of second support legs of all the support leg units to step out;

s12: shortening each second supporting leg of the second supporting leg group;

s13: enabling each supporting leg unit to rotate around the first supporting leg unit to the same moving direction;

s14: during or after the process that each second supporting leg of the second supporting leg group rotates to the designated direction, each second supporting leg of the second supporting leg group is reset and rotated and completed before the second supporting leg group falls to the ground;

s15: during or after the process of resetting and rotating each second supporting leg of the second supporting leg group, extending each second supporting leg of the second supporting leg group to ensure that the mobile platform is stable and level after the second supporting leg group finishes resetting and rotating and falls to the ground;

s16: when the plurality of second supporting legs fall back to the ground, the plurality of supports are controlled to move, so that the gravity center of the mobile platform falls on a second supporting leg group formed by the plurality of second supporting legs;

s17: in the process of stepping out and falling back to the ground by the second supporting leg group, controlling the load supporting device to do uniform motion at a preset speed V, so that the load does uniform motion at the speed V relative to a geodetic coordinate system in the process;

s18: when the second support legs fall back to the ground, the supports of the mobile platform move, acceleration a is firstly carried out in the moving process, meanwhile, the load moving device carries out deceleration motion by acceleration-a, in the process, the acceleration generated by the load relative to the earth coordinate system is equal to the sum of the acceleration of the mobile platform and the acceleration of the load moving device, namely equal to 0, and the load does not accelerate or decelerate relative to the earth coordinate system, so that the load does uniform motion at a speed V relative to the earth coordinate system;

s19: after the multiple supports of the mobile platform do acceleration movement, the supports of the mobile platform do deceleration movement with the acceleration a, in the deceleration movement process of the mobile platform, the load moving device does acceleration movement with the acceleration a, and similarly to the step S18, the acceleration generated by the load in the process is still equal to 0, and the load does not accelerate or decelerate relative to the geodetic coordinate system, so that the load still does uniform movement with the speed V relative to the geodetic coordinate system;

s20, completing the deceleration movement and the acceleration movement of the load moving device at the same time when the plurality of supports complete the deceleration movement, reducing the speed of the moving platform to 0, increasing the speed of the load moving device to a preset speed V, and enabling the gravity center of the moving platform to fall on a second supporting leg group consisting of a plurality of second supporting legs;

s21: and finishing the motion action of the second support leg group of the multi-support leg unit walking robot, thereby finishing a complete motion action of the multi-support leg unit walking robot.

Further, when the second support leg group falls back to the ground, the walking robot can realize continuous movement by repeating the action steps of the first support leg group and the second support leg group.

Further, the rotation resetting is to enable the rotation angle formed by the first supporting leg or the second supporting leg of each supporting leg unit and the base frame to be zero due to the rotation of the last period.

Further, the control of the first support group or the second support group to stabilize and maintain the mobile platform horizontal utilizes a horizontal position sensor provided on the mobile platform and a horizontal position sensor provided on the base frame of each support leg unit.

Further, a horizontal position sensor, such as a two-axis angle sensor, arranged on the mobile platform is used for detecting the angle value of the mobile platform, so that whether the mobile platform has deviation or not is judged, and if the mobile platform has deviation, corresponding adjustment is carried out according to the measured angle value so as to enable the mobile platform to be kept horizontal.

Further, the supporting leg unit base frame is adjusted to be kept in a horizontal state by a level sensor provided on each supporting leg unit base frame. The level sensor may be a pressure sensor or an angle sensor.

The utility model discloses a set up many supporting leg units, supporting leg in every supporting leg unit is its rotation of independent control respectively and flexible, controls and carries out relative motion between even speed ware and the moving platform, has realized that the load relative geodetic coordinate system of uniform velocity ware top is the uniform velocity when the many supporting leg units walking robot of even speed ware is at the steady movement of level on the road.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention.

The technical solution of the present invention is further described in detail by the accompanying drawings and examples.

Drawings

In order to make the content of the invention more clearly understood, the following description of the invention in detail according to the embodiments of the invention with reference to the accompanying drawings is provided for explaining the invention, but the exemplary embodiments of the invention and the description thereof are provided for explaining the invention and do not constitute an undue limitation to the invention, wherein

Fig. 1 is a schematic perspective view of an embodiment 1 of the multi-leg unit walking robot with a speed equalizer (3 x 2 six-legged robot);

fig. 2 is a schematic perspective view of an embodiment 2 of the multi-leg-support-unit walking robot with a speed equalizer of the present invention;

fig. 3 is a schematic view of an installation structure between a support and a mobile platform according to embodiment 2 of the present invention;

fig. 4 is a schematic view of an installation structure between a support and a base frame according to embodiment 2 of the present invention;

with reference to the accompanying drawings, the embodiments of the present invention have the following reference numerals:

1-moving a platform;

2-a support leg unit;

21-a base frame; 211-a guide groove; 23-pedestal level sensor;

22-support legs; 221-a first support leg; 222-a second support leg; 2211-first support leg drive mechanism; 22111-first support leg rotation drive motor; 22112-first support leg extension drive motor;

24-a chassis; 241-first support leg chassis; 242-a second support leg chassis;

3-a scaffold; 31-a moving part; 32-a carriage drive mechanism; 321-a carriage rotation drive motor; 322-carriage movement drive motor; 33-bracket horizontal position sensor;

4-speed homogenizer;

41-load moving means;

42-a guide;

43-a sliding part;

44-a uniform speed drive assembly; 441-a uniform speed device driving motor; 442-a uniform velocity drive shaft;

a1A2a3 is a first support leg group; and B1B2B3 is a second support leg group.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, 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 application belongs.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The utility model discloses a design a plurality of supporting leg units, contain two supporting legs in every supporting leg unit, every supporting leg can be removed by independent control, and the rotation through the supporting leg realizes that less radial platform is rotatory, and every supporting leg can be by the flexible length of controlling, realizes at the uneven steady movement of road, can guarantee moving platform's level when the platform removes, for better explanation the utility model discloses an effect carries out detailed description with the embodiment below.

Example 1:

for the purpose of describing the multi-support-leg-unit walking robot structure with the speed equalizer in detail, the present embodiment exemplifies three support leg units 2, each support leg unit 2 includes two support legs 22, totaling six support legs 22, i.e., 2 × 2 type.

As shown in fig. 1, the walking robot with multiple supporting leg units and speed homogenizer provided by the utility model comprises a speed homogenizer 4, a mobile platform 1 and a supporting leg unit 2; wherein the content of the first and second substances,

the speed equalizer 4 is used for supporting a load and is movably arranged on the moving platform 1;

the mobile platform 1 is supported on a plurality of supporting leg units 2;

the supporting legs 22 are rotatably arranged below different sides of the mobile platform 1; each supporting leg 22 unit 2 comprises a support 3, a base frame 21 and two supporting legs 22, wherein:

the upper part of the bracket 3 is rotatablely arranged with the mobile platform 1, and the lower part thereof is movably arranged with the base frame 21; and the moving direction of the uniform speed device relative to the moving platform is the same as the moving direction of the support relative to the base frame.

Two supporting legs 22 are arranged below the base frame 21 and respectively comprise a first supporting leg 221 and a second supporting leg 222, and the first supporting leg 221 and the second supporting leg 222 can be independently controlled to rotate and change the telescopic length;

the first support legs 221 of the plurality of support leg units 2 jointly form a first support leg group A1A2A3, the second support legs 222 of the plurality of support leg units 2 jointly form a second support leg group B1B2B3, and each support leg of the first support leg group A1A2A3 and each support leg of the second support leg group B1B2B3 can be controlled to synchronously rotate;

a plurality of supports 3 can be matched with the corresponding base frames 21 in a synchronous moving way; when the walking robot of the multi-support leg unit 2 needs to step off the first support leg group A1A2A3 or the second support leg group B1B2B3, the plurality of supports 3 can synchronously move on the corresponding base frames 21 to enable the gravity center of the mobile platform 1 to move to the support leg group needing bearing;

when the gravity center of the mobile platform 1 falls on the supporting leg group needing bearing, the supporting leg group at one end is controlled to enable the mobile platform 1 to form a stable plane and enable the plane to be kept horizontal; when the mobile platform walks, the first support leg group A1A2A3 and the second support leg group B1B2B3 alternately step out to complete walking action, and the mobile platform 1 and the uniform speed device 4 are controlled to move at different speeds respectively so that the load does uniform motion relative to a geodetic coordinate system.

Further optimization of the above structure is described in detail below:

the speed equalizer 4 is composed of a load moving device 411, a guide portion 42, a sliding portion 43, and a driving assembly 44, wherein the load moving device 41 is slidably disposed on the guide portion 42 through the sliding portion 43, and the driving assembly 44 is used for driving the load supporting plate 4 to slide on the guide portion 42.

Preferably, the guiding portion 42 is designed as a rectangular limiting frame, a pair of parallel two beams is formed inside the limiting frame, the load moving device 41 is designed as a rectangular flat plate, and the load moving device 41 can move along the beams inside the limiting frame.

In this embodiment, a sliding portion 43 is preferably disposed below the load moving device 41, and the guiding portion 42 correspondingly forms a guide rail or a guide groove structure to cooperate with the sliding portion 43, and further preferably, the sliding portion 43 may be a sliding block or a roller, and in this embodiment, a roller is preferably used to drive the load moving device 41 to move along the guiding portion 42.

In the present embodiment, preferably, the constant velocity device driving assembly 44 includes a constant velocity device driving motor 441 and a constant velocity device driving shaft 442, and further preferably, the constant velocity device driving motor 441 is disposed at one end of the load moving device 41 in the moving direction and is in driving connection with the constant velocity device driving shaft 442, and the other end of the constant velocity device driving shaft 442 passes through the limiting frame on the side and is in driving connection with the load moving device 41, specifically, the constant velocity device driving shaft 442 is in threaded fit with the load moving device 41, and preferably, a threaded block with a threaded inner hole is disposed at the bottom of the load moving device 41, and the threaded block forms an oblique threaded fit with the constant velocity device driving shaft 442, so that the rotational motion of the constant velocity device driving motor 441 is converted into a linear motion of the load.

The three supporting leg units 2 are supported below different sides of the mobile platform 1; each support leg unit 2 includes a base frame 21 and two support legs 22, the two support legs 22 are a first support leg 221 and a second support leg 222, and the first support leg 221 and the second support leg 222 are only for convenience of description and are not shown in sequence. The first support legs 221 of the three support leg units jointly form a first support leg group A1A2A3, the second support legs 222 of the three support leg units jointly form a second support leg group B1B2B3, each support leg of the first support leg group A1A2A3 and each support leg of the second support leg group B1B2B3 can be controlled to synchronously rotate, and meanwhile, the first support legs 221 and the second support legs 222 of each support leg group can also be independently controlled to rotate and change the telescopic length.

Preferably, the bottom of each supporting leg is provided with a chassis 23 for improving the contact stability between the supporting leg and the road surface, the chassis of the first supporting leg 221 is a first supporting leg chassis 231, and the chassis of the second supporting leg 222 is a second supporting leg chassis 232.

Preferably, each supporting leg 22 is provided with a supporting leg driving unit, the supporting leg driving unit comprises a supporting leg rotation driving motor and a supporting leg extension driving motor, each supporting leg can be independently controlled to extend, retract and rotate, taking a supporting leg unit as an example, a first supporting leg driving unit 2211 is arranged on the first supporting leg 221, the first supporting leg driving unit 2211 comprises a first supporting leg rotation driving motor 22111, a first supporting leg extension driving motor 22112, and the same structure arrangement is also arranged on the second supporting leg. When the walking robot moves, the rotation driving motor of the supporting leg 22 drives the supporting leg 22 to rotate, and the telescopic driving motor of the supporting leg controls the telescopic length of the supporting leg 22, so that the supporting leg 22 is controlled to be horizontal to the moving platform 1 in the rotating and moving process. Preferably, each of the support legs 22 of the support leg unit 2 is one of an electric push rod, a hydraulic rod, a pneumatic rod, or an electric telescopic frame. The present embodiment uses an electric push rod.

Preferably, the three supporting leg unit walking robot is also provided with three supports 3 corresponding to the three supporting leg units 2, one end of each support 3 is rotatably fixed on the mobile platform 1, and the other end is movably fixed on the base frame 21 of the corresponding supporting leg unit 2; the three supports 3 can be synchronously moved and matched with the base frames 21 of the three supporting leg units 2. Preferably, the three supports 3 form an integral frame to better achieve synchronous movement of the supports 3, although alternatively, the three supports 3 may be provided separately. Preferably, the stand 3 is provided separately or integrally, and a moving part 31 is formed at a position where the stand 3 is movably engaged with the base frame 21 of the supporting leg unit 2, and the base frame 21 is correspondingly configured to form a guide rail or a guide groove 211 to be engaged with the moving part 31, and particularly, the moving part 31 may be optimized to be a roller or a slider.

Further preferably, each support 3 is provided with a support driving unit, and the driving unit includes a support movement driving motor 322 and a support rotation driving motor 321, so that the support 3 can move relative to the base frame 21 and drive the corresponding support leg unit 2 to rotate integrally relative to the moving platform 1. The support moving driving motor 322 of the driving unit drives the support 3 to move relative to the base frame 21 through the support driving mechanism 32, and the support rotating driving motor 321 drives the support 3 to drive the corresponding support leg unit 2 connected with the support 3 to rotate relative to the moving platform 1 as a whole. Preferably, a stand horizontal position sensor 33 is provided on the stand moving driving motor 322 to control the level of the stand 3, and the angle at which the stand rotating driving motor 321 drives the stand 3 to rotate may be preset according to the road conditions.

It is further preferable that the above-mentioned moving platform 1 and the base frames 21 of the three supporting leg units 2 are respectively provided with a base frame horizontal position sensor 23 for monitoring the horizontal degree of the moving platform 1, so as to control the extension and retraction length of the supporting legs 22 to keep the moving platform 1 in a horizontal state.

Therefore, when the walking robot needs to step off the first support leg group (A1A2A3) or the second support leg group (B1B2B3), the three supports 3 can synchronously move on the corresponding base frames 21 to move the gravity center of the mobile platform 1 to the support leg group needing bearing; when the gravity center of the mobile platform 1 falls on the supporting leg group needing bearing, the supporting leg group at one end is controlled to enable the mobile platform 1 to form a stable plane and enable the plane to be kept horizontal; when the walking robot walks, the first supporting leg group (A1A2A3) and the second supporting leg group (B1B2B3) alternately take the steps out to finish walking action, and the bearing legs are always in contact with the ground, so that the walking stability is greatly ensured.

The many supporting leg unit walking robot turning radius that this embodiment provided with uniform speed ware is little, and its rotation of independent control respectively and flexible in every supporting leg unit 2, through controlling between uniform speed ware 4 and the moving platform 1 and moving the action cooperation, can realize the load relative geodetic coordinate system of 4 tops of uniform speed ware and do the uniform motion when the many supporting leg unit walking robot that has the uniform speed ware is on the road horizontal steady movement.

Example 2:

the utility model discloses not limited to every supporting leg unit 2 only three leg, every group has four, five, six and also is allowable, in addition, the type of supporting leg 22 not only can be electric push rod, also can be electric telescopic frame, like fig. 2, the embodiment shown in fig. 3 and fig. 4 is just adopting electric telescopic frame, every supporting leg unit 2 has 4 supporting legs 22's the situation in addition, these are all allowed, as long as do not go beyond the utility model discloses a utility model main idea, all be within the protection scope of this patent.

Other structures of the plurality of leg units 2 in this embodiment have been described in embodiment 1, and are not described herein again.

Example 3:

the present embodiment provides an operation method of a multi-support-leg-unit walking robot with a speed equalizer, taking a three-support-leg-unit 2 walking robot with the form of 2 × 2 in embodiment 1 as an example, as shown in fig. 1, specifically:

s1: when the leg group to be taken is the first support leg group A1A2a3, the plurality of stands 3 are caused to carry the moving platform 1 while moving toward the second support legs 222 of the respective support leg units 2 until the center of gravity of the moving platform 1 falls on the second support leg group B1B2B3 constituted by the plurality of second support legs 222;

s2: shortening each first support leg 221 of the first support leg group A1A2a 3;

s3: rotating each support leg unit 2 around each second support leg 222 in the same moving direction;

s4: in the process that each first support leg 221 of the first support leg group A1A2A3 rotates to the designated direction, each first support leg 221 of the first support leg group A1A2A3 is reset and rotated and completed before the first support leg group A1A2A3 lands;

s5: after the first support legs 221 of the first support leg group A1A2A3 are reset and rotated, extending the first support legs 221 of the first support leg group A1A2A3 to ensure that the mobile platform 1 is stable and horizontal after the first support leg group A1A2A3 falls to the ground;

s6, controlling the load moving device 41 to perform uniform motion at a preset V in the processes of rotation, reset rotation and extension of each first support leg 221 of the first support leg group A1A2A 3;

s7: when the first support legs 221 fall back to the ground, the supports 3 of the mobile platform 1 move, the acceleration a is used for accelerating movement in the moving process, after the time 2t, the speed is increased from 0 to 2V, the load moving device 41 is controlled to perform deceleration movement with the acceleration-a in the accelerating movement process of the mobile platform 1, the speed is reduced from V to-V, in the process, the acceleration generated by the load relative to the geodetic coordinate system is equal to the sum of the accelerations of the mobile platform 1 and the load moving device 41, namely equal to 0, and the load is not accelerated or decelerated relative to the geodetic coordinate system, so that the load performs uniform movement with the speed V relative to the geodetic coordinate system;

s8: after the multiple supports of the mobile platform 1 finish the acceleration motion, the moving speed reaches 2V, and then the acceleration-a is used for deceleration motion, after the time 2t, the speed is decelerated from 2V to 0, in the process of deceleration moving of the mobile platform 1, the load moving device 41 is controlled to do acceleration motion with the acceleration a, the speed is increased from-V to V, the same as the step S7, the acceleration generated by the load in the process is still equal to 0, the load is not accelerated or decelerated relative to the geodetic coordinate system, and the load still does uniform motion with the speed V relative to the geodetic coordinate system;

s9, completing the acceleration movement of the load moving device 41 while completing the deceleration movement of the plurality of supports 3 of the moving platform 1, and when the moving speed of the plurality of supports 3 of the moving platform 1 is reduced to 0, increasing the speed of the load moving device 41 to a preset speed V, and enabling the gravity center of the moving platform 1 to fall on a first support leg group A1A2A3 formed by a plurality of first support legs 221;

s10: completing the movement action of a first support leg group of the walking robot with the multiple support leg units provided with the speed equalizers;

s11: after the movement of the first support leg group is finished, controlling the second support leg group B1B2B3 formed by the second support legs 222 of each support leg unit to step out;

s12: shortening each second support leg 222 of the second support leg group B1B2B 3;

s13: rotating each support leg unit 2 around the respective first support leg 221 in the same moving direction;

s14: in the process that each second supporting leg 222 of the second supporting leg group B1B2B3 rotates to the appointed direction, each second supporting leg 222 of the second supporting leg group B1B2B3 is reset and rotated and completed before the second supporting leg group B1B2B3 lands;

s15: after the second supporting legs 222 of the second supporting leg group B1B2B3 are reset, the second supporting legs 222 of the second supporting leg group B1B2B3 are extended, and the mobile platform 1 is stable and kept horizontal after the second supporting leg group B1B2B3 falls to the ground;

s16: when the plurality of second support legs 222 fall back to the ground, the plurality of brackets 3 are controlled to move, so that the gravity center of the mobile platform 1 falls on a second support leg group B1B2B3 formed by the plurality of second support legs 222;

s17: during the process that the second supporting leg group B1B2B3 steps off and falls back to the ground, the load supporting device 4 is controlled to move at a constant speed V, so that the load does a constant speed motion at the speed V relative to a geodetic coordinate system in the process;

s18: when the second support legs 222 fall back to the ground, the supports 3 of the mobile platform 1 move, the acceleration a is used for accelerating movement in the moving process, after the time 2t, the speed is increased from 0 to 2V, the load moving device 41 is controlled to perform deceleration movement with the acceleration-a in the accelerating movement process of the mobile platform 1, the speed is reduced from V to-V, in the process, the acceleration generated by the load relative to the earth coordinate system is equal to the sum of the accelerations of the mobile platform 1 and the load moving device 41, namely equal to 0, and the load does not accelerate or decelerate relative to the earth coordinate system, so that the load performs uniform movement at the speed V relative to the earth coordinate system;

s19: after the moving speed of the plurality of supports of the moving platform 1 reaches 2V, the plurality of supports perform deceleration motion at the acceleration-a, after the time 2t, the speed is decelerated from 2V to 0, in the process of deceleration motion of the moving platform 1, the uniform speed device driving motor 441 controls the load moving device 41 to perform acceleration motion at the acceleration a, the speed is increased from-V to V, the same as the step S18, the acceleration generated by the load in the process is still equal to 0, and the load is not accelerated or decelerated relative to the geodetic coordinate system, so that the load still performs uniform motion at the speed V relative to the geodetic coordinate system;

s20, completing the deceleration movement and the acceleration movement of the load moving device 41 at the same time when the plurality of supports 3 complete the deceleration movement, wherein the speed of the moving platform 1 is reduced to 0, the speed of the load moving device 41 is increased to a preset speed V, and the gravity center of the moving platform 1 falls on a second supporting leg group B1B2B3 formed by a plurality of second supporting legs 222;

s21: the movement of the second support leg group B1B2B3 of the multi-support leg unit walking robot with the speed equalizer is completed.

When the second support leg group B1B2B3 falls back to the ground, the multi-support leg unit walking robot with the speed equalizer repeats the operation steps S1-S21 to realize the continuous movement of the walking robot.

In this embodiment, the acceleration of the load moving device 41 is preferably a, the acceleration time is t, and the magnitude of t is related to the size of the guide portion 42 and the rotation speed of the uniform velocity drive motor 441, and accordingly, the speed V reached by the load moving device 41 after acceleration is equal to at.

In this embodiment, the rotation resetting is to zero the rotation angle formed by the first support leg 221 or the second support leg 222 of each support leg unit 2 and the base frame 21 due to the previous rotation cycle.

Preferably, in order to ensure that the mobile platform 1 is in a horizontal state during walking, the mobile platform 1 is stabilized and kept horizontal by controlling the first support leg group A1A2a3 or the second support leg group B1B2B3 using a horizontal position sensor provided on the mobile platform 1 and a horizontal position sensor provided on the base frame 21 of each support leg unit 2.

Preferably, the angle value of the mobile platform 1 is detected by using a horizontal position sensor, such as a two-axis angle sensor, disposed on the mobile platform 1, so as to determine whether the mobile platform 1 has a deviation, and if so, the mobile platform 1 is adjusted accordingly according to the measured angle value to keep the mobile platform 1 horizontal.

Preferably, the support leg unit base frame is adjusted to be maintained in a horizontal state by a level sensor provided on the base frame 21 of each support leg unit 2. The level sensor may be a pressure sensor or an angle sensor.

In the method for controlling the motion of the walking robot with the multiple supporting leg units and the speed homogenizer provided in the embodiment, no matter the number of the supporting leg units 2 is several, the horizontal stable movement of the mobile platform 1 in the moving process can be ensured, and the driving motors are used for respectively and independently controlling the movement of the supporting leg group and the load speed homogenizer 4 of the walking robot, so that the load can do uniform motion in a geodetic coordinate system.

Example 4:

in this embodiment, the steps S4 and S14, S5 and S15 in embodiment 3 are adjusted:

specifically, the steps S4 and S14 are:

s4: after the first support legs 221 of the first support leg group A1A2A3 rotate to the designated direction, the first support legs 221 of the first support leg group A1A2A3 are reset and rotated, and the process is completed before the first support leg group A1A2A3 lands;

s14: in the process that each second supporting leg of the second supporting leg group B1B2B3 rotates to the appointed direction, each second supporting leg 222 of the second supporting leg group B1B2B3 is reset and rotated and completed before the second supporting leg group B1B2B3 lands;

specifically, the steps S5 and S15 are:

s5: after the first support legs 221 of the first support leg group A1A2A3 are subjected to the resetting and rotating process, the first support legs 221 of the first support leg group A1A2A3 are extended, so that the mobile platform 1 is stable and kept horizontal after the first support leg group A1A2A3 is reset, rotated and landed;

s15: in the process of resetting and rotating each second supporting leg 222 of the second supporting leg group B1B2B3, each second supporting leg 222 of the second supporting leg group B1B2B3 is extended, and the mobile platform 1 is stable and kept horizontal after the second supporting leg group B1B2B3 is reset, rotated and landed;

the other steps are the same as in example 3.

Example 5:

in this embodiment, the steps S4 and S14, S5, and S15 in embodiment 3 are adjusted:

specifically, the steps S4 and S12 are:

s4: in the process that each first support leg 221 of the first support leg group A1A2A3 rotates to the appointed direction, each first support leg 221 of the first support leg group A1A2A3 is reset and rotated, and the process is completed before the first support leg group A1A2A3 lands;

s14: in the process that each second supporting leg 222 of the second supporting leg group B1B2B3 rotates to the appointed direction, each second supporting leg 222 of the second supporting leg group B1B2B3 is reset and rotated and completed before the second supporting leg group B1B2B3 lands;

specifically, the steps S5 and S13 are:

s5: in the process of resetting and rotating the first support legs 221 of the first support leg group A1A2A3, extending the first support legs 221 of the first support leg group A1A2A3 to ensure that the mobile platform 1 is stable and horizontal after the first support leg group A1A2A3 completes resetting, rotating and falling to the ground;

s15: in the process of resetting and rotating each second supporting leg 222 of the second supporting leg group B1B2B3, each second supporting leg 222 of the second supporting leg group B1B2B3 is extended, and the mobile platform 1 is stable and kept horizontal after the second supporting leg group B1B2B3 is reset, rotated and landed;

the other steps are the same as in example 3.

The utility model discloses because guarantee all the time that each supporting leg unit all provides a leg and form supporting leg group, consequently greatly promoted the stability of walking under the load condition great, through controlling each supporting leg and extend the action at the rotatory in-process that resets, further shortened walking robot and used a supporting leg to support centrobaric time for many supporting leg unit walking robots walk and remove and accelerate, the motion state is more continuous.

In summary, the multi-supporting-leg-unit walking robot with the homogenizer provided by the above embodiment has a simple structure, by providing a plurality of supporting leg groups, and independently controlling the rotation and the extension of each supporting leg group and the rotation and the extension of each supporting leg in each group of supporting leg units according to the level sensor on each supporting leg in each supporting leg group, the mobile platform of the multi-supporting-leg-unit walking robot with the homogenizer can horizontally and stably move in the moving process while turning under a small radius, and the supporting leg groups and the load homogenizer can be independently controlled to move by the driving motors, so that the load can move at a constant speed in the geodetic coordinate system.

Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims (16)

1. A multi-leg-support-leg-unit walking robot with a speed equalizer, comprising:

the device comprises a speed equalizer, a mobile platform and a plurality of supporting leg units; wherein the content of the first and second substances,

the uniform speed device is used for supporting a load and is movably arranged on the mobile platform;

the mobile platform is supported on the plurality of supporting leg units;

the plurality of supporting leg units are rotatably arranged below different sides of the mobile platform; each supporting leg unit comprises a support, a base frame and two supporting legs, wherein:

the upper part of the bracket is rotatably arranged with the mobile platform, and the lower part of the bracket is movably arranged with the base frame;

two supporting legs are arranged below the base frame and respectively comprise a first supporting leg and a second supporting leg, and the first supporting leg and the second supporting leg can be independently controlled to rotate and change the telescopic length;

the first support legs of the plurality of support leg units jointly form a first support leg group, the second support legs of the plurality of support leg units jointly form a second support leg group, and each support leg of the first support leg group and each support leg of the second support leg group can be controlled to synchronously rotate;

the plurality of supports can be synchronously moved and matched with the corresponding base frames;

the moving direction of the speed equalizer relative to the moving platform is the same as the moving direction of the bracket relative to the base frame.

2. The multi-support leg unit walking robot with homogenizer of claim 1, wherein said plurality of supports form an integral frame or are separately provided.

3. The multi-leg-unit walking robot with a speed equalizer according to claim 1 or 2, wherein the support legs of the support leg unit are formed with moving parts, and the base frame is correspondingly formed with a guide rail or a guide groove structure to be engaged with the moving parts.

4. The multi-legged unit walking robot with homogenizer of claim 3, characterized in that the moving part is a roller or a slider.

5. The multi-legged walking robot with speed equalizer according to claim 1, 2, or 4, wherein each of the supports has a support driving unit for moving the support relative to the base frame and for rotating the corresponding legged unit integrally with the movable platform.

6. The multi-legged-unit walking robot with speed homogenizer of claim 5, characterized in that each of the support drive units comprises a support movement drive motor and a support rotation drive motor.

7. The multi-support leg unit walking robot with speed homogenizer of claims 1, 2, 4, 6, wherein each of the support legs is one of an electric push rod, a hydraulic rod, a pneumatic rod or an electric telescopic frame.

8. The multi-legged unit walking robot with speed equalizer of claims 1, 2, 4, 6, wherein each of the legs is provided with a leg driving unit so that the legs can be independently controlled to be extended and retracted and rotated.

9. The multi-support-leg-unit walking robot with speed homogenizer of claim 8, wherein each of the support-leg driving units comprises a support-leg rotation driving motor and a support-leg extension driving motor.

10. The multi-legged walking robot with speed equalizer of claims 1, 2, 4, 6, 9, wherein the moving platform and the base frame of the multi-legged walking robot are each provided with a level sensor.

11. The multi-support leg unit walking robot with speed homogenizer of claims 1, 2, 4, 6, 9, wherein the number of the plurality of support leg units is greater than or equal to 3.

12. The multi-legged unit walking robot with the speed homogenizer of claims 1, 2, 4, 6, 9, wherein the speed homogenizer comprises a load moving device, a guide, a sliding part and a driving assembly.

13. The multi-legged unit walking robot with a speed homogenizer of any one of claims 1, 2, 4, 6, 9, wherein a guide part of the speed homogenizer is disposed above the moving platform, and the load moving means is disposed above the guide part by a sliding part so that the load moving means can move along the guide part.

14. The multi-legged walking robot with homogenizer of claims 1, 2, 4, 6, 9, wherein the sliding part and the guiding part of the homogenizer are correspondingly formed with a guide rail or a guide groove structure for cooperation.

15. The multi-legged unit walking robot with homogenizer of claims 1, 2, 4, 6, 9, wherein the sliding part of the homogenizer is a roller or a slider.

16. The multi-legged unit walking robot with uniform velocity governor of any one of claims 1, 2, 4, 6, and 9, wherein the load moving means and the driving assembly are in driving connection so that the driving assembly transmits power to the load moving means through the connection to realize the movement of the load moving means.

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