WO2023133743A1

WO2023133743A1 - Mobile apparatus, control method, control device, storage medium and accessory

Info

Publication number: WO2023133743A1
Application number: PCT/CN2022/071683
Authority: WO
Inventors: 冯春魁
Original assignee: 冯春魁
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2023-07-20

Abstract

Disclosed in the present invention is a mobile apparatus, comprising a frame (01) and multifunctional mechanical legs (02) connected to the frame (01); and further comprising at least one of a fourth motion mechanism configured to enable a base of the mechanical legs (02) to realize a lifting motion and/or a forward-backward motion, and/or a rolling-type travelling mechanism, wherein each mechanical leg (02) comprises a first joint portion (101), a first connecting rod (102), a second joint portion (103) and a second connecting rod (104), which are sequentially connected, the root of the first joint portion (101) being connected to the frame (01). The mobile apparatus of the present invention can enhance the operation or obstacle-crossing capability.

Description

Movable equipment, control method, control device, storage medium and accessories

technical field

The invention belongs to the field of robot technical equipment, and in particular relates to movable equipment, a control method, a control device, a storage medium, a mobile platform and accessories. In this paper, the device is the robot, and the two are equivalent.

Background technique

The obstacle surmounting of movable equipment has always been the focus of the industry; there are currently two ways to surmount obstacles, one is to use mechanical legs, and the other is to use crawler-type walking mechanisms; the research on mechanical legs in the prior art is still in the use of legs. Simple scenes of walking or only used in performance scenes such as dancing; the lack of more solutions for using mechanical legs (in the field of industrial, agricultural, building, fire emergency rescue) results in waste of resources (multi-joint, high cost) mechanical legs; or in the prior art Other more obstacle-crossing technologies are also needed; because the purpose of obstacle-crossing is to transport personnel or operations, it is necessary to design a better manned cabin for mobile equipment in order to improve personnel comfort or facilitate control operations; so there is an urgent need for more Multiple technologies to solve any one or more of the above problems.

Contents of the invention

To achieve the above purpose, this application provides:

1. A mobile device, characterized in that it comprises:

A frame (01); a plurality of mechanical legs (02) capable of walking connected to the frame (01);

A rolling traveling mechanism (57) connected to the frame (01), the rolling traveling mechanism is used to drive the equipment to travel along the road surface;

The equipment also includes a rolling element lifting mechanism (21), one end of the rolling element lifting mechanism (21) is connected to the frame (01), and the other end of the rolling element lifting mechanism (21) is connected to the rolling traveling mechanism ( 57); and/or, the device also includes a fourth movement mechanism for enabling the base of the mechanical leg (02) to move up and down and/or forward and backward relative to the frame (01), the fourth movement One end of the mechanism is connected to the frame (01), and the other end of the fourth motion mechanism is connected to the base of the mechanical leg (02); and/or, at least one mechanical leg in the plurality of mechanical legs (02) The end is provided with a work tool (17) or with a connection for connecting a work tool (17), the mechanical leg and the work tool (17) are configured for a specific operation, the specific operation includes cutting objects and/or Or digging or shoveling.

In some embodiments, the mechanical leg 02 includes a first rotary joint 1011 for rotating the leg, a first swing joint 1012 for swinging the first connecting rod 102 relative to the base of the mechanical leg, and a first connecting rod 102 connected in sequence. , the second swing joint 103 and the second link 104 for swinging the second link 104 relative to the first link 102; the base of the mechanical leg 02 is the base of the first rotary joint 1011, And the base of the mechanical leg 02 is connected to the frame 01; and

The output shaft of the first rotary joint 1011 points up and down, and the drivers of the first swing joint 1012 and the second swing joint are linear drives; or, the output shaft of the first rotary joint 1011 points forward and backward, or, when the mechanical leg When 02 is connected to the left or right side of the frame 01, the output shaft of the first rotary joint 1011 points to the left and right, or the drivers of the first swing joint 1012 and the second swing joint are rotary drives.

In some embodiments, the ends of the mechanical legs (02) are provided with rollers (106); or, the top 115 of the device is connected to the frame 01 through the fifth lifting mechanism 1315 so that the top 115 can move relative to the frame 01 Lifting and/or the top 115 is provided with rollers.

Beneficial effects: the scheme is convenient for pipeline operations. If necessary, the end of the mechanical leg 02 is provided with a roller 106 or the top abuts against the inside of the pipeline, which can prevent the equipment from slipping, and the roller can reduce the friction when passing.

In some embodiments, the fourth movement mechanism includes a fourth lifting mechanism 12 for enabling the base of the mechanical leg 02 to move up and down, and a fourth lifting mechanism 12 for enabling the base of the mechanical leg 02 to move forward and backward. The fourth forward and backward movement mechanism, any one or more of the single-stage swing mechanism for enabling the base of the mechanical leg 02 to swing up and down; and/or, the multifunctional mechanical leg 02 is provided with a A power supply component for supplying power to the working tool, one end of the power supply component is used to connect to the working tool, and the other end of the power supply component is connected to a power supply provided on the frame 01 . .

In some embodiments, the rolling traveling mechanism and the rolling element lifting mechanism are configured as: a first group of rolling traveling mechanisms that can be raised and lowered in sections. The first rolling traveling mechanism group that can be lifted in sections includes a first traveling mechanism, a second traveling mechanism and a third traveling mechanism, and the first traveling mechanism and the second traveling mechanism are arranged at intervals along the traveling direction; The third traveling mechanism is located between the first traveling mechanism and the second traveling mechanism, and the first traveling mechanism, the second traveling mechanism and the third traveling mechanism are respectively connected to the movable equipment through corresponding lifting mechanisms Frame 01, the lifting mechanism is used to lift and lower the traveling mechanism correspondingly connected to the lifting mechanism.

The beneficial effects of the mobile device of the present application are:

The existing technology only includes two-legged or four-legged robots, and there are problems that it is easy to lose stable support, balance ability, and fall to the ground when working with legs. On the legs, once the legs are lifted up for operation, the wheels are also lifted off the ground, and there are also problems that the whole machine is easy to lose support, balance ability, and fall to the ground;

Therefore, the wheels and legs of the present invention are independently connected to the frame 01, and each performs its duties; when the mechanical legs are working, the frame 01 is supported by the rolling walking mechanism; the system design is reasonable and the function planning is clear, which perfectly solves the above problems. ;

In the prior art, there are also six-legged or eight-legged robot schemes that the robot is provided with more supporting legs except for (one or two) mechanical legs used for operations; The second problem of high cost;

According to the solution of the present invention, the cost of the rolling walking mechanism is low. Compared with the above-mentioned solution with more supporting legs, the cost of the robot and the cost of use can be reduced, and the above problem 2 is solved; and the load, driving speed or efficiency of the rolling walking mechanism can be higher. High; Compared with the leg mechanism, it has better support and posture maintenance capabilities, which improves the stability and quality of the mechanical leg operation.

In the prior art, robots still have problems such as limited scope of work and lack of ability due to the inertia of the industry's thinking and the fact that the mechanical legs are used for walking and are strong and strong, and often need to be firmly fixed at the root of the body;

Branch solution 1 of the present invention: the device includes a fourth motion mechanism that enables the base of the mechanical leg 02 to move up and down relative to the frame 01 and/or move back and forth, so that the root of the first connecting rod 102 can go up ( To the top of the head) or move back and forth, reversed the industry's thinking bias, solved the third problem, and greatly improved the operation and climbing performance of the multifunctional mechanical leg 02.

The robot in the prior art also has the problem of inconvenient posture and/or ground height when the mechanical legs are used for work off the ground.

Branch solution 2 of the present invention: the equipment includes a lifting mechanism for lifting and lowering the rolling traveling mechanism. The rolling walking mechanism lifts the ground to overcome obstacles), and can also adjust the posture and/or height of the equipment when working with mechanical legs, which not only solves the above-mentioned problem 4, but also helps to improve the quality of work. And if the rolling traveling mechanism and the rolling member lifting mechanism are configured as a group of rolling traveling mechanisms that can be raised and lowered in sections, the equipment can have a unique obstacle-surmounting ability, which can greatly reduce the mechanical leg 02 for walking and obstacle-crossing. Frequency of use; because walking and supporting the ground with mechanical legs requires lifting the whole machine to bear a large load, so this solution can reduce the damage probability of mechanical legs, prolong life, and reduce the demand for the load capacity of mechanical legs. Because the mechanical leg is a multi-link swing mechanism, it has strong flexibility but high cost. Reducing the demand for load capacity can greatly reduce the cost of manufacturing and using the mechanical leg and equipment.

Robots in the prior art also have the problem five that the mechanical legs are only used for walking and dancing performances, resulting in a serious waste of resources.

Branching scheme 3 of the present invention: the end of at least one mechanical leg is provided with a working tool 17 or a connecting part for connecting the working tool 17, and the mechanical leg and the working tool 17 are configured for a specific operation, and the specific The operation includes cutting objects and/or digging or shoveling, which means that in addition to walking, the mechanical leg can also cut objects with a knife and/or dig or shovel with a shovel, which solves the above-mentioned problem five and reduces resources. waste, greatly improving the use value of the mechanical legs.

The above branch schemes 1, 2 and 3 can not only be used in isolation, but can cooperate with each other to multiply the effect. For example, the combination of branch plan 1 and branch plan 3: branch plan 1 can not only greatly expand the scope of operation in branch plan 3, but also improve the quality and efficiency of the operation, such as cutting tree roots with a knife, and firstly through the fourth motion mechanism. Lowering the mechanical legs to be operated to a low position is more suitable for exerting force, making the working angle or working quality or working efficiency better; for example, for example, using a knife to trim high branches, first raise the mechanical legs to be operated to a high position through the fourth motion mechanism , to make the operation angle or operation quality or operation efficiency better. In the same way, the cooperation of branch plan 2 and branch plan 3 can also play a similar role. For example, some operations require the first part (front) operations (such as excavation), and some operations require rear operations (such as transplanting rice seedlings, planting trees, equipment needs to go backwards or use the operation of the tail operation tool, so as not to damage the existing parts. Plants to be planted), first move the mechanical leg to be operated to the first part (front part) through the fourth motion mechanism, which can improve the efficiency or quality of the first part (front part) operation; through the fourth motion mechanism, first move the mechanical leg to be The mechanical legs of the operation move to the rear, which can improve the efficiency or quality of the rear operation.

The present invention also provides: a control method 1 for movable equipment, the equipment includes a frame 01, a mechanical leg 02, a rolling traveling mechanism connected to the frame 01, and a base for making the mechanical leg 02 relatively A fourth motion mechanism that can realize lifting motion and/or forward and backward motion on the frame 01, one end of the fourth motion mechanism is connected to the frame 01, and the other end of the fourth motion mechanism is connected to the base of the mechanical leg 02. Seat, characterized in that the control method includes steps F1 and/or F2:

F1: Control the fourth motion mechanism that can realize up and down motion to lower the mechanical leg 02 relative to the frame 01 and control the mechanical leg 02 to walk or work; and/or control the fourth motion that can realize up and down motion The mechanism makes the mechanical leg 02 rise relative to the frame 01 and controls the mechanical leg 02 to grasp the external object to make the equipment climb or work along the external object;

F2: Control the fourth movement mechanism capable of moving back and forth to move the mechanical leg 02 to the first part (front) of the device and control the mechanical leg 02 to stand on the ground to roll the first part (front) and/or, (F21) controlling the fourth motion mechanism capable of moving back and forth to move the mechanical leg 02 to the rear of the device and controlling the mechanical leg 02 to stand on the ground so that The rolling walking mechanism at the rear is able to overcome obstacles and/or operate; and/or, control the fourth movement mechanism capable of moving back and forth so that the mechanical leg 02 moves to the middle of the side of the frame 01 and then walks and/or or assignments.

The beneficial effects of this control method 1: this control method corresponds to the above-mentioned movable equipment 1000, and has the advantages described in branch scheme 1 in the above-mentioned equipment 1000 (the fourth motion mechanism enables the root of the first connecting rod 102 to go up (to the top of the head) ) or move back and forth, reversed the industry's thinking bias, solved the third problem, and greatly improved the multifunctional mechanical leg 02 operation and climbing performance);

And in the F2 scheme, it has a more prominent effect: by setting the rolling walking mechanism, the problem of the low speed and efficiency of the walking mechanism with all legs compared with the rolling walking mechanism on the flat road is solved; as shown in the F2 step It shows that the precious mechanical legs can move forward and backward through the fourth motion mechanism. When the rolling walking mechanism needs to overcome obstacles, it can cleverly call the "distant" mechanical legs to support the ground, helping to solve the obstacle-crossing of the rolling walking mechanism. Ability; when the mechanical leg 02 moves to the middle of the side of the frame 01, it can also walk (with both legs), so that the energy consumption, flexibility, passing ability, walking ability and working ability of the equipment are well balanced. The F2 solution significantly increases the capabilities of the two-legged robot. Even if it is a mobile device with four legs, the base of the mechanical leg 02 can move back and forth to the opposite side. The first benefit is to increase the working capacity on the opposite side, and the operation with one hand becomes the operation with two hands; Benefit 2 When the mechanical leg 02 in a certain position fails, the multifunctional mechanical leg moved from the opposite area on the same side helps to compensate for the working ability in this area

Although the mechanical legs have outstanding ability to overcome obstacles, they are multi-joint expensive devices, which are expensive compared to the wheel-track walking mechanism and the fourth motion mechanism; nature has also proved that the more legs the animal consumes, the more energy it consumes, which seriously restricts its own development. For example, the carrying capacity of multi-legged spiders, centipedes, and crabs is significantly lower than that of quadrupeds (such as lions, tigers, leopards, and elephants), and the IQ of four-legged animals is generally lower than that of two-legged animals (such as gorillas, monkeys, and apes); so , this scheme can share the front and rear legs of the robot and facilitate the reduction of the number of mechanical legs installed, which is of great significance.

The forward and backward motion mechanism of the leg base is set in the forward and backward direction, and has unique advantages in performance, speed and precision compared with technical solutions or single-stage swing mechanisms set in other directions.

2. The present invention also provides a technical solution 2: a group of rolling traveling gears that can be raised and lowered in sections, including a frame (01) or a frame (01) connected to movable equipment,

The first section-liftable rolling traveling mechanism group includes a first lifting mechanism (211), a second lifting mechanism (222), a third lifting mechanism (212), a first traveling mechanism (571), a second traveling mechanism (572) and a third traveling mechanism (573); one end of the first lifting mechanism (211), the second lifting mechanism (222) and the third lifting mechanism is connected to the frame (01);

The other end of the first lifting mechanism (211) is connected to the first traveling mechanism (571); the first lifting mechanism (211) is used to adjust the first traveling mechanism (571) relative to the frame (01 ) distance; the other end of the second lifting mechanism (222) is connected to the second walking mechanism (572); the second lifting mechanism (222) is used to adjust the second walking mechanism (572) relative to the The distance of the frame (01); the other end of the third lifting mechanism is connected to the third traveling mechanism (573); the third lifting mechanism is used to adjust the third traveling mechanism (573) relative to the frame (01) distance;

And the first traveling mechanism (571) and the second traveling mechanism (572) are arranged at intervals along the traveling direction; the third traveling mechanism (573) is located between the first traveling mechanism (571) and the second Between walking mechanism (572).

Any distance in this technical solution 2 is the distance in the up-down direction. Adjusting the distance of any running gear relative to the frame 01 means that the running gear moves up and down relative to the frame 01 . The running gear is the first running gear, the second running gear or the third running gear.

Optionally, the group of rolling traveling gears that can be raised and lowered in sections as described in technical solution 2 further includes a first forward and backward motion mechanism 181 and/or a second forward and backward motion mechanism 182, and the first forward and backward motion mechanism 181 The two ends are respectively connected to the first lifting mechanism 211 and the frame 01, and are used to adjust the distance of the first traveling mechanism relative to the center of the frame 01 along the traveling direction; The two ends are respectively connected to the second traveling mechanism and the frame 01 , and are used to adjust the distance of the second traveling mechanism relative to the center of the frame 01 along the traveling direction.

Beneficial effects of this scheme 2: Through the scientific and ingenious layout and topology design, the rolling walking mechanism that can drive efficiently and at high speed but is difficult to overcome obstacles in the prior art can obtain a lift similar to a multi-link swinging mechanical leg. Obstacle-surmounting ability with legs, and easy cost and volume reduction. In this solution, the first traveling mechanism and the second traveling mechanism are independently connected to the frame 01, and the two can be lifted at a single point without any connection, without connecting the middle frame to make the overall lifting, avoiding the lifting belt of the middle frame relative to the main frame The complex structure and the risk of being cut when people enter and exit the equipment.

Optionally, as described in the technical solution 2, the first group of rolling traveling mechanisms that can be lifted in sections, the third traveling mechanism includes a crawler-type traveling mechanism 07m, and the center of the frame 01 or the movable equipment The center of gravity of is located in the area covered by the orthographic projection of the crawler belt of the crawler-type traveling mechanism 07m on the ground.

Beneficial effects of the scheme: the third traveling mechanism includes a crawler-type traveling mechanism 07m, which can independently support the frame to lift off the ground and run, and is convenient for the first traveling mechanism and the second traveling mechanism to overcome obstacles.

Optional solution 2.1, as described in technical solution 2, the first segmented liftable rolling traveling mechanism group, the third traveling mechanism includes a middle front traveling wheel 512 and a middle rear traveling wheel 521, said There are at least two traveling wheels 512 at the front of the middle part arranged laterally along the traveling direction, or at least two traveling wheels 521 at the rear of the middle part are arranged transversely along the traveling direction. The center of the frame 01 or the movable The orthographic projection of the center of gravity of the equipment on the ground is located in the area formed by connecting the contact points of the third running gear in sequence; or,

The first traveling mechanism includes first traveling wheels and/or the second traveling mechanism includes second traveling wheels,

Or, the first traveling mechanism and/or the second traveling mechanism include a roller-type traveling mechanism or a crawler-type traveling mechanism.

Beneficial effects of this solution: the third traveling mechanism includes a middle front traveling wheel 512 and a middle rear traveling wheel 521, which can independently support the frame from the ground, and facilitate the first traveling mechanism and the second traveling mechanism to overcome obstacles. The first traveling mechanism includes the first traveling wheels and/or the second traveling mechanism, which can give full play to the advantages of high driving efficiency and high comfort of the wheeled mechanism. Road wheels for greater speed, efficiency or comfort when driving on flat roads. Compared with the crawler-type traveling mechanism or the roller, the walking wheel has a small ground area, and it is easier to accurately adjust the posture of the equipment when the walking wheel supports the ground, and it is convenient to improve the operation accuracy.

Based on the above scheme 2.1, optionally, the first rolling traveling mechanism group or the equipment further includes a second crawler traveling mechanism connected to the frame 01, and the second crawler traveling mechanism is used to drive the rolling traveling mechanism The group of institutions or the device travels along the road. Herein, without being limited to the second crawler-type traveling mechanism, the crawler-type traveling mechanism mentioned everywhere is the first crawler-type traveling mechanism. The figure formed by enclosing each landing site of the second crawler-type traveling mechanism with a line in turn includes the center of gravity of the rolling-type traveling mechanism group or the equipment. The second crawler-type traveling mechanism does not interfere with the group of rolling-type traveling mechanisms that can be raised and lowered in sections. When the traveling mechanism in the segmented lifting rolling traveling mechanism group rises relative to the frame 01 under the control of the corresponding lifting mechanism, the second crawler-type traveling mechanism is used for landing or driving. In the same position, two crawler-type traveling mechanisms are not provided to prevent mutual interference. In the middle, the traveling wheels included in the third traveling mechanism are arranged outside the second crawler-type traveling mechanism, and the lifting of the traveling wheels does not interfere with the second crawler-type traveling mechanism. The benefit of this scheme is: the main cost of the third traveling mechanism including the traveling wheels lies in the lifting mechanism connected to the third traveling mechanism, and the cost of the traveling wheels can be slightly ignored. The traveling wheels included in the third traveling mechanism are used for landing on the ground and overcoming obstacles, and compared with the crawler-type traveling mechanism, the attitude of the equipment is adjusted to improve the working performance. The second crawler-type walking mechanism can enable the equipment to obtain a good ability to cross soft areas and climb continuous steps.

The first running mechanism and/or the second running mechanism includes a crawler type running mechanism, which can provide a greater grip than the wheel mechanism in snowy conditions, and the first running mechanism and/or the second running mechanism includes a roller The walking mechanism is more suitable for walking in wading waters.

Based on the above scheme 2.1, optionally, there are at least two first road wheels arranged transversely to the traveling direction of the rolling traveling gear group that can be raised and lowered in sections, and each of the first road wheels is connected to the first road wheel. A lifting mechanism 211, or each of the first traveling wheels is correspondingly connected to a first lifting mechanism 211; and/or the traveling direction of the second traveling wheels relative to the group of rolling traveling mechanisms that can be raised and lowered in sections There are at least two horizontally arranged, each of the second traveling wheels is connected to the first lifting mechanism 211 , or each of the second traveling wheels is correspondingly connected to one of the first lifting mechanisms 211 .

The present invention also provides a technical solution 2: a second group of rolling traveling gears that can be raised and lowered in sections. See embodiment for specific scheme.

3. The present invention also provides: a movable device, which includes a frame (01), a group of rolling traveling gears connected to the frame (01) that can be The walking mechanism group is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections.

Optionally, the device also includes a fourth traveling mechanism (15) for driving the device along the road surface, a mechanical arm or a multifunctional mechanical leg (02) for operation, or a manned cabin (11) or a propulsion mechanism in water. device.

Benefits of this solution: the first rolling walking mechanism group that can be lifted in sections can enable the equipment to obtain obstacle-surmounting capabilities without relying on mechanical legs, which is convenient for driving over obstacles in complex terrain places; The fourth traveling mechanism 15 of the rolling traveling mechanism group that can travel quickly (highly efficient and energy-saving). The two traveling mechanisms cooperate to make the equipment more adaptable; or cooperate with the mechanical arm to enable the equipment to achieve obstacle-crossing + operations in complex places. ability; or cooperate with the mechanical leg 02 to reduce the frequency of the mechanical leg 02 (heavy load supporting the ground) and prolong its life; or cooperate with the manned cabin 11, so that the equipment can transport people to complex places; or propel with the water device that enables the device to have amphibious capabilities.

The present invention also provides: a control method 2 for movable equipment, the equipment includes a frame (01), and a group of rolling walking mechanisms connected to the frame (01) that can be lifted and lowered in sections. The rolling traveling mechanism group is the first rolling traveling mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections, and the control method includes steps Y1 and/or Y2:

Y1: Control the device to travel, control the lifting mechanism corresponding to the walking mechanism to be overcome, make the walking mechanism to rise relative to the frame (01) to overcome the obstacle, and/or, control and eliminate the obstacle The lifting mechanism corresponding to several running gears other than the running gear of the obstacle makes the several running gears descend relative to the frame (01) to support the ground, so that the running gear to be surmounted can rise to surmount the obstacle.

Y2: Control the device to move in the direction of the lower step, control the lifting mechanism corresponding to the running mechanism that has been suspended above the section below the step, and make the running mechanism drop relative to the frame (01) so that the running mechanism The section below the steps supports the ground. The control method is used to enable the movable device to overcome obstacles.

The beneficial effect of this control method 2: the Y1 step provides a clear and feasible way to get over the obstacles raised on the road without relying on the mechanical legs; Method for step type obstacles.

The present invention also provides: a control method 3 for movable equipment, the equipment includes a frame (01), a fourth traveling mechanism (15) connected to the frame (01), a fourth traveling mechanism (15) connected to the frame (01) The rolling traveling mechanism group that can be lifted and lowered in sections is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections; The control method comprises steps S1 and/or S2:

S1: Control the group of rolling traveling gears that can be raised and lowered in sections so that the raised and lowering rolling running gears contained therein rise relative to the frame (01) so that the fourth running gear (15) ground;

S2: Control the first group of rolling traveling gears that can be raised and lowered in sections to make the equipment overcome obstacles.

In the control method 2 and the control method 3, the common principle is: make several running gears in the equipment touch the ground except the running gear to be overcome when overcoming the obstacle, and the grounding points of the several running gears are in the top view. The figure enclosed by the directions contains the center of gravity O point of the device.

Optionally, the control method 2 or control method 3 further includes the step of: controlling the first forward and backward movement mechanism 181 to adjust the distance of the first traveling mechanism relative to the center of the frame 01 in the front and rear direction, and/or, controlling The second forward and backward movement mechanism 182 adjusts the distance of the second traveling mechanism relative to the center of the frame 01 in the front and rear direction. This step is used to: adjust the landing point of the first running gear and/or the second running gear according to the width of the obstacle. With better hurdles and obstacles.

This step S1 is used to make the movable device travel on an unobstructed road section. That is: when the movable device is on an unobstructed road section, step S1 is executed. This step S2 solves the difficult problem that the frame 01 needs to overcome an obstacle or the fourth traveling mechanism 15 needs to overcome an obstacle. This step S1 makes the group of rolling traveling gears that can be raised and lowered in sections not hinder ( 600 ) the fourth traveling gear 15 . Optionally, the step S1 further includes the step of: controlling the fourth traveling mechanism 15 to make the movable equipment travel along the road.

The beneficial effect of this technical solution: the existing automobile only has the fourth traveling mechanism 15, once it encounters an obstacle, it will be difficult to pass, so that the conveying task cannot be carried out smoothly. The technical scheme provided by the invention enables the automobile to hurdle and walk. Solve the major problems that the car has difficulty in passing when it encounters obstacles, skids in the snow, and the transportation task cannot be carried out smoothly. It has important economic value and social significance.

Due to the inertia of thinking (legs of people and animals can be seen everywhere), the obstacle-crossing technical solutions of existing equipment are mostly multi-link swing joint schemes imitating the legs of humans or animals, so heavier equipment (such as automobiles) cannot High-performance (step-up, step-down, hurdles) obstacle surmounting. Compared with the multi-link swing mechanism, the linear motion mechanism has the outstanding advantages of large load capacity, small size, low cost, and fast speed. It has outstanding advantages when used in combination with the walking mechanism to make the equipment overcome obstacles. For example, the jack is a typical linear motion mechanism, its price is less than 100 yuan and its load capacity reaches 1000KG, and the joint-rotating mechanical arm with a load capacity of 50KG is a typical multi-link swing mechanism, its lowest price is 25,000 yuan, and the price difference is 250 times. The carrying capacity differs by 20 times. All linear motion mechanisms or single-stage swing mechanisms are used as obstacle-crossing mechanisms, which have a huge cost-effective advantage compared with multi-link swing mechanisms for obstacle-crossing mechanical legs.

4. The present invention also provides: a kind of control method 4 of movable equipment, and this equipment comprises frame (01), is connected to this frame (01) crawler-type running mechanism (07m) and is connected to this frame ( 01), the liftable traveling mechanism is a mechanical leg (02) or a rolling traveling mechanism connected to the frame (01) through a lifting mechanism, characterized in that the control method includes steps C1 and/or or C2:

C1: When the movable equipment travels through the crawler-type walking mechanism (07m) and enters the downhill road section from the flat road, control the rear liftable walking mechanism of the movable equipment to reach the ground on the flat road, so as to raising the rear of the crawler running gear (07m);

C2: When the movable equipment travels through the crawler-type traveling mechanism (07m) and enters the flat road from the uphill road section and the crawler belt (07m) in the crawler-type traveling mechanism is still in the backward tilting state, control the movement of the movable equipment The liftable traveling mechanism at the rear touches the ground on the uphill road section, so as to reduce the inclination angle of the crawler-type traveling mechanism (07m).

The beneficial effect of this control method 4: the crawler mechanism has outstanding advantages compared with the wheel or leg mechanism in climbing stairs and passing soft areas (beach, mud); On flat roads, there are serious safety problems such as the front end hanging in the air and hitting the ground; the inertial thinking of the industry usually strives to keep the rack upright and reduce the inclination angle to prevent falling; the C1 scheme proposed by the present invention controls the rear liftable The walking mechanism supports the ground at the rear, so that the hips of the equipment are tilted to actively increase the inclination angle. Experiments have proved that it has unexpected benefits for improving safety. In this C2 scheme, when the equipment enters the flat road from the uphill road section, similarly, the rear liftable traveling mechanism is controlled to support the ground at the rear to reduce the inclination angle of the crawler belt (070), which is proved to be beneficial to the improvement of safety. Unexpected benefits.

5. In addition, the present invention also provides: a control method 5 of a movable device, the movable device includes a frame (01) and a plurality of mechanical legs connected to the frame, and among the plurality of mechanical legs At least one mechanical leg is configured as a multi-functional mechanical leg (02), the multi-function includes being used for specific operations and walking, it is characterized in that the control method includes step M1:

Control the multifunctional mechanical leg (02) to carry the personnel in the manner of supporting the personnel from below; and/or, control the multifunctional mechanical leg (02) to drive the working tool connected to the end of the mechanical leg (02) to and/or, control the multifunctional mechanical leg (02) to drive the working tool connected to the end of the mechanical leg 02 to perform a specific operation, the specific operation is cutting objects or At least one of digging or shoveling or picking an item, spraying an item, or taking a brick wall.

Optional scheme 5.1, in the control method 5, the cutting or excavation or shoveling is: first cutting the object and then excavating or shoveling; and/or, the working tool for cutting the object is a saw, water knife, laser knife or Electric abrasive cutters; and/or,

The control of the multifunctional mechanical leg (02) to drive the working tool 17 connected to the end of the mechanical leg 02 to perform specific operations is: to control the multifunctional mechanical leg 02 to drive the knife connected to the end of the mechanical leg (02) to cut Items and control The multifunctional mechanical leg (02) drives the shovel connected to the end of the mechanical leg (02) to perform digging or shoveling operations.

Beneficial effects of this technical solution: using cutting tools to cut objects first, and then digging or shoveling objects, compared with (in existing excavator technology) directly impacting and breaking objects with brute force, can greatly reduce impact force, load, Make the structure of the multi-functional mechanical leg 02 compact, non-bulky, reduce weight, reduce energy consumption during the movement of the multi-functional mechanical leg, avoid damage to the multi-functional mechanical leg 02, and prolong the service life .

Optionally, the knife and the shovel are connected to the end of the same multifunctional mechanical leg 02. Or the knife and the shovel are connected to the ends of different multifunctional mechanical legs 02, and the operation is a cooperative operation of multiple multifunctional mechanical legs 02.

Based on the solution 5.1, further, the work tool 17 used for cutting objects or excavating or shoveling objects is a shovel or a chain saw with a saw. A shovel with a saw means that the opening of the shovel is provided with a saw. When the opening of the shovel contacts the item to be excavated or shoveled, the saw will preemptively cut the object. Practice has proved that chain saws can cut deeper and make it easier to cut objects before digging or shoveling.

The beneficial effect of this control method 5:

In general: in (fire, flood, dangerous gas and liquid leakage places, earthquake, anti-terrorist riot, plague, medical rescue, battlefield rescue) emergency rescue, construction industry, agriculture, forestry, traditional Chinese medicine planting industry, mineral excavation industry or livestock and livestock materials Fields limited by the present invention such as the handling industry (such as shoveling pig manure, chicken manure), the scenes all have a common feature, unlike the flat ground in offices, shopping malls, and factories, on the contrary, the movable equipment in this scene First of all, the terrain is complex, rugged and even steep; in this scenario, it is usually necessary to equip (thick, high-cost) mechanical legs to enable mobile devices to walk over obstacles.

In the existing technology, based on the inertial thinking of the industry for many years, (thick, high-cost) mechanical legs are mainly used for walking, and additional mechanical arms are required for operations, which brings serious waste of resources and pushes up the purchase and use costs of robots. five.

The first point: the present invention overcomes the mainstream industry prejudice in this field. One: instead of using conventional mechanical arms for operations, multifunctional mechanical legs are used for specific operations; the high cost of expensive mechanical arms is saved. Cost, high weight, high energy consumption, and high control complexity; and the mechanical arm is usually installed on the upper part of the body, which is inconvenient for low-level operations; using multifunctional mechanical legs for specific operations saves joint costs for bending, bending The system and technical complexity brought by the control.

The second point: more importantly: the present invention, on the basis of overcoming the industry prejudice that the above-mentioned mechanical legs are mainly designed for walking, is not a simple operation of controlling the end of the mechanical legs to kick and move objects. The multi-functional mechanical legs operate the working tool to perform specific process operations. The ability to use tools skillfully is the main difference between animals and humans, and also the core difference between ordinary robots and advanced robots. This is also where the core value of the present invention lies.

The third point: more importantly: the present invention, on the basis of using multi-functional mechanical legs and tools, also abandons the low-efficiency operation scheme of single-point operations such as drilling, and controls the multi-functional It is a high-value and high-efficiency working method formulated by the mechanical leg operation and the use of tools. For example, assuming that the diameter of the drill bit is 1 square centimeter, if you need to excavate 1 square meter of ore or soil, you need to use the drill bit to drill 10,000 times. All the cutting schemes of carrying out surface cutting as specified by the present invention are the operation schemes of surface cutting, which can improve the operational efficiency hundreds of times.

Moving personnel is a very important core task in firefighting, medical emergency rescue, and personnel care. Half of the existing technology uses hands to carry people, and it is difficult to think of carrying people with legs; even if you think of using legs to carry people, it is easy to grab objects due to industry prejudice and refer to the way of grabbing objects with mechanical arms in the prior art People can easily lead to two kinds of adverse consequences: the soft manipulator with multiple fingers is unable to reliably grab and carry people, or the manipulator is hard and powerful and can easily injure people. In the present invention, people are transported in such a way that the multifunctional mechanical legs support the personnel from below the personnel, and the personnel are transported in the manner that the multifunctional mechanical legs grab the flexible objects connected to the personnel. From the technical solution, it is safe to carry personnel. It breaks industry prejudice and has unexpected effects. It is of great economic and social value to use the mechanical legs of the robot to safely transport people and avoid the danger of fire or explosion without the need for police or rescue personnel to risk their lives.

Cutting materials (such as branches, damaged buildings) with multifunctional mechanical legs, digging with multifunctional mechanical legs, and shoveling (clearing obstacles) are important tasks for emergency rescue (fire, flood, earthquake). It has important economic and social value.

6. The present invention also provides a technical solution 6: a manned cabin: the manned cabin includes a bottom, a top and a top lifting mechanism, the top lifting mechanism is used to adjust the height of the top relative to the bottom, and the top lifts The two ends of the mechanism connect the bottom and the top respectively. The top elevating mechanism is used to make the height in the manned cabin adjustable between the standing height and the height lower than the standing height. Optional, standing height is 1.6 meters.

In some embodiments, the manned cabin as described in technical solution 6, the manned cabin includes a movement mechanism for adjusting the posture of the seat, which is used to adjust the seat to the sitting posture or withdraw from the riding posture, the movement The base and the output part of the mechanism are respectively connected with the base of the seat and the passenger cabin. The sitting position refers to the position in which the upper surface of the seat is placed flat for people to sit on. Evacuation from the sitting posture indicates that the seat 117 is pulled aside from the riding posture. The evacuated sitting posture is used to enable the person to stand in the sitting posture when the seat 117 is in part or all of the area.

In some embodiments, as described in the technical solution 6, the passenger cabin includes a backrest angle adjustment mechanism for adjusting the angle of the backrest at the rear of the seat relative to the base of the passenger cabin. The base and the output part of the kinematic mechanism are respectively connected to the base of the backrest and the passenger compartment. The motion mechanism makes the backrest tilt backward relative to the base of the passenger compartment (to be configured as a bed) or erects the backrest (to provide people with a backrest).

In some embodiments, in the manned cabin as described in technical solution 6, the manned cabin includes a movement mechanism for adjusting the edge distance of the manned cabin, which is used to adjust the edge of at least one side of the manned cabin relative to the manned cabin. The base of the cabin is separated from each other in the horizontal direction, and the base and the output member of the motion mechanism are respectively connected to the base of the manned cabin and at least one edge of the manned cabin. The movement mechanism adjusts the distance between the two sides of the passenger compartment in the horizontal direction between the lying distance and a distance smaller than the lying distance. The lying distance refers to the distance that people can lie in the passenger compartment. Optionally, the lying distance is 1.6 meters.

Further, the first forward-backward movement mechanism and/or the first forward-backward movement mechanism in the first section-elevating rolling traveling mechanism group are used as the movement mechanism for adjusting the edge distance of the manned cabin. This solution avoids the use of a special kinematic mechanism for adjusting the edge distance of the manned cabin, and saves costs.

A control method 6 of a movable device or a control method 6 of a manned cabin, the control method 6 includes at least one of step 1, step 2, and step 3.

Step 1: Use sensors to collect information related to people changing from a sitting posture to a standing posture in the manned space. When the recognition module determines that the person in the manned space changes from a sitting posture to a standing posture based on the information, control the top lifting mechanism to make the top Relative to the bottom of the manned space, the motion mechanism for raising and/or controlling the posture adjustment of the seat makes the seat withdraw from the sitting posture.

Step 2: Control the manned cabin side distance adjustment of the manned cabin 11 to adjust the distance between at least one side of the manned cabin and the base of the manned cabin in the horizontal direction with a motion mechanism, so that the manned cabin The distance between the two sides of the cabin in the horizontal direction is adjusted between the lying-riding distance and a distance smaller than the lying-riding distance.

Step 3: Control the backrest angle adjustment mechanism of the manned cabin to make the backrest recline relative to the base of the manned cabin (configure as a bed) or make the backrest upright (for people to backrest).

Step 4: Associatingly control the backrest angle adjustment mechanism of the manned cabin and the motion mechanism for adjusting the margin behind the backrest of the manned cabin of the manned cabin, so that the movement of the backrest and the edge of the backrest of the manned cabin interact non-interference.

Associated control, for example: make the backrest upright first and then move the edge behind the backrest forward, or make the backrest erect and the edge behind the backrest move forward at the same time, or first make the edge behind the backrest The backrest reclines, or the rearward movement of the edge of the backrest and the backrest reclines simultaneously. This step 4 can avoid the problem that the backrest and the edge at the back of the backrest easily collide with each other and interfere with each other when they move in a single action.

The mobile device is configured to be transported by people. The movable equipment includes the manned cabin 11 or the connected manned cabin 11 . The manned space refers to the manned space in the movable equipment or the manned space in the manned cabin. The manned space in the manned cabin is the manned cabin. The top refers to the top of the movable equipment or the top of the manned compartment. The bottom of the manned space refers to the bottom of the movable equipment or the bottom of the manned compartment.

Beneficial effect of this scheme: the nature of human beings must lie down, sit and stand every day, otherwise it will be very uncomfortable and affect health. In the prior art, even in a car, one can only sit and lie down, and cannot stand smoothly. The solution of the present invention not only enables people to stand in the robot by controlling the top lifting mechanism 1315, but also provides a (automated, intelligent) "top-following-person station" that does not require human intervention when the person changes from a sitting position to a standing position. "The technical solution can improve the comfort. Control the motion mechanism to make the seat 117 withdraw from the sitting posture, and the seat 117 can be made to give up the space occupied by the seat for people to stand in this space, which is easy to provide greater standing space and comfort when the equipment is miniaturized (equipment Miniaturization is of great significance, it is convenient for the equipment to enter the elevator, get on the bus and return to the room, which is more conducive to the application of robots). This step 2 and step 3 are easy to realize the switching of reclining and sitting.

7. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, any one of the above control methods 1-6 is implemented.

8. A control device for movable equipment, characterized in that the control device includes a processor, the processor is used to execute a computer program, and when the program is executed by the processor, any one of the above-mentioned control methods 1-6 is implemented .

9. A movable device, comprising the above-mentioned control device.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the embodiments or exemplary technical descriptions. Obviously, the accompanying drawings in the following descriptions are only for this application. For some embodiments, those skilled in the art can also obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a perspective schematic diagram of a movable device with mechanical legs;

Fig. 2 is a schematic diagram of a top view direction of a movable device with mechanical legs;

3 is a schematic diagram of a side view direction of a movable device with mechanical legs;

Fig. 4 is a simplified structural schematic diagram of a side view direction of a movable device with mechanical legs;

5 is a schematic diagram of a side view direction of a movable device with a multifunctional mechanical leg in a walking state;

Fig. 6 is a schematic diagram of a movable device including a kinematic mechanism for moving the base of the mechanical leg back and forth;

Fig. 7 is a schematic diagram of a movable device including a kinematic mechanism for moving the base of the mechanical leg back and forth;

Fig. 8 is a schematic diagram of a mobile device containing a manned cabin;

Fig. 9 is a schematic diagram of a mobile device containing a manned cabin;

Fig. 10 is a three-dimensional schematic diagram of a mechanical leg;

Fig. 11 is a schematic diagram of a side view direction of a mechanical leg;

Fig. 12 is a schematic diagram of an electric push rod;

Fig. 13 is a schematic diagram of a guide rail type motion mechanism;

Fig. 14 is a schematic diagram of a guiding mechanism;

Fig. 15 is a schematic diagram of a crawler-type traveling mechanism;

FIG. 16 is a schematic diagram of a physical product of a mobile device in this embodiment;

Reference signs:

01. Rack; 02-leg;

021 - leg of the first part; 021L - leg of the first part of the first side; 021R - leg of the first part of the second side;

022 - leg of the second part; 022L - leg of the second part of the first side; 022R - leg of the second part of the second side;

023 - leg of the third part; 023L - leg of the third part of the first side; 023R - leg of the third part of the second side;

06 - Gripping device; 062L - Gripping device at the end of the leg of the second part of the first side;

171-first working tool: chain saw; 172-second working tool: shovel; 173-first working tool: scissors;

115, top; 1151-top wheel; 12-the fourth lifting mechanism; 121-the fourth lifting mechanism of the first part; 121L-the fourth lifting mechanism of the first part of the first side; 121R-the first of the second side 122-the fourth lifting mechanism of the second part; 122L-the fourth lifting mechanism of the second part of the first side; 122R-the fourth lifting mechanism of the second part of the second side;

181-the first forward and backward motion mechanism; 181L-the first forward and backward motion mechanism of the first side; 181R-the first forward and backward motion mechanism of the second side;

182-the second forward and backward motion mechanism; 182L-the second forward and backward motion mechanism of the first side; 182R-the second forward and backward motion mechanism of the second side;

184—the fourth forward and backward motion mechanism; 184L—the fourth forward and backward motion mechanism of the first side; 184R—the fourth forward and backward motion mechanism of the second side;

211-the first lifting mechanism; 211L-the first lifting mechanism on the first side; 211R-the first lifting mechanism on the second side;

212, the third lifting mechanism of the first part; 212L- the third lifting mechanism of the first part and the first side; 212R- the third lifting mechanism of the first part and the second side; 221, the third lifting mechanism of the second part Mechanism; 221L-the second position and the third lifting mechanism on the first side; 221R-the second position and the third lifting mechanism on the second side;

222, the second lifting mechanism; 222L-the second lifting mechanism on the first side; 222R-the second lifting mechanism on the second side;

511-the first traveling wheel; 051-the first traveling wheel on the first side; 053-the first traveling wheel on the second side;

512-the front walking wheel in the middle; 512L-the front walking wheel in the middle of the left; 512R-the front walking wheel in the right middle;

521-travel wheels behind the middle; 521L-travel wheels behind the middle of the first side; 521R-travel wheels behind the middle of the second side;

522-the second road wheel; 052-the second road wheel on the first side; 054-the second road wheel on the second side;

07. Crawler-type traveling device; 07M. Crawler-type traveling mechanism; 070. Crawler;

15A, the first wheel; 15B, the second wheel;

10000-ground; 10005-obstacle V; O-equipment center of gravity.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present application.

It should be noted that when a component is referred to as being “fixed on” or “disposed on” another component, it may be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are for convenience of description only, rather than indicating or implying the referred device Or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the application, and those of ordinary skill in the art can understand the specific meanings of the above terms according to specific situations. The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of technical features. "Plurality" means two or more, unless otherwise clearly and specifically defined.

In this paper, the traveling direction is the traveling direction of the rolling traveling mechanism. Optionally, the driving direction X1 may be a horizontal direction, or an inclined direction having a certain angle with the horizontal direction. It can be understood that, when the traveling direction X1 is set along the horizontal direction, the frame 01 moves horizontally along the horizontal direction, for example, runs along a horizontally set ground. When the traveling direction X1 is an inclined direction, the frame 01 can move along an inclined direction, such as climbing a slope or climbing stairs. The front wheel in the middle is the walking wheel in the middle. The wheel behind the middle is the walking wheel behind the middle

Please refer to Fig. 1 to Fig. 7: the embodiment of this application provides:

1. Technical solution 1: a mobile device, comprising:

Rack 01;

A plurality of mechanical legs 02 that can be used for walking are connected to the frame 01;

A rolling traveling mechanism connected to the frame 01, the rolling traveling mechanism is used to drive the equipment to travel along the road;

The equipment also includes a rolling element lifting mechanism, one end of the rolling element lifting mechanism is connected to the frame 01, and the other end of the rolling element lifting mechanism is connected to the rolling walking mechanism; and/or, the equipment also includes a mechanism for using The base of the mechanical leg 02 can realize the fourth motion mechanism that moves up and down and/or forward and backward relative to the frame 01. One end of the fourth motion mechanism is connected to the frame 01, and the other end of the fourth motion mechanism Connect the base of the mechanical leg 02; and/or, the end of at least one mechanical leg in a plurality of the mechanical legs 02 is provided with a working tool 17 or is provided with a connecting portion for connecting the working tool 17, the mechanical leg and the working The implements 17 are each configured for a particular job including cutting an object and/or digging or shoveling. The first front wheel is the front wheel and is the first running wheel. The second rear wheel is the rear wheel and is the second road wheel. The center of gravity is the center position.

1.0. The connection of the mechanical leg 02 and the implementation of the working tool 17:

Optionally, the working tool 17 for cutting objects is a knife. Optionally, the working tool 17 for digging or shoveling is a shovel.

For example, the specific work is only cutting objects, and the working tool 17 is the working tool 17 for cutting objects.

Or for example, if the specific operation is only digging or shoveling, then the working tool 17 is the working tool 17 for digging or shoveling.

Or for example, if the specific operation is cutting objects and digging or shoveling, then the working tool 17 is the working tool 17 for cutting objects and the working tool 17 for digging or shoveling. Multiple operating tools 17 can be connected to the end of the same mechanical leg, or can be connected to the ends of multiple mechanical legs respectively.

Please refer to Figures 1-5: More specifically,

In the movable equipment, the mechanical legs 02 are set to 2 or 4. The base of each mechanical leg 02 is connected to the frame 01. Specifically, relative to the center of gravity O point of the frame 01, the movable equipment includes: the (left front) leg 021L at the first part of the first side, the (right front) leg 021R at the first part of the second side, and the second The second part (rear left) leg 022L, the second side second part (rear right) leg 022R.

The device in Fig. 2 has 6 legs, which also includes: the third part (middle left) leg 023L on the first side, and the third part (middle right) leg 023R on the second side.

The end of (left front) leg 021L is connected with chainsaw 171; the end of (right front) leg 021R is connected with shovel 172; Scissors173.

1.1. In some embodiments, as for the mobile device described in the above technical solution 1, the end of the mechanical leg 02 is provided with a roller 106; or, the top 115 of the device is connected to the frame 01 through the fifth lifting mechanism 1315 so that The top 115 can be raised and lowered relative to the frame 01 and/or the top 115 is provided with rollers 1151 .

Please refer to FIG. 1-FIG. 5 and FIG. 11 : one or two rollers 106 can be arranged at the end of each mechanical leg 02 . The roller 106 is connected to the end of the lower leg 104 of the mechanical leg 02 , and more specifically, the roller 106 is connected to the output member of the first end rotating joint 1051 in the third joint part of the lower leg 104 of the mechanical leg 02 . The joint 1051 for the rotation of the first end is also used to drive the connected roller 106 to turn. The rollers 106 at the ends of at least two mechanical legs 02 are connected to the drives. The driver is used to drive the roller to make the device run along the road. In order to save energy and optimize the structure or mechanical layout, the diameter or weight of the roller is smaller than that of the traveling wheel in the rolling traveling mechanism.

Please refer to FIGS. 1-5 : the top 115 can be a top plate, and the rollers 1151 of the top 115 can be arranged on both sides of the top plate. The fifth lifting mechanism 1315 can be a linear motion mechanism vertically connected to the frame 01 . Specifically, the linear motion mechanism is an electric push rod and a telescopic hydraulic cylinder. In this embodiment, the fifth lifting mechanism 1315 is an electric push rod.

The control method of the above-mentioned movable equipment: when the equipment is running or working in the pipeline, control the mechanical leg 02 so that the roller 106 at the end of the mechanical leg 02 abuts against the pipe wall in the direction opposite to the rolling walking mechanism; or , control the fifth lifting mechanism 1315 so that the top 115 abuts against the pipe wall in the direction opposite to the rolling walking mechanism; or, control the mechanical legs 02 on both sides of the frame 01 so that the ends of the mechanical legs 02 on both sides The rollers 106 abut against the inner walls of the pipeline on both sides of the frame 01 respectively, and the driver controlling the rollers 106 drives the device to travel along the pipeline through the rollers 106 .

When the equipment travels in the horizontal pipeline, the rolling traveling mechanism abuts against the bottom of the pipeline, and the relative orientation is upward. When the equipment travels in the vertical pipeline, the rolling traveling mechanism abuts against the front of the pipeline, and the relative orientation is the rear.

The rollers on both sides are respectively abutted against the inner wall of the pipe on both sides, that is, the left leg drives the wheel at the end of the leg to abut against the left pipe wall, and the right leg drives the wheel at the end of the leg to abut against the right side. tube wall. The scheme is used to make the equipment span the obstacles azimuthed by the rolling running gear.

The solution of the relative orientation of the abutment is used to prevent the movable equipment from slipping in the pipeline. This method can be used even if the horizontal pipeline or the vertical pipeline is prevented from slipping or overcoming obstacles, which can enhance the capability of the equipment in pipeline operations.

1.2. In some embodiments, in the mobile device described in the above technical solution 1, the mechanical leg 02 is provided with a power supply component for supplying power to the working tool, and one end of the power supply component is used to connect the working tool, The other end of the power supply component is connected to a power source provided on the rack 01 . Implementation of this solution: the power supply component may be a power interface and/or a circuit. In this embodiment, the power supply components are a power interface and a circuit, and the power supply is a battery. And the power interface is a pluggable power interface for powering the working tools. The line is a wire, one end is connected to the power interface and the other end is connected to the battery of the frame 01.

Beneficial effects of this solution: the multifunctional mechanical leg 02 is provided with the power supply part, not only enables the working tool to be supplied with power (1+1=2), but more importantly reduces the end load of the mechanical leg 02, which is beneficial to energy saving ( Additional benefit 1), this solution also optimizes the mechanical properties of the mobile equipment.

1.3. Detailed plan description of mechanical leg 02: Please refer to Figure 10 and Figure 11,

In terms of internal structure: any mechanical leg 02 herein includes a first joint part 101 , a first connecting rod 102 , a second joint part 103 and a second connecting rod 104 connected in sequence. Driven by the first joint part 101 , the first link 102 can swing relative to the frame 01 . Driven by the second joint part 103 , the second link 104 can swing relative to the first link 102 .

Optionally, the mechanical leg 02 includes at least three joints for adjusting the end position, and the at least three joints for adjusting the end position are used to make the position of the end of the multifunctional mechanical leg 02 uniform in the X direction, the Y direction and the Z direction. adjustable. The position of the end can be adjusted in the X direction, the Y direction and the Z direction, which means that the position of the end can be adjusted in three-dimensional space. The at least three terminal position adjustment joints are sequentially connected.

1.4. The present invention provides a mechanical leg 02: including the first rotary joint 1011 connected in sequence to rotate the leg, the first swing joint 1012 to swing the first connecting rod 102 relative to the base of the mechanical leg, and the first connecting rod 102. The second swing joint 103 and the second link 104 for swinging the second link 104 relative to the first link 102; the base of the mechanical leg 02 is the base of the first rotary joint 1011 , and the first rotary joint 1011 is connected to the frame 01; and this solution also includes the following solution B1 or B2 or B3.

B1: the output shaft A1 of the first rotary joint 1011 points up and down, and the drives of the first swing joint 1012 and the second swing joint 103 are linear drives; or,

B2: the drivers of the first swing joint 1012 and the second swing joint 103 are rotary drives; or,

B3: the output shaft A1 of the first rotary joint 1011 points forward and backward; or,

B4: When the mechanical leg 02 is connected to the left or right side of the frame 01, the output shaft of the first rotary joint 1011 points to the left and right.

The mechanical leg 02 can be used in any scheme herein.

There are hundreds of connection schemes for mechanical legs. The preferred scheme of the present invention is scheme 1.3, which has various benefits as follows:

The B1 scheme can improve the load bearing capacity of the mechanical leg 02. When the mechanical leg 02 reaches the ground (because of the need to lift the equipment), the mechanical leg 02 starts from the foot to the base of the mechanical leg 02 and bears a huge load. The output shaft of the first rotary joint 1011 points up and down and the first rotary joint 1011 is connected to the frame 01. Large radial shear) force. This solution avoids the risk that the first rotary joint 1011 needs to output a large torque, cleverly, the first rotary joint 1011 only needs to output a small torque to make the leg rotate around the Z axis, that is, deflect. Moreover, the drivers of the first swing joint 1012 and the second swing joint are linear drives, which can realize high-power operation at low cost. The 5.1 scheme can be applied to excavation work or easy walking of heavy-duty equipment.

In the solution B2, the drivers of the first swing joint 1012 and the second swing joint are rotary drives, so that the swing angle of the output parts of each joint can be greater than 180 degrees. Compared to solutions with swivel joints driven by linear drives, the working flexibility and/or working range are increased.

In the B3 scheme, the output shaft of the first rotary joint 1011 points forward and backward, which has benefit 1 and/or benefit 2:

Benefit 1: It is used to expand the range of motion of the mechanical leg 02 when working in the front and rear areas of the equipment. From the perspective of operation, it is very important to work in the front or rear area of the equipment, and the most important working direction is the front and rear areas. Compared with the output shaft pointing to the left and right or up and down, the output shaft points to the front and back so that the equipment can work in a wider range in the front or rear area.

Benefit 2: It is used to form the first link 102 to swing left and right relative to the leg base, the first link 102 to swing back and forth relative to the leg base, and the second link to swing back and forth relative to the first link 102 when the mechanical leg 02 walks action. The three-dimensional swing motion enables the multiple mechanical legs to produce (standard, perfect two-leg or four-leg or more) multi-leg alternating walking motion.

If the output shaft of the first rotary joint 1011 points up and down, it is not convenient for the mechanical leg 02 to simultaneously swing from side to side and back and forth with respect to the leg base when the mechanical leg 02 is walking. One of the reasons why the arm can only make the excavator simply crawl and cannot walk alternately with multiple legs. And the boom of the excavating arm is blocked by the base at the bottom, and the downward swing is very limited.

The B4 scheme is beneficial to improve the working efficiency of the equipment when the mechanical leg 02 is on the left or right.

As shown in Scheme 1.4, a control method of the mechanical leg 02, the output shaft of the first rotary joint 1011 contained in the mechanical leg 02 points forward and backward, the control method is used to make the device walk through the mechanical leg 02, the The control method includes the steps of:

Control the first rotary joint 1011 so that the first connecting rod 102 is in a drooping posture and make the first connecting rod 102 swing left and right relative to the base of the mechanical leg, and control the first swing joint 1012 to make the first connecting rod 102 relative to the mechanical leg The base swings back and forth, and the second swing joint 103 is controlled to make the second link 104 swing back and forth relative to the first link 102 .

More specifically, please refer to Figure 10 and Figure 11, the specific implementation details of the mechanical leg 02:

Both the first rotary joint 1011 and the first swing joint 1012 belong to the first joint part 101 . Since the second joint part 103 only includes the second swing joint, the second joint part 103 is the second swing joint.

The connection of the first joint part 101 to the frame 01 means that the base of the first rotary joint 1011 is connected to the frame 01 . The connecting surface of the mechanical leg 02 and the frame 01 can be at F of the first rotary joint 1011 , and the connecting surface of the leg 021 of the first part (for example, the first part (front part)) is connected with the front facing surface of the frame 01 . The connection surface of the leg 022 of the second part (for example, the rear part) connects the rear facing surface of the frame 01 . The base of the mechanical leg 02 is the base of the first rotary joint 1011 .

The axis A1 of the output member of the first rotary joint 1011 is parallel to (coincident with) the axis of rotation of the joint. The first swing joint 1012 is used to adjust the included angle ag2 of the first connecting rod 102 relative to the base of the mechanical leg. The axis of the first link 102 is perpendicular to the output shaft of the first swing joint 1012 . The rotation axis A3 of the second swing joint 103 is parallel to the rotation axis A2 of the first swing joint 1012 . The second swing joint 103 is used to adjust the included angle ag3 of the second link 104 relative to the first link 102 . The axis A4 of the second link 104 is perpendicular to the output axis A3 of the second swing joint 103 .

For example, referring to FIG. 11 , the driver of the second swing joint 103 is a linear driver 103A, for example, the linear driver 103A is an electric push rod or a telescopic hydraulic cylinder. Rotary drives that drive joints are, for example, rotary motors.

Optionally, the mechanical leg 02 further includes a third joint part, the third joint part connects the end of the second link 104 and the end device, and the third joint part is used to adjust the attitude of the end device. The end appliance is sole 106A and/or roller 106 and/or fetching device 06 and/or working tool 17. The third joint part includes any one or more of a joint 1051 for rotating the first end, a joint 1052 for swinging the end device relative to the second link 104 , and a joint 1053 for rotating the second end. The output shaft for the rotation of the first end is parallel to (or coincident with) the axis A4 of the second connecting rod 104 . The joint 1051 for rotating the first end is used to rotate the end device around the axis A4 of the second link 104 . The output axis of the joint 1052 is perpendicular to the output axis of the joint 1051 . The joint 1052 is used to adjust the included angle ag5 of the end device relative to the second link 104 . The output axis of the joint 1053 is perpendicular to the output axis of the joint 1052 . The joint 1053 is used to rotate the end tool about the axis A6 of the output shaft of the joint 1053 .

Referring to Fig. 5, Fig. 10, and Fig. 11, the mechanical leg includes a third joint, and the third joint includes a joint for making the end appliance swing relative to the second connecting rod. When the mechanical leg is used for walking, the joint makes the joint The retrieval device and/or work tool connected at the end swing up. To prevent the retrieval device and/or work tool from touching the ground. The anti-fetching device (062L) and/or working tools (171, 1721, 73) interfere with walking and are trampled.

In the mechanical leg: the first joint part is the hip joint; the first connecting rod is the thigh; the second joint part is the knee joint; the second connecting rod is the lower leg; the third joint part is the ankle joint; the end effector is the foot. The end effector is the end appliance.

If the mechanical leg 02 is a limb mechanism of leg-arm fusion, then in the above-mentioned scheme 1.4, the leg is the limb; the base of the mechanical leg is the limb base; the first joint also has the function of shoulder joint; The arm function; the second joint part also has the function of the elbow joint; the second link also has the function of the forearm; some or all of the joints in the third joint part also have the function of the wrist joint; the end effector also includes the retrieval device and/or operation tool.

The mechanical arm can also adopt the structure of the above-mentioned mechanical leg 02. A mechanical arm includes a first rotary joint connected in sequence to rotate the arm, a first swing joint to swing the first connecting rod relative to the arm base, a first A connecting rod, a second swing joint for swinging the second connecting rod relative to the first connecting rod, and a second connecting rod. The base of the mechanical arm is the base of the first rotary joint, and the first rotary joint is connected to the frame.

In the robotic arm: the first joint is the shoulder joint; the first link is the arm; the second joint is the elbow; the second link in the robotic arm is the forearm; the third joint is the wrist.

1.5, please refer to Fig. 10 and Fig. 11: the present invention also provides a fetching device 06,

The fetching device 06 is connected to the end of the mechanical leg 02, and the fetching device 06 includes: a linear movement mechanism 06_2 for fetching, one end of the linear movement mechanism 06_2 for fetching is connected to the end of the mechanical leg 02, and the other end is connected to For the hook 06_3 for hooking objects, the linear movement mechanism 06_2 for picking up objects is used to drive the hook 06_3 to move linearly to grab objects. The fetching device 06 is used for grabbing external objects. Optionally, the external object is the working tool 17 or working object or working material. The end of the mechanical leg 02 especially refers to the output member of the joint 1053 for the second end to rotate. The linear movement mechanism 06_2 for fetching objects drives the hook 06_3 to move outward along the movement axis of the linear movement mechanism to release external objects. The linear movement mechanism 06_2 for fetching objects drives the hook 06_3 to move inward along the movement axis of the linear movement mechanism to grab external objects. For the outward direction, please refer to the direction indicated by the OUT icon in the attached figure. The inward direction can refer to the direction indicated by the IN icon in the attached drawing. The fetching device 06 can be used in any scheme herein.

The implementation of this scheme: the linear moving mechanism 06_2 that is used for fetching is an electric push rod or is a screw mechanism or a telescopic hydraulic cylinder or a telescopic cylinder. In this embodiment, it is an electric push rod. The hook 06_3 is a metal hook, and the size of the hook 06_3 is set to be compatible with the working tool 17, for example, the radius of the arc at the top of the hook is set to 3 cm.

The effect of this solution: Therefore, the multi-functional mechanical leg 02 in the mobile device in this paper not only can be used for walking, but also has the function of holding objects or climbing along external objects, especially reliable grasping ability (otherwise it will be difficult to hold the work steadily) tools or easy to fall when climbing), the pick-up device 06 adopts the way of grabbing in a straight line with a hook, which has greater grabbing strength and higher grabbing reliability than the hinged swing clamping scheme in the prior art .

1.6. Optionally, in the movable device described in the above-mentioned technical solution 1, and in the control method 1 of a movable device:

The fourth movement mechanism includes a fourth lifting mechanism 12 for moving the base of the mechanical leg 02 up and down, a fourth forward and backward movement mechanism for moving the base of the mechanical leg 02 forward and backward, Any one or multiples of the first single-stage swing mechanisms that enable the base of the mechanical leg 02 to swing up and down.

Optionally, the forward and backward movement refers to movement from the middle or the front to the back, or from the middle back to the front.

The fourth motion mechanism is the leg root motion mechanism. The fourth forward and backward motion mechanism is the leg root forward and backward motion mechanism (18).

The fourth lifting mechanism 12 is connected to the frame 01 along the vertical direction, and the output member of the fourth lifting mechanism 12 is connected to the base of the mechanical leg 02 . The base of the fourth forward-backward movement mechanism is connected to the frame 01 along the front-back direction, and the output member of the fourth forward-backward movement mechanism is connected to the base of the mechanical leg 02 . Both the fourth elevating mechanism 12 and the fourth front and rear movement mechanism can adopt guide rail type movement mechanism, electric push rod or telescopic hydraulic cylinder. In this embodiment, the fourth elevating mechanism 12 and the fourth forward and backward movement mechanism are guide rail type movement mechanisms.

The base of the first single-stage swing mechanism is connected to the left or right side of the frame 01, and the rotation axis of the first single-stage swing mechanism points to the left and right, and the output member of the first single-stage swing mechanism is connected to the The base of the mechanical leg 02. The rotation mechanism of the first single-stage swing mechanism can adopt a gear set mechanism, a worm gear mechanism. In this embodiment, a worm and screw mechanism is selected for self-locking position.

Please refer to Figure 1, Figure 2, Figure 3, Figure 4 and Figure 5; Figure 1 is a three-dimensional structure diagram of the device; Figure 2 is a top view, Figure 3, Figure 4 and Figure 5 are side views.

The movable equipment includes a frame 01, a fourth lifting mechanism 121 at the first position, and a fourth lifting mechanism 122 at the second position;

The fourth elevating mechanism 121 of the first part is vertically connected to the first part of the frame 01; the fourth elevating mechanism 122 of the second part is vertically connected to the second part of the frame 01;

The fourth elevating mechanism 121 of the first part is divided into the fourth elevating mechanism 121L of the first part (front left) on the first side, and the fourth elevating mechanism 121R of the first part (front right) on the second side;

The fourth elevating mechanism 122 of the second part is divided into the fourth elevating mechanism 122L of the second part (left rear) on the first side, and the fourth elevating mechanism 122R of the second part (right rear) on the second side;

The fourth elevating mechanism 121L of the first part (left front) of the first side is vertically connected to the first part (left front) of the first side of the frame 01;

The fourth elevating mechanism 121R of the first part (right front) of the second side is vertically connected to the first part (left front) of the first side of the frame 01;

The fourth elevating mechanism 122L of the second part (left rear) of the first side is vertically connected to the second part (left rear) of the first side of the frame 01;

The fourth elevating mechanism 122R of the second part (rear right) on the second side is vertically connected to the second part (rear left) of the first side of the frame 01;

The output member of the fourth lifting mechanism 121L at the first part (front left) on the first side is connected to the base of the mechanical leg 021L at the first part (front left) on the first side, and is used to drive the base of the mechanical leg to move up and down;

The output member of the fourth lifting mechanism 121R at the first part (front right) on the second side is connected to the base of the mechanical leg 021R at the first part (front right) on the second side, for driving the base of the mechanical leg to move up and down;

The output member of the fourth elevating mechanism 122L at the second part (rear left) on the first side is connected to the base of the mechanical leg 022L at the second part (rear left) on the first side, and is used to drive the base of the mechanical leg up and down sports;

The output member of the fourth lifting mechanism 122R at the second part (right rear) on the second side is connected to the base of the mechanical leg 022R at the second part (right rear) on the second side, and is used to drive the base of the mechanical leg up and down. sports.

Please refer to the movable equipment shown in Fig. 1, Fig. 3 or Fig. 4, the fourth elevating mechanism 121 (respectively) of the first part (respectively) drives the base and the mechanical leg of the mechanical leg 021L connected to the output part of the mechanism The base of 021R moves to the upper part for the mechanical leg to perform specific operations or climb on the upper part; the fourth elevating mechanism 122 of the second part (respectively) drives the base of 022L connected to the output part of the mechanism and The base of the mechanical leg 022R moves to the upper part for the specific operation or climbing of the mechanical leg on the upper part.

Please refer to the movable equipment shown in Fig. 5, the fourth elevating mechanism 121 of each first part (respectively) drives the base of the mechanical leg 021L and the base of the mechanical leg 021R connected to the output part of the mechanism to move to the lower part, For the mechanical leg to perform specific operations or walks in the lower part; the fourth lifting mechanism 122 of the second part (respectively) drives the base of the 022L connected to the output part of the mechanism and the base of the mechanical leg 022R to move to The lower part is used for the mechanical leg to perform specific operations or walk in the lower part.

Please refer to Fig. 6 and Fig. 7, this Fig. 6 and Fig. 7 are the schematic diagrams of the same kind of movable equipment; This Fig. 6 and Fig. 7 are side views; The movable equipment includes the base for making described mechanical leg 02 The seat can realize the fourth forward and backward motion mechanism 184 of forward and backward movement; the base of the fourth forward and backward motion mechanism 184 is longitudinally connected to the left side or the right side of the frame 01; base.

As shown in Figure 6, the output member of the fourth forward and backward movement mechanism 184 drives the base of the mechanical leg 02 to move to the first position (front part) of the frame 01, and the mechanical leg 02 supports the ground to make the first part of the frame 01 One part (front part) and the first road wheel 511 connected to the first part (front part) are raised relative to the rear part of the frame 01 so that the first road wheel 511 of the first part (front part) Can jump over obstacles 10005. Herein, if the forward movement is not defined, the movement is allowed to deflect by a certain angle. Curved motion is allowed if no straight line is defined. For example, the lift can be a straight lift or a curve, that is, a swing lift.

As shown in Fig. 7, the output member of the fourth forward and backward movement mechanism 184 drives the base of the mechanical leg 02 to move to the rear of the frame 01, and the mechanical leg 02 supports the rear of the frame 01 and is connected to the frame 01. The second traveling wheel 522 of the rear portion is raised relative to the first portion (front) of the frame 01 so that the second traveling wheel 522 of the rear portion can overcome the obstacle 10005 .

Optionally, the fourth elevating mechanism 12, the fourth forward and backward movement mechanism, and the first single-stage swing mechanism can arbitrarily form a multi-dimensional movement mechanism. The base of the multi-dimensional motion mechanism is connected to the frame 01, and the output part is connected to the base of the mechanical leg 02.

Optionally, the swing arm of the first single-stage swing mechanism is a fourth linear movement mechanism, the base of the fourth linear movement mechanism is connected to the output shaft of the first single-stage swing mechanism, and the output of the fourth linear movement mechanism A piece is connected to the base of the mechanical leg 02 to adjust the distance between the mechanical leg 02 and the output shaft. The angle of the mechanical leg 02 is also adjusted by the first single-stage swing mechanism.

Optionally, the other end of the base of the fourth linear movement mechanism or the output member of the fourth linear movement mechanism is provided with a first limiting part, and the side part of the frame 01 is provided with a Parts cooperate with the second position-limiting part of position-limiting. When the single-stage swing mechanism moves to make the first limiting part 151 reach the position where it cooperates with the second limiting part, the control device can control the first limiting part and/or the second limiting part Action to limit.

In order to reduce the moment generated by the mechanical leg 02 acting on the output shaft of the first single-stage swing mechanism. The first limiting component and the second limiting component can cooperate in limiting.

For example, if the first limiting component is an electric plug, then the second limiting component is a hole that cooperates with the electric plug for limiting. For example, if the first limiting component is a hole, then the second limiting component is an electric plug that cooperates with the hole for limiting. For example, if the first limiting component is a rod, then the second limiting component is an electric lock that cooperates with the rod to limit the position, and the electric lock can buckle the rod.

The beneficial effects of the solution: compared with other multi-degree-of-freedom mechanisms, the linear motion mechanism has low cost and high speed; the fourth lifting mechanism can move the base of the multifunctional mechanical leg 02 up and down at low cost and efficiently; The leg root forward and backward movement mechanism can move the base of the multifunctional mechanical leg 02 forward and backward at low cost and high efficiency; the single-stage swing mechanism can realize up and down forward and backward movement in any angle direction; these three schemes have their own unique features, Each has its advantages.

1.5: Explanation and implementation plan of rolling walking mechanism:

The rolling traveling mechanism refers to the wheel-type traveling mechanism and/or the crawler-type traveling mechanism and/or the roller-type traveling mechanism. The rolling traveling mechanism can support the frame 01 and can drive movable equipment to travel along the road. Supporting the frame 01 especially refers to supporting the frame 01 off the ground. The rolling walking mechanism refers to the rolling of rolling parts along the road surface to make the movable equipment travel along the road surface. The rolling elements are road wheels and/or tracks and/or rollers.

In the movable equipment described in the technical solution 1, the rolling running mechanism is configured such that the orthographic projection of the center of gravity of the movable equipment on the ground is located in the area formed by connecting the contact points of the rolling running mechanism in sequence . The area formed by the encirclement of each touchdown point in turn is the figure formed by the connection of each touchdown point. The rolling walking mechanism is set in the middle and lower part of the equipment. The lower surface of the rolling traveling mechanism when supporting the frame 01 off the ground is located under the frame 01. In the technical solution 1, the rolling element lifting mechanism can be the first lifting mechanism 211 and the second lifting mechanism 222 as shown in the figure. Touch the ground and land.

Please refer to Figure 1-Figure 5:

The wheeled traveling mechanism includes a first traveling wheel 511 and a second traveling wheel 522 . Optionally, at least two of the first traveling wheels 511 are arranged transversely relative to the traveling direction of the movable device, and/or the second traveling wheels 522 are arranged transversely relative to the traveling direction of the movable device There are at least two. One of the first traveling wheels 511 and the second traveling wheels 522 is located in front of the center of gravity of the movable equipment, and the other is located behind the center of gravity of the movable equipment. For example, the first road wheels 511 are located in front of the center of gravity of the device, and the second road wheels 522 are located behind the center of gravity of the device. Each contact point of the wheeled running gear is the contact point of each traveling wheel in the wheeled running gear. The first traveling wheels 511 include a traveling wheel 051 at a first position (front left) on the first side, and a traveling wheel 053 at a first position (front right) on the second side. The second traveling wheels 522 include a traveling wheel 052 located at a second position (rear left) on the first side, and a traveling wheel 054 located at a second position (rear right) on the second side.

The walking wheel is the wheel mechanism. The output of the wheel mechanism may be a rim and/or a tire mounted on the rim. The output part of the wheel mechanism is connected to the outer ring of the bearing of the wheel shaft through the spokes. Herein, any connection wheel described herein refers to the shaft of the connection wheel.

The connection relationship and functions of the rolling element lifting mechanism corresponding to the wheeled walking mechanism can be selected as follows:

The roller elevating mechanism corresponding to the wheeled traveling mechanism may be a first elevating mechanism 211 and a second elevating mechanism 222 .

One end of the first lifting mechanism 211 and the second lifting mechanism 222 are connected to the frame 01, and the other end of the first lifting mechanism 211 is connected to the first traveling wheel 511; the first lifting mechanism 211 is used to adjust the first The distance between the traveling wheels 511 in the up and down direction relative to the frame 01, the other end of the second elevating mechanism 222 is connected to the second traveling wheels 522; the second elevating mechanism 222 is used to adjust the relative distance of the second traveling wheels 522 The distance of the rack 01 in the up and down direction. Relative to the rack 01 means relative to the center of the rack 01 .

The (multiple) first traveling wheels 511 can be connected with (one) first elevating mechanism 211, or each (multiple) first traveling wheels 511 are correspondingly connected with one described first elevating mechanism 211; The traveling wheels 522 can be connected to (one) second lifting mechanism 222 , or each (multiple) second traveling wheels 522 are correspondingly connected to one of the second lifting mechanisms 222 . Corresponding connection refers to separate connection or respectively corresponding connection. It is also possible to connect all the road wheels by the other end of one or more lifting mechanisms through a bracket, so that all the road wheels can be raised and lowered together. Any elevating mechanism is connected with any traveling wheel, all refers to the axle that elevating mechanism is connected traveling wheel. The traveling wheels are rotatably connected to the output member of the lifting mechanism. The scheme of connecting any rolling type traveling mechanism to the lifting mechanism is: after the connection, the traveling mechanism can walk normally. Arbitrary walking wheel is to be rotatable connection (arbitrary) elevating mechanism.

In this embodiment: the shaft of the road wheel 051 at the first part (front left) on the first side is connected to the first lifting mechanism 211L in this orientation, and the shaft of the road wheel 053 at the first part (front right) on the second side is connected In the first elevating mechanism 211R on the right, the shaft of the road wheel 052 at the second part (left rear) on the first side is connected to the second elevating mechanism 222L on the left, and the road wheel 052 at the second part (right rear) on the second side The shaft of 054 is connected to the second lifting mechanism 222R on the right.

Please refer to Fig. 15: the crawler-type traveling mechanism 07M includes a base, a first rotating member 0721 connected to the base, a second rotating member 0722 and a belt-shaped member 070, and the belt-shaped member 070 is sleeved on the first rotating member 0721 and the second rotating member 0721 Two rotating parts 0722. The base is the bracket, and the bracket is respectively arranged on the first side and the second side. The crawler running gear 07M includes a crawler running gear on the first side and a crawler running gear on the second side. The area formed by connecting the four corners of the crawler belt 0701 included in the crawler-type traveling mechanism on the first side and the crawler belt 0702 included in the crawler-type traveling mechanism on the second side in sequence in the direction of the plan view, includes the center of gravity O. Each contact point of the crawler-type traveling mechanism is the four corners of the crawler belt 0701 on the first side and the crawler belt 0702 on the second side. The crawler belt 0701 on the first side is sleeved on the first rotating member 0721 on the first side and the second rotating member 0722 on the first side. The crawler belt 0702 on the second side is sleeved on the first rotating member 0721 on the second side and the second rotating member 0722 on the second side. The rotating member can be a roller.

If the crawler-type traveling mechanism is arranged at the front and rear of the equipment, and there is no other rolling-type traveling mechanism in the equipment, then the lifting mechanism corresponding to the crawler-type traveling mechanism 07M can also be the first lifting mechanism 211 and the second lifting mechanism 222. The base of the crawler-type traveling mechanism on the first side is connected to the first lifting mechanism 211L on the first side and/or the second lifting mechanism 222L on the first side. The base of the crawler-type traveling mechanism on the second side is connected to the first lifting mechanism 211R on the second side and/or the second lifting mechanism 222R on the second side.

In this embodiment, the first part (front part) of the base of the crawler-type traveling mechanism on the first side is connected to the output member of the first lifting mechanism 211L on the first side. The rear part of the base of the crawler-type traveling mechanism on the first side is connected to the output member of the second lifting mechanism 222L on the first side. The first part (front part) of the base of the crawler-type traveling mechanism on the second side is connected to the output member of the first lifting mechanism 211R on the second side. The rear portion of the base of the crawler-type traveling mechanism on the second side is connected to the output member of the second elevating mechanism 222R on the second side.

Other connection methods can also be used: for example, the base of the crawler-type traveling mechanism on the first side is only connected to the output member of the first lifting mechanism 211L on the left, and the base of the crawler-type traveling mechanism on the second side is only connected to the first lifting mechanism 211L on the right. The output member of the second lifting mechanism 222R.

The roller traveling mechanism includes a first transverse roller located in front of the center of gravity of the movable equipment and a second transverse roller located behind the center of gravity. The center of gravity is contained in the area formed by connecting the four outer corners of the first horizontal drum and the second horizontal drum in a plan view direction and encircled by a line. Or, the roller-type walking mechanism includes a longitudinal roller located on the first side to the left of the center of gravity of the movable equipment and a longitudinal roller located on the second side to the right of the center of gravity. The center of gravity is contained in the area formed by connecting the four outer corners of the vertical drum on the first side and the vertical drum on the second side in the direction of plan view. The four corners of the drum are the contact points of the drum-type traveling mechanism. The longitudinal drum is provided with threads for converting the rotation of the longitudinal drum into a driving force for driving the device along the road surface. The road surface may be a muddy road surface. This scheme can only travel at low speeds.

The lifting and lowering of the drum type walking mechanism depends on the setting method of the drum. The base of the drum-type walking mechanism is the shaft of the drum or the bracket connecting the shaft.

If the roller type walking mechanism includes a first transverse roller located in front of the center of gravity of the equipment and a second transverse roller located behind the center of gravity.

The left end of the shaft of the first horizontal drum is connected to the output member of the first lifting mechanism 211L on the left, the right end of the shaft of the first horizontal drum is connected to the output member of the first lifting mechanism 211R on the right, and the shaft of the second horizontal drum is The left end is connected to the output member of the second lifting mechanism 222L on the left, and the right end of the shaft of the second horizontal roller is connected to the output member of the second lifting mechanism 222R on the right.

If the roller type walking mechanism includes a first longitudinal roller located on the left side of the center of gravity of the equipment and a second longitudinal roller located on the right side of the center of gravity.

The front end of the shaft of the first longitudinal drum on the left is connected to the output member of the first elevating mechanism 211L on the left, the rear end of the shaft of the first longitudinal drum on the left is connected to the output member of the second elevating mechanism 222L on the left, and the right one The front end of the shaft of the second longitudinal roller is connected to the output member of the first lifting mechanism 211R on the right, and the rear end of the shaft of the second longitudinal roller on the right is connected to the output member of the second lifting mechanism 222R on the right.

Other connection methods can also be used: for example, the other ends of one or more lifting mechanisms are connected to all the rollers through brackets, so that all the rollers can be raised and lowered together. Or: the first vertical drum is only connected to the output of the first lifting mechanism 211L on the left or the second lifting mechanism 222L on the left, and the second vertical drum is only connected to the output of the second lifting mechanism 222R on the right or the first lifting mechanism 211R on the right pieces. or

In the technical solution 1, the lifting mechanism for rolling elements can also be the third lifting mechanism shown in each figure. The third lifting mechanism can be provided with at least four, for example, the third lifting mechanism 212L at the first position and the first side, the third lifting mechanism 212R at the first position and the second side, and the third lifting mechanism 212R at the second position and the first side. The third elevating mechanism 221L and the third elevating mechanism 221R at the second position and the second side can be respectively connected to the bases at the left front, left rear, right front and right rear corners of the rolling traveling mechanism.

For example, in the rolling traveling mechanism, if the crawler traveling mechanism 07m is arranged in the middle of the equipment, one end of the third elevating mechanism is connected to the frame 01, and the other ends of the four third elevating mechanisms are respectively connected to the crawler traveling mechanism 07m is on the base of the left front, left rear, right front and right rear corners; the third lifting mechanism is used to adjust the distance of the crawler-type traveling mechanism 07m relative to the frame 01. For the connection of the third elevating mechanism (212) and the crawler-type traveling mechanism 07m, please refer to other positions of this paper.

For example, the front end of the base of the crawler-type traveling mechanism on the first side is connected to the first part and the output member of the third lifting mechanism 212L on the first side; the rear end of the base of the crawler-type traveling mechanism on the first side is connected to the second position and the output part of the third lifting mechanism 221L on the first side; the front end of the base of the crawler-type traveling mechanism on the second side is connected to the first part and the output part of the third lifting mechanism 212R on the second side; The rear end of the base of the crawler-type traveling mechanism is connected to the output member of the third lifting mechanism 221R at the second position and on the second side.

The connection between any kind of rolling traveling mechanism and the rolling element lifting mechanism can be deduced to obtain an accurate connection scheme.

2. The present invention also provides a technical solution 2:

A first group of rolling traveling gears that can be lifted in sections, including (independent) frame 01 or frame 01 connected to movable equipment (as the object driven by the mechanism),

The first section-liftable rolling traveling mechanism group includes a first lifting mechanism 211, a second lifting mechanism 222, a third lifting mechanism (212), a first traveling mechanism, a second traveling mechanism and a third traveling mechanism;

One end of the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism is connected to the frame 01;

The other end of the first lifting mechanism 211 is connected to the first traveling mechanism; the first lifting mechanism 211 is used to adjust the distance of the first traveling mechanism relative to the frame 01 in the vertical direction;

The other end of the second lifting mechanism 222 is connected to the second traveling mechanism; the second lifting mechanism 222 is used to adjust the distance of the second traveling mechanism relative to the frame 01 in the up and down direction;

The other end of the third lifting mechanism is connected to the third traveling mechanism; the third lifting mechanism is used to adjust the distance of the third traveling mechanism relative to the frame 01 in the vertical direction;

And the first traveling mechanism and the second traveling mechanism are arranged at intervals along the traveling direction; the third traveling mechanism is located between the first traveling mechanism and the second traveling mechanism.

Any distance in the up and down direction in this technical solution 2 can be abbreviated as distance. Adjusting the distance of any traveling mechanism relative to the frame 01 in the up and down direction means that the traveling mechanism moves up and down relative to the frame 01 . The arbitrary running gear is the first running gear, the second running gear or the third running gear. Any movable equipment includes a group of rolling running gears that can be lifted in sections, and the group of rolling running gears that can be lifted in sections is connected to the frame 01 of the equipment.

The first rolling walking mechanism group that can be lifted in sections, the center of the frame 01 or the orthographic projection of the center of gravity of the movable equipment on the ground is located at each contact point of the first walking mechanism and the second walking mechanism The locations are in the area formed by connecting lines in turn.

Optionally, the group of rolling traveling gears that can be raised and lowered in sections as described in technical solution 2 further includes a third forward and backward movement mechanism 183, the base of the third forward and backward movement mechanism 183 is connected to the frame 01, The output member of the third forward and backward movement mechanism 183 is connected to the third traveling mechanism, and is used to adjust the distance of the third traveling mechanism relative to the center of the frame 01 along the traveling direction.

Further, the third forward and backward movement mechanism 183 can be divided into a third forward and backward movement mechanism 183L on the first side and a third forward and backward movement mechanism 183R on the second side. The output member of the third forward and backward movement mechanism 183L on the first side is connected to the third traveling mechanism on the first side, and is used to adjust the distance of the third traveling mechanism on the first side relative to the center of the frame 01 along the traveling direction. The output member of the third forward and backward movement mechanism 183R on the second side is connected to the third traveling mechanism on the second side, and is used to adjust the distance of the third traveling mechanism on the second side relative to the center of the frame 01 along the traveling direction. The bases of the third forward and backward movement mechanism 183L on the first side and the third forward and backward movement mechanism 183R on the second side are connected to the frame 01 .

Specifically, when the first traveling mechanism or the second traveling mechanism needs to be lifted off the ground, the third forward and backward movement mechanism 183 is controlled to move the third traveling mechanism to the orientation of the walking mechanism that needs to be lifted off the ground.

The first traveling device including the first traveling mechanism and the second traveling mechanism is used to drive the movable equipment to travel along the ground. The first traveling device further comprises a first driver for driving the first traveling mechanism and/or a second driver for driving the second traveling mechanism.

The first running gear and the second running gear can support the frame off the ground. Both the first traveling mechanism and/or the second traveling mechanism can cooperate with the third traveling mechanism to drive the movable equipment to travel along the ground. The front edge of the third traveling mechanism 573 can be located behind the front edge of the first traveling mechanism 571 , and the rear edge of the third traveling mechanism 573 is located in front of the rear edge of the second traveling mechanism 572 .

The first front and rear movement mechanism and the second front and rear movement mechanism enable the wheeled vehicle to move freely according to the width of the hurdle when stepping on the hurdle, and adjust the landing point of the walking mechanism according to the size of the pit when stepping on the pit, which greatly improves the overtaking of the wheeled equipment. disability. And at the same time, the technical solution also enables the length of the device to be adjusted freely, that is, it has a deformation function. When driving at high speed or when people need to rest in the equipment or when going up and down slopes, the safety and stability of the equipment are increased. When the length of the frame is shortened, the equipment can be put into the elevator to go home, or the occupied area in public places, vehicles, ships and aircrafts is reduced. Optionally, the types of the first forward and backward movement mechanism and the second forward and backward movement mechanism are a linear movement mechanism, a swing mechanism driven by a telescoping mechanism, or a swing mechanism driven by a worm gear mechanism. Preferably, the type is a linear motion mechanism. Preferably, the linear motion mechanism is an electric push rod or a telescopic hydraulic cylinder or a telescopic air cylinder.

The present invention also provides: a second rolling traveling mechanism group that can be lifted in sections, including (independent) frame 01 or frame 01 connected to movable equipment (as the object driven by the mechanism),

The second rolling walking gear group that can be lifted in sections includes

The first elevating mechanism 211L on the first side, the first elevating mechanism 211R on the second side, the second elevating mechanism 222L on the first side, the second elevating mechanism 222R on the second side, the first traveling mechanism on the first side, the The first traveling mechanism on both sides, the second traveling mechanism on the first side, the second traveling mechanism on the second side, the fifth front and rear movement mechanism 185L on the first side, the fifth front and rear movement mechanism 185R on the second side, the first The sixth forward and backward movement mechanism 186L of the first side, the sixth forward and backward movement mechanism 186R of the second side, the fifth forward and backward movement mechanism 185L of the first side, the fifth forward and backward movement mechanism 185R of the second side, the sixth forward and backward movement mechanism of the first side One end of the mechanism 186L and the sixth forward and backward movement mechanism 186R on the second side are both connected to the frame 01; and the first traveling mechanism and the second traveling mechanism are arranged at intervals along the traveling direction;

The other end of the fifth front and rear movement mechanism 185L on the first side, the first lifting mechanism 211L on the first side, and the first walking mechanism on the first side are connected in sequence; the first lifting mechanism on the first side The mechanism 211L is used to make the first traveling mechanism on the first side move up and down relative to the frame, and the fifth forward and backward movement mechanism 185L on the first side is used to adjust the first traveling mechanism on the first side to travel along The distance of the direction relative to the center of the rack 01;

The other end of the fifth front and rear movement mechanism 185R on the second side, the first lifting mechanism 211R on the second side, and the first walking mechanism on the second side are connected in sequence; the first lifting mechanism on the second side The mechanism 211R is used to make the first traveling mechanism on the second side move up and down relative to the frame, and the fifth front and rear movement mechanism 185R on the second side is used to adjust the first traveling mechanism on the second side to travel along the The distance of the direction relative to the center of the rack 01;

The other end of the sixth front and rear movement mechanism 186L on the first side, the second lifting mechanism 222L on the first side, and the second walking mechanism on the first side are connected in sequence; the second lifting mechanism on the first side The mechanism 222L is used to make the second traveling mechanism on the first side move up and down relative to the frame, and the sixth front and rear movement mechanism 186L on the first side is used to adjust the second traveling mechanism on the first side to travel along the The distance of the direction relative to the center of the rack 01;

The other end of the sixth front and rear movement mechanism 186R on the second side, the second lifting mechanism 222R on the second side, and the second walking mechanism on the second side are connected in sequence; the second lifting mechanism on the second side The mechanism 222R is used to make the second traveling mechanism on the second side move up and down relative to the frame, and the sixth front and rear movement mechanism 186R on the second side is used to adjust the second traveling mechanism on the second side to travel along the Direction is the distance relative to the center of the Rack 01.

A control method for a rolling traveling mechanism group or movable equipment that can be raised and lowered in sections: when a certain traveling mechanism in the first traveling mechanism or the second traveling mechanism needs to lift off the ground, control the third front and rear movement mechanism 183, The 5th forward and backward motion mechanism 185 or the 6th forward and backward motion mechanism 186 drive the running gear that this forward and backward motion mechanism is connected to move forward and backward, so that the running gears except the running gear that needs to be raised from the ground are in the order of each landing position in the direction of the bird's eye view. The figure formed by the enclosed lines includes the center of gravity of the device. This control method is used to keep the equipment balanced to overcome obstacles. The group of institutions or the facility includes all institutions in the method.

In the rolling walking mechanism group that can be lifted in sections: the lower surface of the walking mechanism is used to touch the ground; in the relative position, the front and rear movement mechanisms are connected to the frame 01 along the traveling direction; any lifting mechanism is vertically connected to the corresponding front and rear movement The output part of the mechanism, any running mechanism is connected to the output part of the corresponding lifting mechanism, and the lower surface of any running mechanism is used to touch the ground. The rolling traveling mechanism group that can be lifted in sections can support the frame 01 and be used to drive the movable equipment to travel along the road.

The third forward and backward motion mechanism 183, the fifth forward and backward motion mechanism 185 or the sixth forward and backward motion mechanism 186 can adjust the landing point of the traveling mechanism, which greatly improves the obstacle-surmounting ability of the wheeled equipment. Optionally, the types of the first forward and backward movement mechanism and the second forward and backward movement mechanism are a linear movement mechanism, a swing mechanism driven by a telescoping mechanism, or a swing mechanism driven by a worm gear mechanism. Preferably, the type is a linear motion mechanism. Preferably, the linear motion mechanism is a guide rail type motion mechanism or an electric push rod or a telescopic hydraulic cylinder or a telescopic air cylinder.

Please refer to Figures 1-5, especially Figure 2,

The first forward and backward movement mechanism 181L on the first side and the first forward and backward movement mechanism 181R on the second side are arranged at intervals relative to the longitudinal axis.

The first front and rear movement mechanism 181L on the first side is connected to the first side of the frame 01 along the traveling direction,

The first front and rear movement mechanism 181R on the second side is connected to the second side of the frame 01 along the traveling direction,

The output part of the first front and rear movement mechanism 181L on the first side can drive the first traveling mechanism 051 at the first part (front left) on the first side to move back and forth, and can also drive the fourth elevating mechanism 121L arranged on this side and this position And the mechanical leg 021L moves back and forth;

The output member of the first forward and backward movement mechanism 181R on the second side can drive the first traveling mechanism 053 at the first part (front right) on the second side to move back and forth, and can also drive the fourth elevating mechanism 121R arranged on this side and this position. And the mechanical leg 021R moves back and forth;

The second forward and backward movement mechanism 182L on the first side and the second forward and backward movement mechanism 182R on the second side are arranged at intervals relative to the longitudinal axis,

The second forward and backward movement mechanism 182L on the first side is connected to the first side of the frame 01 along the traveling direction,

The second front and rear movement mechanism 182R on the second side is connected to the second side of the frame 01 along the traveling direction,

The output member of the second forward and backward movement mechanism 182L on the first side can drive the second walking mechanism 052 at the second part (left rear) on the first side to move back and forth, and can also drive the fourth lifting mechanism arranged on this side and this position 122L and mechanical leg 022L move back and forth;

The output member of the second forward and backward movement mechanism 182R on the second side can drive the second traveling mechanism 054 at the second part (right rear) on the second side to move back and forth, and can also drive the fourth elevating mechanism arranged at this side and this position. 122R and mechanical leg 022R move back and forth.

The fifth forward and backward movement mechanism 185L at the first part (front left) on the first side is connected to the first part (front left) on the first side of the frame 01 .

The fifth forward and backward movement mechanism 185R at the first part (front right) on the second side is connected to the first part (front right) on the second side of the frame 01 .

The sixth forward and backward movement mechanism 186L at the second part (rear left) on the first side is connected to the second part (rear left) on the first side of the frame 01 .

The sixth forward and backward movement mechanism 186R at the second part (right rear) on the second side is connected to the second part (right rear) on the second side of the frame 01 .

The bases of each forward and backward motion mechanism are connected to corresponding parts on corresponding sides of the frame 01 .

The output parts of the fifth front and back movement mechanism 185 or the sixth front and rear movement mechanism 186 are connected to the base of the corresponding lifting mechanism, and the output parts of the lifting mechanism are connected to the base of the corresponding walking mechanism to drive the corresponding walking mechanism Back and forth and/or up and down motions.

The third forward and backward movement mechanism 183L on the first side and the third forward and backward movement mechanism 183R on the second side are arranged at intervals relative to the longitudinal axis. Optionally, the third forward and backward movement mechanism is arranged in the middle between the front and rear ends of the frame 01 . As shown in FIG. 2 , optionally, the third forward and backward movement mechanism 183L on the first side is set at the position shown by the fourth forward and backward movement mechanism 184L on the first side. The third forward and backward movement mechanism 183R on the second side may be disposed at the position shown by the fourth forward and backward movement mechanism 184R on the second side.

Please refer to Figure 8, Figure 9,

The output member of the first forward and backward movement mechanism 181 is also connected to the first edge portion 111 of the manned compartment and drives the first edge portion 111 to move forward and backward;

The output part of the second forward and backward movement mechanism 182 is also connected to the second side portion 112 of the passenger cabin and drives the second side portion 112 to move forward and backward.

The output part of any movement mechanism can drive a certain part to move, which means that the output part of the movement mechanism is connected to the part. The base of the kinematic mechanism is connected to the frame 01.

A control method for a rolling walking mechanism group or movable equipment including a front and rear movement mechanism that can be lifted in sections Adjust the respective landing positions of the plurality of running gears so that the orthographic projection of the center of gravity of the rolling running gear group or the center of gravity of the movable equipment carried by the rolling running gear group on the ground does not exceed the required lifting distance. The area formed by enclosing the landing points of multiple running gears other than the running gear in turn. The group of institutions or the facility includes all institutions in the method.

Optionally, the control method further includes the step of: controlling the lifting mechanism correspondingly connected to the multiple running gears to land the multiple running gears.

Optionally, the group of rolling walking gears that can be raised and lowered in sections including the forward and backward motion mechanism is the second group of rolling walking gears that can be lifted in sections. Then the several running gears are at least three running gears.

The group of rolling traveling gears that can be raised and lowered in sections including the forward and backward movement mechanism and the control method 2.1 are both used to make the group of rolling traveling gears or the movable equipment carried by the group of rolling traveling gears overcome obstacles. The landing site of any running gear refers to the outer landing site of the running gear in the overlooking direction. The outer landing point refers to the farthest landing point in the horizontal direction from the center of the rack 01 in all directions, front, rear, left, and right.

3. The present invention also provides: a movable device, which includes a frame 01, a group of rolling traveling mechanisms that can be lifted and lowered in sections connected to the frame 01, and the group of rolling traveling mechanisms that can be lifted and lowered in sections It is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections.

Optionally, the equipment also includes a fourth traveling mechanism 15 for driving the equipment along the road, a mechanical arm or a multifunctional mechanical leg 02 for operation, a manned cabin 11 or an underwater propulsion device.

In the present invention, in any equipment or any segmented lifting rolling walking mechanism group, the axis along the traveling direction passing through the center of the equipment or the segmental lifting rolling traveling mechanism group's frame 01 is axis. One side of the longitudinal axis is the first side and the other side of the longitudinal axis is the second side. The first side and the second side are located on opposite sides of the longitudinal axis. A specific embodiment is that the driving direction is the front, the first side is the left side, and the second side is the right side. Of course, in other embodiments, the first side may be the right side, and the second side may be the left side. Either side, not limited to the outer surface of that side. The internal and external directions on either side refer to: the direction close to the longitudinal axis is inward, and the direction away from the longitudinal axis is external. With the center of the frame 01 as the boundary, the front part is the first part, and the rear part is the second part. The frame 01 center is located between the first running gear and the second running gear. The third running gear is located between the first running gear and the second running gear. In the direction of looking down, the deviation between the center of the frame 01 and the center of gravity O of the structure is within a preset standard range. Optionally, the center of the rack 01 coincides with the point O of the construction center of gravity. The second part is the second part. The first part is the first part. Longitudinal refers to the front-to-back direction. Horizontal direction only left and right.

In this paper, in any equipment and any rolling walking mechanism group that can be lifted and lowered in sections, any lifting mechanism and any forward and backward movement mechanism can be a linear movement mechanism vertically connected to the frame 01, driven by a telescopic mechanism The swing mechanism or the swing mechanism driven by the worm mechanism. Preferably, any lifting mechanism is a linear motion mechanism vertically connected to the frame 01 . Preferably, the linear motion mechanism is an electric push rod, a telescopic hydraulic cylinder or a telescopic air cylinder. Rail type motion mechanism.

Herein, in any equipment, in any rolling traveling gear group that can be raised and lowered in sections, any forward and backward motion mechanism can be a linear motion mechanism connected to the frame 01 along the travel direction, a swing mechanism driven by a telescopic mechanism, or a swing mechanism driven by a telescopic mechanism. Swing mechanism driven by worm gear mechanism. Preferably, any forward and backward motion mechanism is a linear motion mechanism connected to the frame 01 along the traveling direction. Preferably, the linear motion mechanism is a guide rail type motion mechanism, an electric push rod, a telescopic hydraulic cylinder or a telescopic air cylinder.

More specifically, for example, the first elevating mechanism 211 is connected to the frame 01 in the vertical direction, and the first traveling mechanism is located below the frame 01 and connected to the first elevating mechanism 211, so that the first elevating mechanism 211 stretches or retracts in the vertical direction. Lifting, to adjust the support length of the first lifting mechanism 211, thereby adjusting the vertical height of the frame 01, or the height of the frame 01 remains constant, and the first lifting mechanism 211 can make the first traveling mechanism approach the relative frame 01 Predetermined distance, so that the first traveling mechanism is separated from the ground, so that the first traveling mechanism can cross the obstacle from above the obstacle, that is, the height of the lower surface of the first traveling mechanism is not less than the height of the upper surface of the obstacle; or A lifting mechanism 211 can make the first traveling mechanism far away from the frame 01 by a predetermined distance, so that the first traveling mechanism touches the ground. In this paper, the connection of other lifting mechanisms and corresponding running mechanisms can be carried out sequentially.

The walking mechanism to overcome obstacles refers to the walking mechanism that encounters obstacles when the movable equipment is running along the road. Encountering an obstacle is also known as approaching an obstacle. The running gear is the first running gear, the second running gear or the third running gear. Raising the traveling mechanism to overcome obstacles means: raising the lower surface of the traveling mechanism to a height not lower than the upper surface of the obstacle so that the traveling mechanism can overcome obstacles. Enabling the running gear to overcome obstacles refers to placing the running gear on the obstacle or making the running gear pass above the obstacle. Overcoming obstacles is the goal. Making the traveling mechanism rise is the means of surmounting obstacles. The traveling mechanism is raised, not all the traveling mechanisms in the equipment are raised, but the (one or two) traveling mechanisms close to the obstacle are raised and lowered.

The walking mechanism contained in the rolling walking mechanism group that can be lifted in sections is called the lifting walking mechanism. The first running gear, the second running gear and the third running gear are liftable running gears. In the same equipment, the rolling traveling mechanism group that can be lifted in sections and the fourth traveling mechanism are configured not to interfere with each other. In the same way, in this paper, although various optional solutions are included, all components are configured not to interfere with each other.

In the same device, the liftable traveling mechanism and the fourth traveling mechanism are configured not to interfere with each other. Optionally, the liftable traveling mechanism and the fourth traveling mechanism can jointly support the ground and jointly enable the equipment to travel along the road surface. Driven by the lifting mechanism correspondingly connected with the lifting traveling mechanism, the bottom of the lifting traveling mechanism and the bottom of the fourth traveling mechanism can be equal in height. The bottom of the liftable running gear can be positioned above the bottom of the frame 01 . The bottom of any running gear can be positioned under the frame 01.

The fourth traveling mechanism is driven by a fourth driver whose output part is connected to the power input part of the fourth traveling mechanism, so that the equipment travels along the road surface. The liftable traveling mechanism can be driven by a driver whose output part is connected to (the power input part of) the liftable traveling mechanism, so that the device can travel along the road surface. The rolling traveling mechanism group that can be raised and lowered in sections travels slowly but can overcome obstacles. The fourth traveling mechanism travels fast and has a large carrying capacity but cannot overcome obstacles. The combination of the two can make up for their respective shortcomings and give full play to their respective advantages. Performance has been greatly improved by .

The parameters of the fourth traveling mechanism 15 are higher than those of the movable traveling mechanism. This parameter includes maximum driving speed, maximum output power, maximum load capacity or impact resistance. The fourth running gear is also called the main running gear. Both the first wheel 15A and the second wheel 15B are fast wheels or main wheels. The fourth traveling mechanism 15 is connected on the fuselage 01 of this movable platform, to improve reliability. The fourth running mechanism is used to make the movable equipment run quickly along the road surface. Fast refers to that the traveling speed is faster than the traveling speed of the lifting traveling mechanism.

Liftable running gear is also called auxiliary running gear. Any one of the liftable traveling mechanism and the correspondingly connected lifting mechanism belongs to the obstacle-surmounting device of the movable equipment. The liftable traveling mechanism is used to make the movable equipment run slowly along the road surface and overcome obstacles.

Optionally, the type of the fourth traveling mechanism (15) is a wheeled traveling mechanism. The fourth traveling mechanism includes two first wheels 15A and two second wheels 15B for moving the movable equipment in a wheeled manner. Optionally, the two first wheels 15A are arranged laterally along the traveling direction, and are respectively the first wheel 15A located at the left front and the first wheel 15A located at the right front, and/or, and the two second wheels 15B are arranged laterally along the traveling direction , and are respectively the second wheel 15B located at the left rear and the second wheel 15B located at the right rear. Optionally, the two first wheels 15A are located between the first traveling mechanism and the third traveling mechanism, and the two second wheels 15B are located between the second traveling mechanism and the third traveling mechanism.

In some embodiments, the movable equipment further includes a sensor module, the sensor module is connected to the frame 01, the sensor module is used to transmit a detection signal to the control device, and the control device controls the first traveling mechanism, the second traveling mechanism and the The third walking mechanism. And, the control device controls the first lifting mechanism 211 , the second lifting mechanism 222 and the third lifting mechanism 212 according to the detection signal.

Optionally, the sensor module may obtain control instructions from personnel through the human-computer interaction module, obtain road condition information based on the environment perception module, and select a corresponding motion device to control the movement of the movable device according to the road condition information.

Optionally, the processing by the environment perception module may be obtained by artificial intelligence processing by the artificial intelligence module. The artificial intelligence processing includes image recognition, that is, mobile device visual recognition, speech recognition, semantic recognition, natural language recognition, etc. The environment information includes target information. The target information includes: target status and/or target location. In this embodiment, the environment refers to the environment where the movable device is located or the environment where the device is located. The environmental information includes visual information of the device or the moving direction of the device, road conditions, two-dimensional map, three-dimensional map, navigation information, and the like.

The present invention also provides: a control method 2 for movable equipment, the equipment includes a frame 01, a group of rolling walking mechanisms that can be lifted and lowered in sections connected to the frame 01, and the rolling walking mechanism that can be lifted and lowered in sections The mechanism group is the first rolling traveling mechanism group that can be lifted in sections or the second rolling walking mechanism group that can be lifted in sections, and the control method includes steps Y1 and/or Y2:

Y1: Control the device to travel, control the lifting mechanism corresponding to the walking mechanism to be overcome, so that the walking mechanism to be overcome is raised relative to the frame 01 to overcome obstacles, and/or, control and remove the obstacle to be overcome The lifting mechanisms corresponding to several traveling mechanisms other than the traveling mechanism make the several traveling mechanisms descend relative to the frame 01 to support the ground, so that the traveling mechanism to be overcome the obstacle is raised to overcome the obstacle.

Y2: Control the device to move in the direction of the lower step, control the lifting mechanism corresponding to the traveling mechanism above the section below the step, and make the traveling mechanism descend relative to the frame 01 so that the walking mechanism is on the step The lower part of the road supports the ground. The control method is used to enable the movable device to overcome obstacles.

Optionally, before the step of raising the walking mechanism to be overcome with respect to the frame 01, it also includes the steps contained in the control method 2.2 of the rolling walking mechanism group that can be raised and lowered in sections including the forward and backward movement mechanism.

The present invention also provides: a control method 3 for movable equipment, the equipment includes a frame 01, a fourth traveling mechanism 15 connected to the frame 01, a rolling rolling mechanism 15 connected to the frame 01 that can be raised and lowered in sections. The walking mechanism group, the rolling walking mechanism group that can be lifted and lowered in sections is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections, and; the control method includes step S1 and/or S2:

S1: Control the group of rolling traveling gears that can be raised and lowered in sections so that the raised and lowering rolling running gears contained therein are raised relative to the frame 01 so that the fourth running gear 15 supports the ground;

S2: Control the group of rolling traveling gears that can be raised and lowered in sections to make the equipment overcome obstacles.

Optionally, in the control method 3, in the step S2, before the step of raising the traveling mechanism to be overcome with respect to the frame 01, it also includes a group of rolling traveling mechanisms that can be lifted and lowered in sections including a forward and backward movement mechanism The steps contained in the control method 2.2.

The S1 scheme can make the rolling traveling mechanism group that can be raised and lowered in sections not hinder the running of the fourth traveling mechanism. The traveling of the 4th running gear can carry this first rolling type running gear group that can lift in sections. Optionally, this step S1 further includes the step of: controlling the fourth traveling mechanism 15 to make the movable equipment travel along the road.

Optionally, the control method 2 or control method 3 further includes the step of: controlling the first forward and backward movement mechanism 18051 to adjust the distance of the first traveling mechanism relative to the center of the frame 01 in the front and rear directions, and/or, controlling The second forward and backward movement mechanism 18052182 adjusts the distance of the second traveling mechanism relative to the center of the frame 01 in the front and rear direction. This step is used for: adjusting the landing point of the first running gear and/or the second running gear according to the width of the obstacle. With better hurdles and obstacles.

This step S1 is used to make the movable device travel on an unobstructed road section. That is: when the movable device is on an unobstructed road section, step S1 is executed. This step S2 solves the difficult problem that the frame 01 needs to overcome an obstacle or the fourth traveling mechanism 15 needs to overcome an obstacle.

The embodiment of this control method 3:

Controlling the first rolling walking mechanism group that can be lifted in sections refers to controlling the lifting mechanism included in the first rolling walking mechanism group that can be lifted in sections, that is, controlling the first lifting mechanism 211 and/or controlling the second lifting mechanism. mechanism 222 and/or control the third lift mechanism (212). When there is no limitation, controlling the equipment to run refers to controlling the rolling traveling mechanism included in the equipment to make the equipment run along the road. To drive means to drive along the road. Controlling the rolling traveling mechanism included in the device refers to controlling the first traveling mechanism and/or controlling the second traveling mechanism and/or controlling the third traveling mechanism and/or controlling the fourth traveling mechanism.

The above steps S1 and S2 are performed separately at different times. The source of the control command can be the operator in the device, the network or the automatic driving module. Control the lifting/lowering of the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism 212 of the movable equipment to make the corresponding first traveling mechanism, the second traveling mechanism and the third walking mechanism Mechanism up/down means that the first lifting mechanism, the second lifting mechanism and the third lifting mechanism respectively control the raising/lowering of the first traveling mechanism, the second traveling mechanism and the third traveling mechanism. For the obstacle surmounting described in step S2, the obstacle surmounting method can be performed using any of the obstacle surmounting methods described herein.

The implementation description of the rolling walking mechanism group that can be lifted and lowered in sections:

The rolling traveling mechanism group that can be lifted in sections includes a first rolling walking mechanism group that can be lifted in sections or a second rolling walking mechanism group that can be lifted in sections.

In any technical solution, if the rolling traveling mechanism group that can be raised and lowered in sections is not connected to the frame 01 of the movable equipment (as the object driven by the mechanism), the rolling walking mechanism group that can be lifted in sections The mechanism group includes (belonging to itself) frame 01, and this moment, the rolling traveling mechanism group that can be lifted in sections can be mobile equipment. Even if the rolling traveling mechanism group that can be raised and lowered in sections is connected to the frame 01 of the movable equipment (the object that is driven by the mechanism), the rolling traveling mechanism group that can be lifted in sections can also include its own machine. Rack A, Rack 01 is connected to Rack A, and any mechanism is connected to Rack A, that is, the mechanism is connected to Rack 01.

The rolling traveling mechanism group that can be raised and lowered in sections can be attached to the movable equipment (as the object driven by the mechanism), and can also be used as a modular product to independently become a movable equipment. The rolling traveling mechanism group that can be raised and lowered in sections includes a frame 01 (belonging to itself), which can run independently from the movable equipment that is the object of driving and traveling of the mechanism. This program is of great significance. The group of rolling traveling gears that can be raised and lowered in sections is separated from the movable equipment and is also used to drive other movable equipment to travel. When not specified otherwise, running refers to running along a road surface.

A group of rolling traveling mechanisms that can be raised and lowered in sections, including a rolling traveling mechanism and a rolling element lifting mechanism. The first section-liftable rolling traveling mechanism group includes a first traveling mechanism, a second traveling mechanism and a third traveling mechanism, that is, the rolling traveling mechanism includes a first traveling mechanism, a second traveling mechanism and a third traveling mechanism. The rolling traveling mechanism group that the first segmental lift can comprise the first lifting mechanism 211, the second lifting mechanism 222 and the 3rd lifting mechanism (212), promptly this rolling element lifting mechanism comprises the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism (212).

Any movable equipment includes a rolling traveling mechanism group that can be lifted in sections, that is: the movable equipment includes a rolling traveling mechanism and a rolling lifting mechanism; and, the rolling traveling mechanism and the rolling lifting mechanism are configured It is a rolling walking mechanism group that can be lifted and lowered in sections.

For example, the movable equipment includes a first lifting mechanism 211, a second lifting mechanism 222, a third lifting mechanism (212), a first traveling mechanism, a second traveling mechanism and a third traveling mechanism, and the first lifting mechanism 211 , the second elevating mechanism 222, the third elevating mechanism (212), the first traveling mechanism, the second traveling mechanism and the third traveling mechanism are configured as a first rolling traveling mechanism group that can be lifted in sections.

The rolling walking mechanism, the rolling element lifting mechanism, and the front and rear movement mechanism in the rolling walking mechanism group that can be lifted and lowered in sections are all connected to the driver used to drive the mechanism. The rolling walking mechanism group that can be lifted and lowered in sections and the driver can be Segmented lifting rolling walking device. Any equipment includes a group of rolling traveling gears that can be raised and lowered in sections, that is, the equipment includes a rolling walking device that can be lifted in sections.

The first traveling mechanism, the third traveling mechanism and the second traveling mechanism refer to that the respective mechanisms are arranged in different positions in the movable equipment. That is to say, the various mechanisms are arranged in different positions in the group of rolling traveling gears that can be lifted and lowered in sections. For example, the first running gear is the running gear of the first part (front part), the third running gear is the running gear of the middle part, and the second running gear is the running gear of the rear part. The middle part refers to the part between the first part (front part) and the rear part. Or for example, the first running gear is the running gear of the rear part, and the second running gear is the running gear of the first part (front part).

In the present invention, in the same equipment, the running gears of each part can be the same type of running gears or different types of running gears. For example, the first traveling mechanism, the third traveling mechanism and the second traveling mechanism are all traveling wheels, or all are crawler mechanisms, or are all rollers. Or for example, the first traveling mechanism and the second traveling mechanism are traveling wheels, and the third traveling mechanism is a crawler-type traveling mechanism or a roller-type traveling mechanism. The crawler belt is socketed on the outer ring of the traveling wheel mechanism to form a crawler belt mechanism. Or, remove the crawler belts in the crawler-type traveling mechanism, the first rotating member 0721 on both sides and the second rotating member 0722 on both sides in the crawler-type traveling mechanism are used for walking on the ground, the first rotating member 0721 on both sides and the The second rotating member 0722 on both sides constitutes a road wheel.

The maximum traveling speed of the fourth traveling mechanism is higher than the maximum traveling speed of the rolling traveling mechanism group that can be raised and lowered in sections.

As an automobile of the prior art, technical scheme 2 of the present invention has multiple implementations to increase the obstacle-surmounting ability of the automobile. In a car, the chassis is the frame.

For example scheme one: a kind of in existing front wheel and rear wheel is connected frame 01 by (one or more) first elevating mechanism 211 and makes this front wheel correspondingly become the first running gear, and existing front wheel The other is connected to the frame 01 by (one or more) second elevating mechanism 222 in the rear wheel so that the front wheel becomes the second traveling mechanism accordingly, and then the third elevating mechanism is added between the front wheel and the rear wheel. Mechanism (212) and the 3rd traveling mechanism, thereby construct the rolling type traveling mechanism group of the first segmental lift. The third running gear may include a crawler running gear.

For example scheme two: existing front wheel and rear wheel are connected frame 01 by (multiple or one) the 3rd elevating mechanism (212) respectively, make existing front wheel and rear wheel become the 3rd running mechanism; An end other than the front wheel and the rear wheel adds the first lifting mechanism 211 and the first running mechanism, and the other end other than the front wheel and the rear wheel adds the second lifting mechanism 222 and the second running mechanism, thereby constructing the first possible Segmented lifting rolling walking gear group.

For example scheme three: a kind of in existing front wheel and rear wheel is connected frame 01 by (multiple or one) the 3rd elevating mechanism (212), makes this wheel become the 3rd running mechanism; Another kind of is connected frame 01 by (multiple or one) first elevating mechanism 211 in the wheel, makes this wheel become the first running gear; Two walking mechanisms, thereby constructing the first rolling walking mechanism group that can be lifted and lowered in sections. Because the third running mechanism deviates from the center of gravity of the car, it is not perfect, but it can already make the car go up and down steps, which is a major breakthrough compared with the prior art. For example, control the first running gear and the 3rd running gear relative to the frame 01 to descend to support the ground and the second running gear of the control (newly added) to rise with respect to the frame 01 to overcome obstacles; Drive toward the direction of the steps so that the second traveling mechanism is located on the steps; then control the third traveling mechanism to rise relative to the frame 01 to overcome obstacles, and then control the car to continue driving so that the third traveling mechanism is located on the steps; then control the first traveling mechanism Rising relative to the frame 01 to overcome obstacles, then control the car to continue driving so that the first traveling mechanism is positioned on the steps.

If the step is down, it can be reversed so that the (newly added) second running gear goes down the step first, and then the third running gear and the first running gear go down the step successively.

For example scheme four: retain the existing front wheel and rear wheel of automobile as the 4th running gear 15, set up the rolling type running gear group that the first can be segmented and lifted, make the 4th running gear 15 be used for driving automobile high-speed running, make the 4th running gear A group of rolling traveling gears that can be raised and lowered in sections is used to drive the vehicle to overcome obstacles and run at low speed.

The active suspension system of the wheels in the automobile can also be used as the hoisting mechanism (212) in the rolling traveling gear group that can be lifted in sections. If the lifting stroke of the active suspension system is not enough, the lifting stroke can be improved and increased to improve the obstacle-crossing performance.

4. The present invention also provides: a control method 4 for movable equipment, the equipment includes a frame 01, a crawler-type traveling mechanism 07m connected to the frame 01, and a liftable traveling mechanism connected to the frame 01 , the liftable traveling mechanism is a mechanical leg 02 or a rolling traveling mechanism connected to the frame 01 through a lifting mechanism, characterized in that the control method includes steps C1 and/or C2:

C1: When the movable equipment travels 07m through the crawler-type walking mechanism and enters a downhill road section from a flat road, control the rear liftable walking mechanism of the movable equipment to reach the ground on the flat road so that the The rear of the crawler running gear 07m is raised;

C2: When the movable equipment travels through the crawler-type traveling mechanism 07m and enters the flat road from the uphill section and the crawler belt 07m of the crawler-type traveling mechanism is still in the backward tilting state, control the rear of the movable equipment to be able to lift The traveling mechanism of the crawler-type traveling mechanism reaches the ground on this up-tilt road section, so as to reduce the inclination angle of the crawler-type traveling mechanism 07m.

The embodiment of this control method 4:

The liftable traveling mechanism is a rolling traveling mechanism connected to the frame 01 through a lifting mechanism, which means that one end of the lifting mechanism is connected to the frame 01, and the other end of the lifting mechanism is connected to the rolling traveling mechanism. Controlling the liftable traveling mechanism at the rear of the movable equipment to reach the ground on the flat road refers to controlling the lifting mechanism connected to the rolling traveling mechanism at the rear of the equipment so that the rolling traveling mechanism at the rear is relatively Rack 01 descends.

Flat, upslope, and downslope are all relative. A flat road means that the angle between the road and the horizontal plane is within the set standard range. Decline refers to a decline compared to a flat road. Uphill refers to an inclination compared to a flat road. The downhill road section is the downhill road section, especially the downhill road section. The uphill road section is the uphill road section, especially the uphill road section. When entering a downhill road section from a flat road or entering a flat road from an uphill road section, there is a problem that the front end of the crawler-type traveling mechanism 07m is suspended in the air and the dangerous situation of hitting the ground is likely to occur.

The angle between the road section and the horizontal plane is an acute angle. The angle between the flat road and the first road surface of the horizontal plane is 0 degrees. For example, if the downhill road section is inclined downward by 30 degrees, the second included angle between the downhill road section and the horizontal plane is 30 degrees. The plan for switching between flat roads and up-and-down slopes described in this article excludes the situation where the angle between the road surfaces is greater than 90 degrees.

Rolling running gear over obstacles means raising the lower surface of the rolling running gear to the height not lower than the obstacle protruding from the road surface so as to cross the obstacle or make the rolling running gear not fall below the road surface sunken part. For example, an obstacle protruding from the road surface is a step higher than the road surface. The sunken portion lower than the road surface is under the steps. The obstacle is ahead in the direction of travel. The road surface refers to the road surface where the device is currently located.

5. The present invention also provides: a control method 5 of a movable device, the movable device includes a frame 01 and a plurality of mechanical legs connected to the frame 01, and at least one of the plurality of mechanical legs is mechanically The leg is configured as a multifunctional mechanical leg 02, the multifunction includes being used for specific operations and walking, and it is characterized in that the control method includes step M1:

Control the multifunctional mechanical leg 02 to carry the personnel in a manner of supporting the personnel from below; and/or, control the multifunctional mechanical leg 02 to drive the working tool 17 connected to the end of the mechanical leg 02 to perform a specific operation, the specific operation is cutting objects or digging or shoveling or picking At least one of items, farming, painting items or taking bricks, welding, grabbing and throwing a fire bomb to put out a fire, rotating a fastener to install or remove an item, grabbing a strip and bringing it around an item.

A multifunctional mechanical leg refers to a mechanical leg with an arm function. The multifunctional mechanical leg is the body mechanism of leg-arm fusion.

implementation plan:

The cutting object is harvesting Chinese medicinal materials, harvesting crops, mowing, pruning, cutting trees, cutting soil and/or minerals and/or stones, or cutting other solids. The other solids are metal parts and/or plastic and/or rubber products and/or ceramic materials.

Controlling the multifunctional mechanical leg 02 is also referred to as controlling the movement of the multifunctional mechanical leg 02 . The work tool attached to the end is the work tool attached to the end.

The multifunctional mechanical leg 02 is configured to bear the force generated by the multifunctional mechanical leg 02 performing a specific operation. Constructed for mechanical strength. The end of the multifunctional mechanical leg 02 is provided with a connecting portion for connecting a working tool. The connection is install and/or fetch. If the connection is installation, the connection part is the installation part; if the connection is grabbing, the connecting part is the grabbing device 06 . Gripping devices are also referred to as grippers. The end of the multifunctional mechanical leg 02 has a connecting portion for connecting to an object fetching device (062) or has a connecting portion for connecting a work tool, and the fetching device (062) is configured to have a grasping work tool 17 for specific ability to work.

The plurality of multifunctional mechanical legs can be built-in components of the movable device, or can be external components of the movable device. The frame 01 of the mobile device is provided with (second) connection means for connecting the plurality of multifunctional mechanical legs. The plurality of multifunctional mechanical legs are connected with the frame 01.

When the multifunctional mechanical leg 02 is used for a specific operation, the multifunctional mechanical leg 02 is used as an arm. The first joint part 101 is configured to function as a shoulder joint, the first link 102 is configured to function as a large arm, the second joint part 103 is configured to function as an elbow joint, and the second link 104 Configured to function as an arm. Some or all of the joints in the third joint 105 are wrist joints or used as wrist joints or have the function of wrist joints.

Therefore, the operation (that is, the task) of the movable equipment is a specific operation. Correspondingly, the control device controls the action of the multifunctional mechanical leg 02 by controlling the movement of the arm. The driving commands sent by the control device to the drivers of the joints of the multifunctional mechanical leg 02 are all commands for driving the arm to move.

When the multifunctional mechanical leg 02 is used for walking, the multifunctional mechanical leg 02 is used as a mechanical leg. Therefore, the operation (that is, the task) of the movable equipment is walking, and correspondingly, the method of controlling the multifunctional mechanical leg 02 by the control device is the method of controlling the motion of the (ordinary) mechanical leg. The driving instructions sent by the control device to the drivers of the joints of the multifunctional mechanical leg 02 are all instructions for driving (ordinary) multifunctional mechanical legs to move. The same hardware can realize different functions, which is of great benefit to cost saving and performance improvement.

The multifunctional mechanical leg 02 is used for walking, which means that some or all of the joints in the third joint part 105 are used as ankle joints or have the function of ankle joints. The mechanical leg also has no ankle joint and no sole, and walks on the ground by the end of the second connecting rod. Herein, walking anywhere refers to making the movable device walk along the road.

The multifunctional robotic leg 02 is designed with capabilities and properties for specific tasks and for walking. The internal structural characteristics of the multifunctional mechanical leg 02 meet the two requirements, and the multifunctional mechanical leg 02 is not an ordinary mechanical leg. In the case of walking, the multifunctional mechanical leg 02 has the characteristics and capabilities of a mechanical leg. And the multifunctional mechanical leg 02 is configured to realize the function of an arm. Realizing the function of an arm is also referred to as using as an arm. In the case of specific operations, the multifunctional mechanical leg 02 is used as an arm, that is, it has the function of an arm. Configuration is also known as construction. Configured As is also known as Constructed As. Configure equivalent constructs.

(1) An overview of the implementation of the operation with the multifunctional mechanical leg 02:

The type of work tool corresponds to the kind of work. Whether the name of any particular job is followed by the term "job" refers to the same content. For example: the operation of cutting items can also be called cutting items. Excavation operations are also known as digging. Shoveling is also called shoveling.

For any kind of work, there are work elements corresponding to the kind of work. The operation element is a control method, an operation object, an operation tool or an operation location. A method is a law, and a method includes logic and/or algorithm. The law includes the planning of motion parameters and the acquisition and monitoring of status parameters. Planning is also target value setting. The motion parameters include motion target orientation and/or motion path and/or motion speed and/or angle and/or posture and/or force and/or moment. The motion parameters refer in particular to the target orientation and/or the motion path of the motion. Optionally, the setting of motion parameters can be set manually or by a control device. Acquisition of status parameters refers in particular to acquisition by sensors. Driving the work tool connected to the end of the multifunctional mechanical leg 02 is also referred to as adjusting the pose of the work tool connected to the end of the multifunctional mechanical leg 02 . For any operation, the operation area can be obtained based on the location of the operation object, the pose of the movable equipment itself, and the operation tools (size, motion path).

For any operation, any operation elements such as the operation tool, the operation object, whether the operation tool and the operation object need to be in contact, the operation posture, etc., can be known from the existing known technology. Usually, when there is no limitation, the default operation type is the type that the operation tool and the operation object need to contact. The difference is that the point of this invention is to work with legs. More beneficial than working by hand.

In any operation, if the operation tool of this operation is a grabbing part. The grasping component (size, model or specification) is configured to correspond to the object (size, model or specification) to be grasped in the operation. Grasping includes at least one of clamping, gripping, hooking, hanging and adsorption. Optionally, the grasping component is a multi-fingered manipulator or claws or hooks. Optionally, or the gripping part is an electromagnetic chuck.

(2) An overview of the implementation plan for working with limb mechanisms:

In the present invention, in any operation, the limb mechanism in any place is used for operation Z or the limb mechanism performs operation Z, and the operation method and step Z of the operation Z are: control the limb mechanism and drive the limb by the limb mechanism The operation tool connected to the end of the mechanism is used for operation. The limb mechanism is a multifunctional mechanical leg 02 or a mechanical arm. Pose is position and attitude.

The job includes the job of driving the job tool to process the job object, and the job of putting the job material into the target space. The job that uses the job tool to process the job object is also referred to as the first type of job. This treatment is also called processing. Jobs that drop job materials into target spaces are also referred to as second-class jobs. In the second type of work, work materials are loaded or carried by work tools. The target space is also called the space to be released.

This first type of operation is moving people, accessing objects, cutting objects, digging, shoveling, plowing, picking objects, welding, grinding, rotating fasteners to install or remove objects, or grabbing strips and driving them around objects .

The operation step of the first type of operation is step Z11. Optionally, step Z10 may also be executed before step Z11.

Z10: Control the limb mechanism. The limb mechanism drives the working tool connected to the end of the limb mechanism, so that the working tool moves from the current posture of the working tool to the working posture.

Z11 is: control the limb mechanism, and the limb mechanism drives the working tool connected to the end of the limb mechanism to process the work object.

The limb mechanism is a multifunctional mechanical leg 02 or a mechanical arm. For example: the object of the processing operation is moving people, accessing objects, cutting objects, digging, shoveling objects, plowing land, picking objects, welding objects, grinding objects, rotating fasteners or grabbing strips and driving them around objects. Plowing is done with a hoe or a plow or a harrow. A job tool is a tool used for processing. Job objects are items to be processed.

The working pose is the first working pose, which is the first target pose. The first target pose is the pose when the working tool enters the work area. During this process, the work tool is located within the work area. The work area refers to the area where work objects are processed with work tools. The working area is also called the working location. During this process, the work tool moves from the first target pose to the second target pose. The second target pose is the pose at which the job ends. During this process, the processing portion of the work tool is in contact with the work object. For example, the type of operation is cutting an article, the working tool for this operation is a tool with a blade, and the processing part is the blade.

The second type of work is fire extinguishing, seedling transplanting, watering or fertilizing or sowing, spraying, painting, taking bricks and building walls, and shooting. The target space is the space where the target object is located. A target space may also refer to a target object.

The operation step of this second type of operation is Z21. Optionally, step Z20 may also be executed before step Z21.

Z20: Control the movement of the limb mechanism and/or control the action of the working tool connected to the end of the limb mechanism to load or grab the working materials.

Z21: Control the movement of the limb mechanism to: put the working materials carried by the working tool connected to the end of the limb mechanism into the target space, or process the working materials carried by the working tool connected to the end of the limb mechanism to the work object. Carry and load.

The job object is the item to be processed. The target space is the space of the job materials to be placed. The job object is located in the target space. The target space is the space where the job object is located. The putting or processing includes spraying, throwing, painting, inserting, shooting, opening the opening of the container to let the working materials fall, dumping the container to let the working materials fall, controlling the grasping parts to release the grasped working materials, or Any variety. Optional: the limb mechanism is a multifunctional mechanical leg 02 or a mechanical arm. This delivery is also called a treatment.

The step Z21 is to control the movement of the limb mechanism, so that the working tool connected to the end of the limb mechanism and loaded or carrying the working material moves from the current posture to the working posture, so as to drop the working material into the target space. The current pose refers to the current pose of the working tool. The job pose is the pose where the job materials are placed.

The target space is the space where the job materials are to be placed. Work tools are containers used to load work materials or tools used to carry work materials. Job materials are materials to be released. The job object is the job material to be delivered. The process includes: making the working tool arrive at the working position.

Optionally, after the step Z11 or the step Z21, a step Z_3 is also included. This step Z_3 is used to homing the working tool or performing the next round of processing.

Z_3: Control the limb mechanism. The limb mechanism drives the working tool connected to the end of the limb mechanism, so that the working tool moves from the current pose to the third target pose. The current pose is the current pose of the working tool. The third target pose is the pose of the working tool returning to its original position or the pose of the starting point for the next round of operations.

The exercise described in Step Z10, Step Z11, Step Z20, Step Z21, and Step Z3 refers to exercise according to the set exercise parameters. The motion parameters in each step can be different.

Any task includes: receiving the task instruction, and executing the operation step S when receiving the operation instruction. Before any step, a step of setting the motion parameters of this step may also be included. Controlling the body mechanism is also known as controlling the movement of the body mechanism, which is also known as running or acting. The limb mechanism is a multifunctional mechanical leg 02 or a mechanical arm. Mobile devices are also called traveling devices or running devices. The running gear refers in particular to the running gear. The running mechanism is also the walking mechanism. Traveling through the air is also known as flying.

Optionally, the end of the limb mechanism is connected to the fetching device 06 , and the working tool is the working tool grabbed by the fetching device 06 . Optionally, before performing step Z, it also includes: obtaining the pose information of the work object or obtaining the orientation information of the target space; and/or, controlling the limb mechanism and controlling the fetching device 06 connected to the end of the limb mechanism to grab homework tools.

The above operation Z can be any operation in this paper. Replace any job in this paper with the job Z described in the above paragraph Z, and the job scheme of any job can be obtained. For example, according to the general operation technical scheme Z and operation steps Z described in paragraph Z in this paper, any limb mechanism (or linear motion mechanism) described herein can be used for a certain operation, and the limb mechanism (or linear motion mechanism) can be used for a certain operation. Institution) plan for performing a certain operation, and the steps of any type of operation.

5.0. Implementation plan for moving personnel and items:

Porters or access items can be referred to as porter items. Moving personnel and objects refers to moving personnel and objects from the original position to the target position. This movement includes lifting and/or translation. Person Item refers to a person and/or item. Moving people or accessing items, this operation can be done in the first type of operation. The operation method is: driving the operation tool to carry the operation object. The working tool is a grabbing part. The operation object is the person or item to be transported. The target space is a storage space for transported people or objects. Access Items, point to and/or retrieve items from a storage bin. Storing items into the storage bin refers to grabbing the item to be stored and moving the item from outside the storage bin to the storage bin. The target space is the space in the storage bin. Taking an item from the storage bin refers to grabbing the item to be picked up and moving the item from the storage bin to the outside of the storage bin. The target space is the space outside the storage bin. The storage bin especially refers to the express cabinet.

The method of carrying people or accessing articles may further include the step of: controlling the traveling mechanism of the movable equipment (1) to drive the equipment (1) to travel. The travel refers to moving from a source location to a destination location. Palletizing refers to neatly stacking items.

The beneficial effect of this technical scheme 2:

Under the same circumstances, use the communication module of the mobile device to communicate with the storage compartment to control the opening and closing of the storage compartment, so that the mobile device has a complete and intelligent function of picking up and storing express delivery with legs.

Carrying the person by holding the person from below is as follows: first place the movable part of the multifunctional mechanical leg 02 under the person to be carried to support the person, and then make the person lift and/or translate. Support means to be supported from below by a support. If the support is the arm of a movable device, the support is held or lifted. The movable part refers to the first connecting rod 102 and/or the second connecting rod of the multifunctional mechanical leg 02 and/or the joint at the end of the second connecting rod and/or the joint connected to the end of the multifunctional mechanical leg. tool.

5.1. Implementation plan for cutting, digging and shoveling:

5.1.1. The implementation plan of cutting objects: the first type of operation can be selected for cutting objects. The operation method is as follows: the multifunctional mechanical leg 02 is controlled, and the multifunctional mechanical leg 02 drives the working tool connected to the end of the multifunctional mechanical leg 02 to cut the work object. The working tool for cutting objects is a knife. The working portion of the knife is the blade portion. The cutting edge is used to cut the work object.

The cutting object is harvesting Chinese medicinal materials, harvesting crops, mowing, pruning, cutting trees, cutting soil and/or minerals and/or stones, or cutting other solids. The other solids are metal parts and/or plastic and/or rubber products and/or ceramic materials. The crop comprises rice and/or wheat and/or corn. The felling of trees is preferably sawing. Receive it and put it in your arms. Harvesting refers to cutting or harvesting in the direction of the rack. A tree refers to arboreal plants that are rooted in the ground. To cut down a tree means to cut down the trunk or roots of a tree so that it is cut off as a whole. The wood is not rooted to the ground. Timber refers to the products formed after the tree is cut or the branches from the tree. Pruning is to cut the branches and leaves of trees or flowers. Pruning is not cutting the trunk. To cut a tree is to cut it down. Cutting items are also called cutting machinery parts. This item is also known as a Mechanism. The item is non-fluid and non-gas, and has some mechanical strength.

The operating tools used for harvesting Chinese herbal medicines, harvesting crops, and mowing grass are knives or saws. The operation object of this operation is Chinese medicinal materials, crops or grasses to be cut. The work tool used for pruning is a knife. The job object of this job is the branch to be pruned. The work tool used for cutting trees is a knife. The job object of this job is the tree to be cut. Work tools for sawing trees are saws, water jets, laser cutters or electric abrasive cutters. The job object of this job is the tree to be sawed. Work tools for cutting other solids are saws, water jets, laser knives, or powered abrasive cutters. The job object of this job is other solids to be cut. Metal knives, water jets, laser cutters, or powered abrasive cutters are all knives. The cuts described herein are facet cuts.

Cutting soil and/or minerals and/or stones refers to driving the surface cutting tool connected to the end of the multifunctional mechanical leg 02 to cut soil and/or minerals and/or stones, or driving the multifunctional The point cutting tool connected to the end of the mechanical leg 02 cuts the soil and/or mineral matter and/or stone material laterally. The surface cutting tool is a saw, an electric grinding wheel cutting machine, and a water jet for surface injection by water flow. The cutting surface of the saw has a certain width. The surface cutting tool means that the cutting position is the surface when cutting. The point cutting tool refers to a water jet that shoots water in a line or a laser knife that shoots a laser in a line. Longitudinal refers to the jetting direction of the water jet and the jetting direction of the laser of the laser knife. Horizontal and vertical intersection. Cutting of earth and/or minerals and/or stone, which is a face cut. Optionally, any cut in this paper is a face cut. Compared with point cutting, surface cutting can greatly improve cutting efficiency. Drilling is a point-cut method.

In the present invention, the saw is preferably a chain saw. Saws include circular saws, reciprocating saws, and chain saws. A circular saw means that the teeth are distributed on the outer circle of a rotatable circular saw body mounted on the base of the saw. The saw body can rotate relative to the base, and the saw teeth are used to cut objects when the saw body rotates. A reciprocating saw means that the saw teeth are distributed on a reciprocating saw body relative to the base of the saw. When the saw body reciprocates relative to the base, the saw teeth are used to cut objects.

The chain saw includes: a saw chain, a bracket for supporting the saw chain, at least one sprocket cooperating with the saw chain, and a driver for driving the sprocket to rotate. The rotation of the sprocket is used to turn the saw chain to cut the object. A saw chain refers to a chain provided with teeth for cutting objects. The bracket used to support the saw chain is also known as the guide bar. The base of the driver is connected to the output of the kinematic mechanism. The power output of the drive is connected to the drive sprocket.

5.2. Excavation scheme: the first type of operation can be selected for this operation. The operation method is: driving the operation tool to excavate the operation object. The work tool is a digging tool. The work department is the excavation department. For example, the digging tool is a shovel. The operation object is the item to be excavated. Excavation refers to any one or any combination of mining or digging of agricultural products or digging of Chinese medicinal materials or digging of soil or sand or silt.

5.3. The scheme of shoveling: the first type of operation can be selected for this operation. The operation method is: driving the operation tool to shovel the operation object. The work tool is a shovel tool. The work department is the excavation department. For example, the shovel tool is a shovel. The operation object is the item to be shoveled. Shovel refers to shoveling loose objects. The load and power of the shovel are smaller than that of digging. Loads are in particular shock loads.

5.4. Picking items include picking vegetables or fruits or picking cotton or pulling plants or weeds. Plants include any one or more of vegetable plants, tree plants, seedlings, and traditional Chinese medicine plants.

The scheme of picking items: This operation can be done in the first type of operation. The operation method is: driving the operation tool to pick the operation object. The working tool is a picking tool. The work department is the picking department. The operation object is the item to be picked. The picking tool is a picker designed according to the items to be picked. For example, the picker is a weed comb, a fruit grabber, a seedling puller, and the like. For vegetables or fruits, optionally, the picking tool also includes a knife for cutting items to be picked. Picking is to first cut the connection between fruits, vegetables and plants and then collect.

5.5. Cultivation refers to plowing the land or inserting seedlings or watering or fertilizing or sowing.

5.5.1. Cultivated land scheme: the first type of operation can be selected for this operation. The mode of the operation is: driving the operation tool to plow the land. The operating tool is a farming tool. The working department is the Ministry of Cultivation. Cultivated land is hoeed or plowed or harrowed. The working tool used for hoeing is a hoe. The working tool used for plowing is a plow. The working tool used for harrowing is a harrow. The operation object is the land to be cultivated.

5.5.2. Transplanting seedlings, the second type of operation can be selected for this operation. The operation method is: driving the operation tool, and dropping the operation materials loaded by the operation tool into the target space. This delivery is an interjection. The operating tool is a seedling inserter. The operation material is seedling. The seedlings are crop seedlings or traditional Chinese medicine seedlings or tree seedlings. The target space is the space to be planted.

5.5.3. For watering or fertilizing or sowing, the second type of operation can be selected for this operation. The operation method is: driving the operation tool, and dropping the operation materials loaded by the operation tool into the target space. The work tool is a container for carrying work materials. The operation material is water or fertilizer or seed. The species is a crop species or a traditional Chinese medicinal species or a tree species. The target space is the space to be watered or fertilized or sown.

This container is also called a cartridge. For example, the operating tool for sowing or fertilizing is a material storage box provided with an opening. For example, the working tool for watering is a container capable of holding water. The opening of this type of container can be a water tap controlled by an electromagnetic valve, which can be arranged at the bottom of the container. Watering is water in a non-pressurized manner. Watering refers to pouring water from a container filled with water to a position to be watered.

5.6. Implementation plan for painting objects or holding brick walls:

5.6.1. Painted articles, which are paints or pigments or powders or pastes. This job can be done in the second type of job. The operation method is: driving the operation tool, putting the operation material carried by the operation tool into the target space or processing the operation material carried by the operation tool to the operation object. This delivery or treatment is painting. The work tool is a paint tool. For example, the application tool is a brush or a roller or a scraper or a trowel or a shovel. The working material is paint or pigment or powder or paste. The target space is the space of the object to be painted. The job object refers to the object to be painted. For example, the object is a wall or a floor or a device surface.

5.6.2. Taking bricks to build walls, this operation can be done in the second type of operation. The operation method is: driving the operation tool, and dropping the operation materials carried by the operation tool into the target space. This delivery is a puzzle. The working tool is a grabbing part. The job material is brick. The target space is the space to be walled. Building a wall refers to placing bricks from the foundation one by one side by side and building up layer by layer. Layer by layer means that bricks are piled up layer by layer.

5.7. Welding, the first type of operation can be selected for this operation. The operation method is: driving the operation tool to weld the operation object. The work tool is a welding tool. The working part is the welding part. The job object is the item to be welded.

Welding involves welding metal parts by using a welding machine to create an arc or welding electrical conductors by melting tin with a soldering iron. Metal parts are welded by means of a welding machine that generates an arc, and the welding tool is an electric welding machine that can generate an arc. Solder the conductor by melting tin with a soldering iron, and the soldering tool is a soldering iron.

5.8. Rotate fasteners to install or remove items. This operation can be done in the first type of operation. The operation method is: driving the operation tool to rotate the operation object to install or disassemble the article. The work tool is a tool or grabber used to socket the fastener. The tool used to socket the fastener is a wrench or a screwdriver. A screwdriver is also called a screwdriver. The working part is a socket part or a grabbing part. The job object is the fastener to be rotated.

5.9. Grab the strip and drive it around the object. This operation can be done in the first type of operation. The operation method is: driving the operation tool to grab the operation object and driving the operation object to surround the object. The working tool is a grabbing part. The working part is the grabbing part. The job object is the strip to be grabbed. The strip is not the same object as the object. Orbiting objects are also known as wrapping objects. The wrapping around is in particular a multiple turn around. The operation may further include the step of tying the ribbon. This job is used to bind objects. Alternatively, the strip is an insulator and the object is an electrical conductor, and the operation is to wrap the electrical conductor with the insulator. Alternatively, the strip is a conductive thread and the object is also a conductive body, and the operation is for connecting the conductive thread.

5.10. Spray, which is medicine or paint or powder or slurry or fire extinguishing substance. This job can be done in the second type of job. The way of the operation is: drive the operation tool, put the operation material loaded by the operation tool into the target space or process the operation material loaded by the operation tool to the operation object. The working tool is a sprayer. The operating material is medicine or paint or powder or slurry. The target space is the space of objects to be sprayed. This delivery and treatment is jetting. Injection refers to ejecting the pressurized substance to be injected. The operation object refers to an object to be sprayed with an operation material. For example, the working material is paint or powder or slurry or fire extinguishing substance, and the object is wall or ground or equipment surface. For example, the working materials are insecticides, and the objects are crops or vegetables or plants. For example, the working material is a herbicide, and the object is grass.

The beneficial effect of this scheme 5:

In the existing technology, the mechanical legs are mainly used for walking, and the operation needs to be equipped with a mechanical arm, which brings about the problem of high cost; and the mechanical arm is usually installed at a high position, and the waist joint needs to be installed to control the bending when working on the ground; Further push up the cost and control complexity.

According to the solution of the present invention, the multifunctional mechanical legs are used to drive the working tool to perform any specific operation, which is convenient for solving the above-mentioned problems. It is convenient to reduce equipment cost, operation cost or improve operation efficiency, and has important economic and social value.

For example, using the multifunctional mechanical legs to drive working tools to harvest crops or harvest Chinese herbal medicines or mow, dig, and shovel is beneficial to the agricultural and forestry construction industry. In particular, using mechanical legs to shovel animal waste in the breeding industry, robot operations are more comfortable than human operations.

For example, at the scene of a fire, smoky, damaged buildings, cluttered objects, and many unexpected obstacles on the road surface, the traditional wheeled driving has poor obstacle-surpassing ability or the crawler-driven movable equipment is too heavy to crush and hurt people. , The multi-functional mechanical leg-type mobile device is more suitable for the scene. The mechanical legs are used for walking + fire extinguishing, replacing the multifunctional mechanical leg walking + manipulator (fire extinguishing) operation scheme of the traditional technology, not only the direct cost, volume, and weight are greatly reduced; the high efficiency has very important social and economic value.

The operating tools of this specific operation are grabbing parts, which means: the specific operation is the operation of carrying people, accessing items, grabbing and throwing fire extinguishing bombs to extinguish the fire, or grabbing flame-retardant cloth to isolate the fire source from the fire-resistant environment. Working with people or objects, picking objects, holding bricks to build walls, rotating fasteners to install or remove objects, or grabbing strips and driving them around objects.

Beneficial effects of the technical solution 2: the pick-up device (062) is not only used for directly grabbing work materials for operations (such as throwing fire bombs), the pick-up device (062) is used for grabbing other working tools 17, Because no matter how you design a single extraction device (062), the ability to complete the task itself is limited, such as harvesting Chinese medicinal materials and spraying medicines. This is an operation with completely different characteristics (but necessary on site), and a single extraction The device (062) is difficult to accomplish this task. However, if the fetching device (062) is used to grab various operating tools (such as grabbing a sickle to harvest Chinese herbal medicines, and grabbing an injector to spray), the operating capacity of the movable equipment will be greatly expanded. In particular, the working tool for this specific operation is a grabbing part, and the grabbing device (062) grabs the working tool and then uses the working tool to grab the working object or the working material to carry out the operation. The end of the mechanical leg 02, and then through the plan operation of big hands and small hands, will unexpectedly and greatly expand the working capacity of the movable equipment. Optionally, in this article, the mechanical legs mentioned anywhere are configured as multifunctional mechanical legs.

implementation plan:

For example, a movable device (robot tiger) with 4 mechanical legs has 1-4 multifunctional mechanical legs 02, and a shovel tool is connected to the end of the multifunctional mechanical legs 02. This equipment is used to shovel animal manure in farms. The mobile device can also be walked along the road.

For example, a mobile device with 4 mechanical legs (robot tiger) has 4 multifunctional mechanical legs 02, which can walk, and a tool for harvesting Chinese medicinal materials (sickle) is connected to the end of 1 multifunctional mechanical leg 02. A digging tool (bucket) is connected to the end of one multifunctional mechanical leg 02, and a pick-up device (062) is connected to the ends of the other two multifunctional mechanical legs 02,

The control method of the equipment: control 1 multifunctional mechanical leg to harvest the Chinese herbal medicine on the ground with harvesting Chinese medicinal material tool (sickle), control 1 multifunctional mechanical leg 02 digging tool (bucket) to dig the medicinal material in the ground, Control another 2 multi-functional mechanical legs to collect medicinal materials with the fetching device (062) carrying place. 4 The combination of multifunctional mechanical legs can greatly improve the efficiency of collecting Chinese medicinal materials.

A job tool is a tool used for a specific job. Tools are also called utensils. The retrieval device is also referred to as the gripping device and also as the retrieval part. Fetching is also known as grabbing, also known as holding, also known as holding.

In some embodiments, any one of the aforementioned control methods also includes the steps of:

M2: Control the multifunctional mechanical leg 02 to make the mobile device walk along the road, or,

M4: control the fourth traveling mechanism connected to the fuselage 01 to drive the movable equipment;

M5: Control the multifunctional mechanical leg 02 to make the movable device climb along external objects, or,

M6: Control the rolling traveling mechanism connected with the fuselage 01 to drive the movable equipment, or,

M7: Control the segmented lifting rolling traveling gear group connected to the fuselage 01 to drive the movable equipment to travel.

In some embodiments, in any of the aforementioned control methods:

In the step M1, the at least one type is at least two types, according to the specific type of operation, select the control mode corresponding to the type of operation, and grab the operation tool corresponding to the type of operation to perform the operation; or

Before the step M1, a step is also included: obtaining the type information to be operated,

If the type information of the operation is to use the multifunctional mechanical leg to carry the person, perform this step: control the multifunctional mechanical leg to carry the person;

If the type information of the operation is to use the multifunctional mechanical leg to perform a specific operation, perform this step: control the multifunctional mechanical leg to drive the working tool connected to the end of the mechanical leg to perform the specific operation;

If the type information of the operation is walking, execute the step M2;

If the type information of the operation is traveling with the fourth traveling mechanism, then execute the step M4;

If the type information of the operation is climbing with the multifunctional mechanical leg, then perform the step M5;

If the type information of the operation is traveling with a rolling traveling mechanism, then execute the step M6;

If the type information of the operation is traveling with a group of rolling traveling gears that can be raised and lowered in stages, then step M7 is executed.

6. Please refer to Figures 1-9, especially Figures 8 and 9:

As stated in technical scheme 6, a kind of embodiment of manned cabin 11:

A manned cabin 11: the manned cabin 11 includes a bottom 116, a top 115 and a top lifting mechanism 1315, the top lifting mechanism 1315 is used to adjust the height of the top 115 relative to the bottom 116, the two top lifting mechanisms 1315 Ends connect the bottom 116 and the top 115, respectively. The top elevating mechanism 1315 is used to make the height in the manned compartment adjustable between the standing height and the height less than the standing height. Optional standing height is 1.6m. The manned cabin, the pick-up device, and the rolling traveling gear group that can be raised and lowered in sections are all accessories of movable equipment.

In some embodiments, the manned cabin 11 as described in the technical solution 6, the manned cabin 11 includes a motion mechanism 1317 for adjusting the posture of the seat, which is used to adjust the seat 117 to the sitting posture or withdraw from the seating position posture, the base and the output member of the motion mechanism 1317 are respectively connected to the seat 117 and the base 110 of the passenger compartment. The sitting position refers to the position in which the upper surface of the seat 117 is placed flat for people to ride. Evacuation from the sitting posture indicates that the seat 117 is pulled aside from the riding posture. The evacuated sitting posture is used to enable the person to stand in the sitting posture when the seat 117 is in part or all of the area.

In some embodiments, as in the manned cabin 11 described in technical solution 6, the manned cabin 11 includes a backrest angle adjustment mechanism 1318 for adjusting the base of the backrest 118 at the rear of the seat 117 relative to the manned cabin 110 angles. The base and output of the kinematic mechanism 1318 are respectively connected to the backrest 118 and the base 110 of the passenger compartment. The motion mechanism 1318 makes the backrest 118 tilt backward relative to the base 110 of the passenger compartment (to be configured as a bed) or makes the backrest 118 stand upright (for people to lean back).

In some embodiments, as described in the manned cabin 11 of the technical solution 6, the manned cabin 11 includes a movement mechanism for adjusting the side distance of the manned cabin, which is used to adjust the edge of at least one side of the manned cabin relative to the The base 110 of the manned cabin is separated in the horizontal direction, and the base and the output member of the motion mechanism are respectively connected to the base 110 of the manned cabin and at least one edge of the manned cabin. The movement mechanism adjusts the distance between the two sides of the passenger compartment in the horizontal direction between the lying distance and a distance smaller than the lying distance. The lying distance refers to the distance that people can lie in the passenger compartment. Optionally, the lying distance is 1.6 meters.

A control method 6 of a movable device or a control method 6 of a manned cabin 11, the control method 6 includes at least one of step 1, step 2, and step 3.

Step 1: Use the sensor to collect information related to the person in the manned space changing from a sitting posture to a standing posture. When the identification module judges that the person in the manned space changes from a sitting posture to a standing posture based on the information, control the top lifting mechanism 1315 to move to make The top 115 is raised relative to the bottom 116 of the manned space and/or the motion mechanism 1317 for adjusting the posture of the seat is controlled to move so that the seat 117 withdraws from the sitting posture.

Step 2: Control the manned cabin side distance adjustment of the manned cabin 11 to adjust the distance between at least one side of the manned cabin and the base 110 of the manned cabin in the horizontal direction with a motion mechanism, so that the manned cabin The distance between the two sides of the human cabin in the horizontal direction is adjusted between the lying-riding distance and the distance less than the lying-riding distance.

Step 3: Control the backrest angle adjustment mechanism 1318 of the manned cabin 11, so that the backrest 118 is tilted backward relative to the base 110 of the manned cabin (configured as a bed) or the backrest 118 is erected (the backrest 118 for people) .

Step 4: Associatively control the backrest angle adjustment mechanism 1318 of the manned cabin 11 and the motion mechanism for adjusting the margin behind the backrest of the manned cabin 11, so that the movement of the backrest 118 and the edge of the backrest of the manned cabin 11 The actions of the departments do not interfere with each other.

The manned cabin 11 is used for any movable equipment herein. The movable equipment includes Rack01. The base 110 of the manned cabin 11 is connected to the rack 01 of the movable equipment. The mobile device is configured to move a person. The base of the manned cabin 11 refers to the components of the rack 01 of the connected equipment in the manned cabin 11 . The base of the passenger cabin 11 can be a part of the frame 01 . This part is the frame.

The passenger compartment 11 includes a bottom 116 on which a space for people is left. Edges can be provided around or on the top of the manned space. This edge is the edge of the manned cabin 11 . The top is the top edge. The passenger compartment 11 includes at least one of a first side portion 111 , a second side portion 112 , a third side portion 113 , a fourth side portion 114 , and a top 115 . The first side portion 111 and the second side portion 112 are disposed on opposite sides of the passenger space. The third side portion 113 and the fourth side portion 114 are disposed on opposite sides of the passenger space. . The first side portion 111 is adjacent to the third side portion 113 . The second side portion 112 is adjacent to the fourth side portion 114 .

Optionally, the manned cabin 11 includes a bottom, a first side 111 , a second side 112 , a third side 113 , a fourth side 114 , and a top 115 . At least one side of the passenger cabin 11 is provided with a door or window that can be opened and closed. The movement mechanism for adjusting the edge distance of the manned cabin is used to adjust the distance between the edge of at least one side of the manned cabin and the base 110 of the manned cabin in the horizontal direction. Optionally, the edge of the at least one side These are the opposite first side portion 111 and the second side portion 112 .

Optionally, the first side 111 and the second side 112 may be arranged along the traveling direction of the movable equipment, and the second side 112 and the fourth side 114 are arranged transversely along the traveling direction of the movable equipment.

A specific implementation manner may be: the first edge 111 is arranged on the first part (front) of the movable device, the second edge 112 is arranged on the rear of the movable device, and the third edge 113 is arranged on the On the left part of the movable device, the fourth side part 114 is disposed on the right part of the movable device.

The height inside the manned compartment refers to the distance in the vertical direction between the upper surface of the bottom 116 of the manned compartment and the lower surface of the top 115 of the manned compartment. Standing height refers to the height at which a person can stand on the device. In this article, the average person refers to an adult of standard height.

As shown in Fig. 8 and Fig. 9: the manned cabin 11 includes a bottom 116, a first side 111, a second side 112, a top lifting mechanism 1315, a motion mechanism 1317 for seat posture adjustment, and a backrest angle adjustment mechanism 1318 . (other parts not shown)

Optionally, the base of the top lifting mechanism 1315 is connected to the bottom 116 of the manned cabin 11 , and the output part of the top lifting mechanism 1315 is connected to the top 115 of the manned cabin 11 .

The kinematic mechanism 1317 used for seat posture adjustment is the third swing mechanism, the base of the third swing mechanism is connected to the base 110 of the manned cabin, and the output part of the third swing mechanism is connected to the rear end of the seat 117; The rear end and the base 110 are hinged to the rotation axis 1170. The driver of the third swing mechanism is a telescopic mechanism 13171. One end of the telescopic mechanism 13171 is hinged to the seat 117, and the other end is hinged to the base 110. The telescopic mechanism can adjust the seat The angle of the front end of 117 relative to the base.

The backrest angle adjustment mechanism 1318 is a second swing mechanism, the base of the second swing mechanism is connected to the base 110 of the manned cabin, and the output part of the second swing mechanism is connected to the bottom of the backrest 118; the bottom of the backrest 118 is connected to the base 110 Hinged to the rotation axis 1180, the driver of the second swing mechanism is a rotary driver (not shown here), for example, the rotary driver is a rotary motor, one end of the rotary driver is connected to the output member, and the other end is connected to the base, and the rotary driver rotates The angle of the backrest 118 relative to the base 110 can be adjusted.

The first edge portion 111 of the manned cabin 11 is connected to the output member of the first forward and backward movement mechanism 181, and the output member of the first forward and backward movement mechanism 181 can drive the first edge portion 111 to move forward and backward; The first side portion 111 is at a distance from the base 110 of the passenger compartment in the front-rear direction.

The second edge portion 112 of the manned cabin 11 is connected to the output member of the second forward and backward movement mechanism 182, and the output member of the second forward and backward movement mechanism 182 can drive the second edge portion 112 to move forward and backward; The two side portions 112 are separated from the base 110 of the passenger compartment in the front-rear direction. The bases of the first forward and backward movement mechanism 181 and the second forward and backward movement mechanism 182 are connected to the base 110 of the passenger compartment.

See Figure 8, under the control of the control unit:

The output member of the top lifting mechanism 1315 can descend to lower the top 115 relative to the bottom 116 of the manned space;

(The output part of telescoping mechanism 13171 stretches out and drives) the kinematic mechanism 1317 action that seat tool position adjustment is used this seat tool 117 moves to seat position; Backrest angle adjustment mechanism 1318 makes this backrest 118 relative to the base 110 of this manned cabin Reclining (for configuration as a bed).

The output part of the first forward and backward movement mechanism 181 drives the first side part 111 to move forward, and the output part of the second front and rear movement mechanism 182 drives the second side part 112 to move backward; The distance between the side portion and the second side portion 112 is not less than the lying distance. Now, the manned cabin 11 has become the lying position.

Please refer to Figure 9: The sensor 0801 collects the information related to the person in the manned space changing from a sitting posture to a standing posture. under control:

The output member of the top lifting mechanism 1315 rises, so that the top 115 is raised relative to the bottom 116 of the manned space;

(The output part of telescoping mechanism 13171 is retracted and driven) The kinematic mechanism 1317 for adjusting the position of the seat is acted to make the seat 117 withdraw from the sitting position (for example, the front end of the seat 117 is drooped);

The backrest angle adjustment mechanism 1318 makes the backrest 118 stand upright relative to the base 110 of the passenger compartment;

The output part of the first forward and backward movement mechanism 181 drives the first side part 111 to move backward, and the output part of the second front and back movement mechanism 182 drives the second side part 112 to move forward; The distance between the side portion and the second side portion 112 is smaller than the lying distance. Now, the manned cabin 11 has become a standing posture.

Other optional solutions: the kinematic mechanism 1317 for seat posture adjustment can be a flat telescopic mechanism, and the telescopic mechanism makes the seat 117 stretch out to the seating position relative to the side of the manned cabin or retract to evacuate Ride pose.

Or, the motion mechanism 1317 for adjusting the posture of the seat is a swing mechanism, and one side of the seat 117 is hinged to the left side 113 or the right side 114 of the passenger cabin. Optionally, the base 110 of the manned cabin and the movable end of the seat 117 are respectively provided with an electric bolt and a hole matched with the bolt, and when the seat 117 is in the seating position, the electric bolt is inserted into the hole to enhance The carrying capacity of the seat 117.

Referring to Fig. 4, the top elevating mechanism 1315 of the movable equipment lowers the top 115 relative to the bottom 116 of the manned space; 115 is elevated relative to the bottom 116 of the manspace.

A control device comprising the manned cabin 11 or a movable device connected to the manned cabin 11 or a control device of the manned cabin 11, the control device is used to implement the control method.

The control device includes an information acquisition module for acquiring information related to the change of the people in the manned cabin from a sitting posture to a standing posture. The information acquisition module includes a sensor for collecting the information or is connected to the sensor. The control device includes an identification module or is connected to the identification module through a communication module, and the identification module is used to analyze the information to determine whether the personnel in the manned cabin change from a sitting position to a standing position. The sensor is a force sensor for identifying the pressure of the person on the seat 117 or a visual sensor for collecting image information or a sensor for collecting the distance between the human body and the seat 117 . The human body movement trend identification module is a software and/or hardware module for analyzing the human body movement trend.

The control device includes a motion mechanism control module. When the personnel in the manned cabin changes from a sitting posture to a standing posture, the motion mechanism control module controls the top lifting mechanism 1315 to make the top 115 of the manned cabin relative to the height of the manned cabin. The bottom 116 is raised and/or the kinematic mechanism 1317 for controlling the posture adjustment of the seat is actuated to make the seat 117 withdraw from the sitting posture.

In this paper, the control device of the mobile equipment includes an information acquisition module, which is used to acquire environmental information, control the driving and/or obstacle surmounting of the equipment according to the environmental information, or control the operation of the mechanical legs of the equipment according to the environmental information, or control the operation of the mechanical legs of the equipment according to the environmental information The environmental information controls the operation of the robotic arm of the control device. The information acquisition module includes sensors or a communication module for connecting external sensors. Herein, walking refers to multi-leg alternating walking. Herein, the legs mentioned anywhere are mechanical legs. The underwater propulsion device is a propeller or a mechanical leg capable of performing a stroke.

Optionally, the frame 01 is hollowed out, arranged horizontally relative to the horizontal plane, and includes a plurality of longitudinal beams and a plurality of cross beams, and two ends of each cross beam are respectively connected to two corresponding longitudinal beams. It can be understood that a plurality of longitudinal beams may be stacked in a vertical direction, and a plurality of cross beams may be stacked in a vertical direction. In this embodiment, the longitudinal beams and cross beams are made of metal materials or other materials with standard strength, such as stainless steel square tubes or aluminum profiles, and multiple square tubes are welded to form the nacelle. Longitudinal refers to the front-to-back direction. Horizontal refers to the left-right direction. Hollow is hollow.

As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5; the components of the frame 01 may also include the base of the kinematic mechanism connected to each other.

The longitudinal beam of the first side or the second side can be formed by the base of the kinematic mechanism arranged longitudinally on this side. The base of the first part of the kinematic mechanism 181 used for the forward and backward movement and the base of the second part of the kinematic mechanism 182 used for the forward and backward movement are longitudinal beams of the frame 01.

The bases of the third lifting mechanism 212 on the first part and the third lifting mechanism 221 on the second part are vertically connected to the frame 01 .

The output member of the third lifting mechanism is connected with the base of the third traveling mechanism.

The base of the fourth lifting mechanism 121 is vertically connected to the first part at the first part; the base of the first lifting mechanism 211 is vertically connected to the first part. The output member of the first lifting mechanism 211 is connected to the base of the first traveling mechanism.

The base of the kinematic mechanism 122 that the second position leg moves up and down is vertically connected to the second part; the base of the second lifting mechanism 222 is vertically connected to the second part; The foundation of the institution.

The first part and the first elevating mechanism 211 connected to this part and the moving mechanism 121 for the up and down movement of the legs of the first part are connected to the frame 01 through the longitudinally arranged moving mechanism 181 for the first part to move forward and backward. Specifically, the base of the motion mechanism 181 for the first part to move back and forth is connected to the frame 01, and the output part of the motion mechanism 181 is connected to the first part.

The second part and the second elevating mechanism 222 connected to the part and the moving mechanism 122 for moving the legs of the second part up and down are connected to the frame 01 by the moving mechanism 182 for the longitudinally arranged second part moving forward and backward. Specifically, the base of the motion mechanism 182 for the second part to move back and forth is connected to the frame 01, and the output part of the motion mechanism 182 is connected to the second part.

Please refer to Figure 5: and the device also includes several guiding mechanisms, which are used for guiding and increasing structural strength.

The upper first guiding mechanism 1611 is longitudinally arranged on the moving mechanism 181 , and the output part of the first guiding mechanism 1611 is connected to the upper part of the first part. The lower first guiding mechanism 1612 is arranged longitudinally under the moving mechanism 181 , and the output part of the first guiding mechanism 1612 is connected to the lower part of the first part. The second guiding mechanism 1621 above is vertically arranged on the moving mechanism 182, and the output member of the second guiding mechanism 1621 is connected to the top of the second part. The lower second guiding mechanism 1622 is arranged longitudinally under the moving mechanism 182 , and the output part of the second guiding mechanism 1622 is connected to the lower part of the second part. The bases of the first guiding mechanism and the second guiding mechanism are connected to the frame 01 .

A predetermined width is provided between the stringers on the first side or the second side. The bottoms of the stringers on the first side or the second side are connected by beams and/or plates. Both ends of the stringer on the first or second side. If the device is constructed to be able to move people. Then the width is set to be not smaller than the width of the shoulders of a standard adult. The bottom is used to carry the manned cabin or the bottom is the bottom of the manned cabin. Optionally, for equipment with a manned cabin, the bottom of the equipment is the bottom of the manned cabin. The top of the equipment is the top of the manned compartment. For equipment without a manned compartment, the bottom of the machine equipment is at the bottom. The top is the top of the device.

In the present invention, the description at any place can be used in any scheme in this paper: the any scheme especially refers to any mobile equipment scheme. In this article: equipment is a machine or a robot, and the three are equivalent.

1. Azimuth means direction, means angular position, means orientation. When there is no limitation, the reference object is the center of the rack 01 of the movable equipment in any orientation of front, rear, left, right, up, down, inside, and outside. Front refers to the direction in which the movable equipment travels; it refers to the direction indicated by X1 in the attached drawing.

Front includes straight front, left front, and right front. The rear includes positive rear, left rear, and right rear. Left includes positive left, left front and left rear. Right includes front right, front right and rear right. The longitudinal direction is the X direction, which is the front-to-back direction. The horizontal direction is the Y direction, which is the left-right direction. Above includes directly above, and side above is obliquely above. The top is above. Below includes directly below, and side below is obliquely below. The vertical direction is the Z direction, which refers to the up and down direction. Ground refers to the underside of the device, in particular the ground.

Any part has two ends, one being the root and the other being the tip. In the connection relationship: the root refers to the part close to the rack. The end refers to the part away from the rack. The root is the base, the fixed end is the fixture, the head end is the inner end, and the six are equal. The end is the movable end, the movable part is the output end, the output part is the outer end, and the six are equal. Herein, one end of any mechanism refers to the base of the mechanism, and the other end of the mechanism refers to the output of the mechanism. The positional relationship of any component relative to another component is based on the center of the two components.

2. In this article, the same anywhere refers to substantially the same. Substantially identical may be identical. roughly that is close to. Generally includes as, especially refers to. close to includes equal to. For example, flat means roughly horizontal. Flat can be level. Straight pointing is generally straight.

3. The meanings of commonly used nouns (plan, can, can, set, have, include):

If the word "can" or "may" or "with" is included in any of the schemes herein, the scheme includes the scheme after the word "can" or "may" or "with" is removed. Default, refers to the choice when there is no qualification specification. Several can be one or more. To drive is to drive, and the two are equivalent.

In this article, the name of any functional object is function+object. Any functional object means that the object is configured to have the property of realizing the function. For example, the lifting mechanism is the motion mechanism used to realize the lifting function. A includes B, including: A is connected to B or A is B. Include can be: include only. Just include it. The A and B can be any scheme or any device herein. A mobile platform is a platform that is mobile.

4. Connection, including: mechanical connection (between mechanical components), electrical connection (between electrical components), etc. Electrical connection includes wired connection and wireless connection. Direct connection, such as welding or crimping or screwing or hooking or hooking or snap-in connection, etc. In infinite timing, connection refers to concatenation. By default, the connection is mechanical. Types of (mechanical) connections, including: fixed connections, movable connections, and detachable connections. The connection of the two can also be the integration of the two.

Herein, any connecting part refers to a part used to connect the parts to be connected in the device. The connection part refers to the part used to support and connect the parts to be connected. For example, the components to be connected are kinematic mechanisms. A connection part means a part configured to have properties for connecting parts to be connected or has undergone processing for connection. The connection part means that the part is configured to bear the force generated by the parts to be connected. The connection part can also refer to the connection part. The part is a hole, slot or pin or reinforcement. The connection part can be a part of the rack 01 of the equipment. The connection part can also be a part that is independent from the rack 01 but connected with the rack 01 . When no limitation is specified, the connection part is arranged on the rack of the equipment.

5. A unit is a device, a system is a module, a component is a component, a device is a component, and these eight are equivalent. Any component can be distributed in multiple physical entities or a single physical entity; multiple components can also be arranged in the same physical entity. Drives are also referred to as drives. Drives are also referred to as actuators. Actuators can be responsible for the movement of robotic arms, legs, hands, heads, etc. The kinematic mechanism and its drive can be integrated. For example, an integrated joint means that the joint is integrated with the driving device of the joint. The output end of the motion device is the output end of the motion mechanism. Drives are also called drive components.

6. The frame is the body, the body, the torso, the fuselage, and the five are equal. Any movable piece of equipment has a rack. An external object refers to an object external to a movable device. When there is no limitation or additional description: the movement of the movable equipment refers to the movement of the rack of the movable equipment. Rack, that is, parts of mobile equipment that are fixedly connected to each other, and the parts that are fixedly connected to each other have the largest mass among all parts of mobile equipment. This mass is weight.

7. In this article, the equipment mentioned anywhere includes all the devices needed to realize the operation. Any equipment herein includes: a control device, an operation device and an energy supply device. It is known that the movable equipment may also include necessary electrical components and/or mechanical parts. Electrical components such as wires are used to electrically connect the various components. Mechanical parts are used to connect and support various components. Herein, the movable equipment, control device, working device and energy supply device are all configured to realize the methods, steps and functions described anywhere in this paper.

7.1. Operations include moving equipment and specific operations. Operating devices include special operating devices and mobile devices. Mobile devices are used to move mobile equipment. The movement refers to movement driven by the power system.

The running gear can be a rolling running gear or a walking gear. The walking mechanism is the leg. Any running mechanism is connected with a driver, and the driver is used to generate power to drive the device to travel along the road. Any kind of walking mechanism and the connected driver for driving the mechanism are called walking gear. The running gear includes wheeled running gear and/or crawler running gear and/or roller running gear. To walk is to drive. Walking gear is also called mobile gear. Any equipment includes this kind of running gear, then the equipment includes this kind of running gear.

Any mechanism whose input is connected to the output of a driver for driving the mechanism. The control unit of the device is connected to the drive. The drive is controlled by the control device, and the action of the mechanism is controlled by the control device. Herein, any lifting mechanism mentioned above is connected with a driver for driving the lifting mechanism, the lifting mechanism and the driver both belong to the lifting device, and the lifting device belongs to the equipment including the lifting mechanism.

Herein, any kinematic mechanism that can be controlled by the control device is connected with a driver for driving the kinematic mechanism. Both the kinematic mechanism and the driver belong to the kinematic device, and the kinematic device belongs to the equipment including the kinematic mechanism. Controlling any mechanism refers to controlling the actuators used to drive the mechanism. The power input end of the mechanism is connected with the power output end of the driver. The driver is electrically connected to the control device.

The types of motion include lifting, horizontal distance adjustment, leg walking, wheel walking, crawler walking, flying, and propulsion in water. Corresponding to the type of movement, the movement mechanism can be divided into lifting mechanism, horizontal distance adjustment mechanism, leg-type walking mechanism, wheel-type walking mechanism, crawler-type walking mechanism, flying mechanism, and underwater propulsion mechanism. Corresponding to the type of movement, moving devices can be divided into lifting devices, horizontal distance adjustment devices, leg-type walking devices, wheel-type walking devices, crawler-type walking devices, flying devices, and underwater propulsion devices. Leg walking is walking. Walking is also called driving or moving. To walk means to move on the ground. The walking devices are all ground mobile devices.

The center of gravity O of a movable device refers to the center of gravity O of the device. The standard refers to the national standard or industry standard or manufacturer standard or the average value of products in the market. When there is no limitation, the middle part mentioned herein refers to the position between the first running gear and the second running gear.

Herein, when there is no limitation or additional description: the movable equipment refers to the rack 01 of the movable equipment. The movement of the equipment refers to the movement of the rack 01 . The body is the body, the torso, the fuselage, and the frame, and these five are equal. In this paper, the ground is the road surface. Floor means the bottom surface under the equipment used to support the equipment.

When the job is mobile, the job execution device is a mobile tool. For example, the mobile equipment includes feet, climbing equipment, wheels, wings (such as rotors, flat wings or flapping wings) and the like. When the operation is a special operation, the work tool includes a pick-up device and/or a work tool. Optionally, the working tool also includes accessories for working.

The energy supply device includes or is a power source. In any of the devices in this article, the power supply is connected to the control device to supply power to the control device. In any of the devices in this paper, the energy supply device is connected to the operation device to provide energy for the operation. Further, the energy supply device is connected to the driving device in the working device to provide energy for the operation. Providing energy especially means supplying electricity. The energy supply device may be a fuel supply system, such as a fuel tank. The power source can be a battery.

The drive device is the drive unit, the power unit, the power system, the drive component, the drive assembly, and the six are equivalent. The driving device includes a power conversion device. (For example, the power conversion device is an electric motor, a fuel engine, a hydraulic cylinder, a hydraulic motor, a cylinder or an air motor, etc.). Optionally, the drive device further includes a power control device for controlling the power components. (For example, the power control device is a motor drive, hydraulic valve, fuel injection system or gas valve. The power conversion device is the power component. The drive device may include a reducer.

7.2. The control device is configured to implement any of the control methods herein. Further, the control device includes a processor and a storage module for storing instructions executable by the processor, and the processor is configured to implement any one of the control methods herein.

The control device is configured to control the movable equipment to perform any of the operations herein. To control the equipment is to control the working means of the equipment. The control device (electricity) is connected to the operation device to control it to perform operations. Specifically, the control device (electrically) is connected to the moving device in the working device, controls the moving device, and the working device connected to the moving device drives the working tool to perform operations. More specifically, the control device is (electrically) connected to the drive device in the working device, the control device controls the drive device, the drive device drives the movement mechanism connected to it (mechanically), and the movement mechanism drives the movement mechanism connected to it (mechanically). Work tools for work. According to different types of operations, there may be multiple sets of sequentially connected driving devices, moving mechanisms and operating tools. For simplicity of description herein, "controlling the driving device for driving the motion mechanism" may be referred to as "controlling the motion device" or "controlling the motion mechanism", and the three are equivalent.

The control device (electrically) controls the driving device, which means: the control device (the processing module in it) can process the information related to the operation, execute the program related to the operation, and the control device can send information related to the operation to the driving device. control signal.

The control device includes software, hardware and structural components for realizing control functions. The processor is at least one of CPU, DSP, FPGA or CPLD. The control device also includes a communication module. Further, the control device also includes at least one of a man-machine interface and a sensor module. The control device is configured to connect any components required for control. Processors are used to process, execute programs, and manipulate data. The storage module is used to store programs and data. The communication module is used to obtain environmental information collected by external sensors.

The communication module is used for communication between components within the control device and/or for communication between the control device and external systems. The communication module includes a wired communication module and a wireless communication module. For example, the wired communication module is 485 bus, CAN bus or Ethernet bus. An external system especially refers to an external information processing center, especially a network system. For example, the wireless communication module is a mobile communication module or an infrared communication module. Human-machine interface includes voice input system, display system, keyboard, mouse, buttons, human gesture recognition system, etc. A display system is a display device, especially a touch screen. The man-machine interface is used to obtain control instructions and/or data required for control, and/or to indicate status information of the movable device. The software program can come from a storage module built in the control device, or from a storage module outside the control device. The control device can obtain external software programs through the communication module.

The sensor module includes a sensor for acquiring status information of the device itself and/or an environment perception module (08) for acquiring environment information. The sensor module is used to obtain the status information of the device itself and/or the environment information through the sensor.

The control device can also obtain the information collected by the external sensor module through the communication module. The self-condition can be the angle of the body, the moving speed, the acceleration, the angle of each joint, the angular velocity, the position of each arm, etc. The sensors include IMU, gyroscope, acceleration sensor, encoder, voltage sensor, current sensor, etc. Environment refers to the environment where the device is located. The sensors for acquiring environmental information include at least one of visual sensors, radars, ultrasonic waves, satellite positioning modules, and radio frequency positioning modules. The radar includes at least one of lidar and millimeter wave radar.

The control device includes a motion control module or the control device is connected to an external automatic driving module through a communication module. The motion control module is used to control the movement of movable equipment. The motion control module includes: any one or more of a motion control device and an automatic driving module.

Any device herein includes a steering mechanism and a driver for driving the steering mechanism. The steering mechanism connects the steering wheels. Steering wheels can be steered by manipulating the steering manipulator. Here, it is also possible to control the differential speed of the wheels on both sides in the device to steer. The steering mechanism of the three-wheeled equipment can be the steering mechanism of a three-wheeled truck. The steering mechanism of the four-wheeled device may be the steering mechanism of an automobile. The steering mechanism can be a digital steering gear. The digital steering gear is connected to the running wheels to be turned. The steering gear is controlled by the control device to drive the steering wheel to turn.

7.2.1. The motion control device includes a motion control device or the connection part used to connect the device. The motion control device can be a steering wheel, accelerator, brake, rocker, and position detection device; the position detection device is a potentiometer or an encoder or a grating ruler or a Hall induction type position detection device. Motion maneuvers include forward and backward maneuvers and/or steering maneuvers.

7.2.3. The automatic driving module is used to control the movement of movable equipment in an automatic driving manner. Autonomous driving is driverless. The automatic driving module is based on satellite and map information for unmanned driving; automatic driving can be realized with reference to existing known technologies.

8. For each mode, there is a software program or control law corresponding to the mode.

9. The movable device is configured to be able to carry people, and the device has a space capable of accommodating people. The device has a manned compartment. The frame of the movable device or its related parts (such as the seat 117 ) is structurally designed to withstand a standard preset (such as 100KG) force. In this paper, the movable equipment of wheeled movement is also the vehicle. The water includes being completely in the water and partially in the water, that is, the water surface. In this article: the equipment is the robot and the machine, and the three are equivalent. A robot is a mobile robot.

10. The kinematic mechanism in any one of the devices described herein is connected to the connection part used to connect the kinematic mechanism in the device. The connection part is arranged on the frame of the equipment. The base of the kinematic mechanism is connected to the connection part used to connect the kinematic mechanism in the frame. The movement includes any one or more of rotation, movement, expansion and contraction, and winding. Movement includes translation and elevation. This translation includes moving side to side and/or moving back and forth.

The moving mechanism is the driving mechanism, the movable mechanism is the mechanism, and the four are equivalent. The mechanism includes a first member and a second member; the first member is connected to the second member; and the second member is movable relative to the first member. The two components are connected by a kinematic pair. The first member is relatively stationary in the mechanism and serves to support the second member. The first component is the base, that is, the base, that is, the fixed piece, that is, the fixed component, that is, the frame, and these five are equivalent. The base is used for connecting to the rack of the equipment or is a constituent part of the rack of the equipment. The second component moves within the moving path and/or moving range set by the first component. The second member is the movable part. The moving parts can also be divided into driving parts, driven parts and intermodal parts. The original moving part is the active part, that is, the input part, that is, the input member, and these four are equivalent. The input part is the power input part. The original moving part is used to connect the power device or the motion control device; the power device drives the original mover to move or the motion control device drives the original mover to move. Or the original moving part is the power part. The prime mover is connected with the follower. The follower is the work piece, the output piece is the output end, the output member, and the five are equivalent. The output part is the motion output part or the power output part. The intermodal part is an intermediary component between the original moving part and the driven part. Intermodal parts are used to transmit power, that is, transmission parts. The driven part drives the connected load object to move. The payload is a tool or an end effector for work. The movement mechanism is connected to the power device, which means that the original moving part of the movement mechanism is connected to the power device. The movement of the movement mechanism is driven by the power unit. The control device is used to control the power device to drive the movement mechanism, which means that the control device is used to control the movement of the movement mechanism. The power unit is also called a drive. By default, active items refer to output items. For ease of reading, the name of the device can be directly used to indicate the mechanism of the device. For example, the wheel finger wheel mechanism. Electric push rod refers to electric push rod mechanism. Cylinder refers to a cylinder mechanism. The hydraulic cylinder refers to the hydraulic cylinder mechanism. The mechanical arm refers to the mechanical arm mechanism.

Distinguished from the motion characteristics (of the output member), the motion mechanism includes a rotary motion mechanism, a linear movement mechanism, and the like. According to the type of motion mechanism included: the drive device can be divided into rotary drive device, linear drive device, etc. For example, the rotary drive device is a rotary motor. Linear drive means that the output member of the device can linearly reciprocate relative to the base of the device. The telescoping device refers to a device for telescoping, which includes a telescoping mechanism and a driver for driving the telescoping mechanism. For example, the telescopic device is an electric push rod device, or a piston-type cylinder device or a telescopic hydraulic cylinder device.

Rotary kinematic mechanism, the output of the mechanism can rotate relative to the base of the mechanism. The output member may be a rotary shaft. A rotary motion mechanism may be a gear set mechanism, a worm gear mechanism, or a rotary motor mechanism. The rotary kinematic mechanism may be a rotary joint.

The base of the gear set mechanism is a bracket used to connect the shaft of the gear; the gear can rotate relative to the bracket, and the output part of the gear set mechanism is an output gear. The input member of the gear set mechanism is the input gear. A gear set mechanism is also called a (rigid) gear drive. The base of the worm gear mechanism is a support for connecting the worm gear and the worm, and the worm gear and the worm can rotate relative to the support. The output part of the worm gear mechanism is the worm gear, and the worm screw is the input part. The axis of the turbine intersects (possibly perpendicularly) the axis of the worm. The worm gear is the worm (transmission) mechanism. The base of the rotary motor mechanism is the stator of the motor and the output of the rotary motor is the rotor, which is rotatable relative to the stator. The input to the mechanism is a coil for generating a magnetic field. The rotor is driven by the magnetic field generated by the coil.

Linear movement is linear motion. Linear especially refers to a straight line. A linear motion mechanism means that the output member of the motion mechanism can linearly reciprocate relative to the base of the motion mechanism. A linear motion mechanism is a linear joint. A slider is a slider.

From the point of view of being available for purchase from a shopping mall and being practical, the linear moving mechanism can be a rail-type moving mechanism or a telescopic mechanism. The guide rail is the slide rail. The base of the guide rail type motion mechanism is a guide rail, and the output part is a slider. Optionally, the slider can be in contact with the guide rail through rollers to reduce resistance during sliding.

The telescopic mechanism is a linear movement mechanism with a telescopic function. The output part of the telescoping mechanism is movable and telescopic relative to the base of the mechanism. The length of the output member is close to the length of the base. The output member moves relative to the base so that the distance between the free end of the output member and the base can be adjusted. The output part of the telescopic mechanism is the telescopic rod. Among the two ends of the output member, the end away from the base is the free end, namely the movable end. Optionally, the telescopic mechanism is an electric push rod, a piston cylinder or a telescopic hydraulic cylinder.

Please refer to Figure 12: an electric push rod, its interior is a screw mechanism, the base 201A of the electric push rod is the outer tube of the push rod, the output part 203A of the electric push rod is the telescopic rod of the push rod, and the internal screw The mechanism includes a lead screw 202A.

Please refer to Figure 13: a guide rail type motion mechanism with a screw mechanism inside. The screw mechanism includes a base 201B, a screw 202B and an output member 203B with a screw hole. The base 201B is a bracket connecting the screw rod 202B and the output member 203B. The output piece 203B with a screw hole means that the output piece is provided with a screw hole or the output piece 203B is connected with a nut. The screw hole or the nut is provided with a thread matched with the threaded rod 202B. The output member 203B is sleeved on the screw rod 202B and screwed to the screw rod 202B. The driver of the mechanism is a motor. The input to the mechanism is the lead screw 202B. The base of the motor is connected to the base 201B of the screw mechanism. The output shaft of the motor is connected to one end of the screw rod 202B of the mechanism, and the motor can drive the screw rod 202B to rotate around its own axis. The rotation of the lead screw 202B can drive the output member 203B to move along the length direction of the lead screw. That is, the output member cooperates with the screw rod 202B to convert the rotation of the screw rod 202B into the linear movement of the output member.

Please refer to FIG. 14 : a slide rail type guide mechanism, its base 201D is the base of the slide rail, and its output part 203D is the movable part of the slide rail.

The piston cylinder, that is, the telescopic cylinder, is a cylindrical metal device that guides the piston to perform linear reciprocating motion. Telescopic hydraulic cylinders especially refer to piston hydraulic cylinders. The base of the piston cylinder is a cylinder block, and the output part is a telescopic rod connected to the piston. The base of the telescopic hydraulic cylinder is a hydraulic cylinder block, and the output part is a telescopic rod connected to the piston.

The guide rail type motion mechanism or the electric push rod can specifically be a screw mechanism or a rack and pinion mechanism. The base of the rack and pinion mechanism is a bracket used to connect the gear and the rack; the rack can move back and forth relative to the bracket, and the output of the mechanism is a rack. The input of the mechanism is a gear.

The guide assembly includes a slide rail and a slide block slidably connected with the slide rail. The base of the linear movement mechanism is strip-shaped. The direction of the base is the direction of the linear movement mechanism. The direction of the lead screw in the screw mechanism is the direction of the base in the mechanism. The direction of the rack in a rack and pinion mechanism is the direction of the base in the mechanism.

(From the distinction of functions) the kind of kinematic mechanism includes traveling gear, steering gear, distance adjustment mechanism, translation kinematic mechanism (18), lifting kinematic mechanism, rotary joint, telescopic mechanism, single-stage swing mechanism, winding mechanism etc. The running gear is also called the running gear.

The lifting mechanism is the motion mechanism used to realize the lifting function. The output member of the kinematic mechanism can be raised and lowered relative to the base of the kinematic mechanism. The forward and backward movement mechanism is a movement mechanism for realizing forward and backward movement. The output member of the kinematic mechanism can move back and forth relative to the base of the kinematic mechanism. Fore and aft motion means displacement in the fore and aft direction.

If there is no special description of the multi-link swing mechanism, the single-stage swing mechanism mentioned in this article refers to the single-link swing mechanism.

The lifting mechanism can be a vertical linear movement mechanism; the output part of the linear movement mechanism moves up and down relative to the base. The movement mechanism capable of generating displacement in the horizontal direction may be a flat linear movement mechanism. The forward and backward movement mechanism can be a linear movement mechanism pointing forward and backward. A single-stage swing mechanism refers to a connecting rod driven by a rotating mechanism to swing. The output shaft of the rotating mechanism is connected with one end of the connecting rod. The other end of the connecting rod swings around the output shaft. A multi-stage swing mechanism refers to a series connection of multiple single-stage swing mechanisms. For example, mechanical leg 02 is a multi-stage swing mechanism.

The multi-dimensional motion mechanism refers to the end-to-end connection and linkage of at least two motion mechanisms.

The distance adjustment device includes a telescopic device or an articulated distance adjustment device. Preferably, the distance adjusting device is a telescopic device. The distance adjustment mechanism includes a telescopic mechanism or a hinged distance adjustment mechanism. Preferably, the distance adjustment mechanism is a telescopic mechanism.

The articulated distance adjustment mechanism is also called a swing distance adjustment mechanism or an angle distance adjustment mechanism. The swing-type distance adjustment mechanism is a single-stage swing mechanism, that is, a swing joint. The articulated distance adjustment mechanism refers to: the output part of the mechanism is hinged to the base of the mechanism; the output part can rotate around the hinge, one end of the output part is the hinged end, and the other end of the output part is the free end or the movable end. When the output member rotates around the hinge (that is, the angle of the output member relative to the base is adjusted), the horizontal or vertical distance between the free end of the output member and the hinged end can be adjusted. The output part of the single-stage swing mechanism is the swing arm. The trajectory of the movement of the connected load driven by the output member is an arc.

The lifting mechanism can also be the hinged distance adjustment mechanism, which is used to adjust the vertical distance between the free end of the output member and the hinged end. The movement mechanism capable of generating displacement in the horizontal direction can also be a hinged distance adjustment mechanism, which is used to adjust the horizontal distance between the free end of the output member and the hinged end.

The output member rotates around the hinge, that is, the output member swings relative to the base. The axis of the output member intersects the axis of rotation. The swing and swing joints can be driven by telescopic mechanisms. The base of the telescopic mechanism is hinged to the first component of the swing joint, and the output end of the telescopic mechanism is hinged to the second component of the swing joint. The expansion and contraction of the telescopic mechanism makes the second member swing (rotate around the hinge) relative to the first member. For example, the telescoping mechanism is an electric push rod, a piston hydraulic cylinder or an air cylinder.

A single-stage oscillating mechanism may also be driven by a rotary-type drive device such as a rotary motor. The base of the single-stage swing mechanism is connected to the base of the rotary drive device, and the output member (ie, the swing arm) of the single-stage swing mechanism is connected to the output shaft of the rotary drive device. The axis intersects the axis of rotation.

The present invention also provides a computer-readable storage medium, the computer-readable storage medium can be set in the removable equipment and control device in the above-mentioned embodiments, and the computer-readable storage medium can be a memory, that is, a storage module . A computer program is stored on the computer-readable storage medium, and the program is used to realize any control method herein when executed by a processor. Further, the computer storage medium may also be various media capable of storing program codes such as a U disk, a mobile hard disk, a read-only memory, a read-write memory, a RAM, a magnetic disk or an optical disk. The computer storage medium can also be a remote or network or cloud storage medium; the remote or network or cloud storage medium realizes the transmission of programs and information through the communication module control device.

The above are only optional embodiments of the application, and are not intended to limit the application. For those skilled in the art, various modifications and changes may occur in this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

A mobile device, characterized in that it comprises:

rack(01);

A plurality of mechanical legs (02) capable of walking connected to the frame (01);

A rolling traveling mechanism (57) connected to the frame (01), the rolling traveling mechanism is used to drive the equipment to travel along the road surface;

The equipment also includes a rolling element lifting mechanism (21), one end of the rolling element lifting mechanism (21) is connected to the frame (01), and the other end of the rolling element lifting mechanism (21) is connected to the rolling traveling mechanism ( 57); and/or, the device also includes a fourth movement mechanism for enabling the base of the mechanical leg (02) to move up and down and/or forward and backward relative to the frame (01), the fourth movement One end of the mechanism is connected to the frame (01), and the other end of the fourth motion mechanism is connected to the base of the mechanical leg (02); and/or, at least one mechanical leg in the plurality of mechanical legs (02) The end is provided with a work tool (17) or with a connection for connecting a work tool (17), the mechanical leg and the work tool (17) are configured for a specific operation, the specific operation includes cutting objects and/or Or digging or shoveling.
The mobile device of claim 1, wherein,

The end of the mechanical leg (02) is provided with rollers; or,

The top (115) of the device is connected to the frame (01) through the fifth lifting mechanism (1315) so that the top (115) can be lifted relative to the frame (01) and/or the top (115) is provided with rollers.
The mobile device according to claim 1, characterized in that the fourth movement mechanism comprises a fourth lifting mechanism (12) for enabling the base of the mechanical leg (02) to move up and down, Any one of the fourth forward and backward movement mechanism that enables the base of the mechanical leg (02) to move back and forth, the single-stage swing mechanism that enables the base of the mechanical leg (02) to swing up and down, or Any variety.
The movable equipment according to claim 1, characterized in that, the rolling traveling mechanism (57) and the rolling element lifting mechanism (21) used for lifting the rolling traveling mechanism are configured as: a rolling rolling mechanism that can be raised and lowered in sections. type running gear group; and/or, the equipment also includes a manned cabin (11) and/or, the equipment also includes an underwater propulsion device connected to the frame (01).
A movable device, characterized in that it comprises: a frame (01), a rolling walking mechanism group connected to the frame (01) that can be lifted and lowered in sections, and the rolling walking mechanism group that can be lifted and lifted in sections It is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections;

The rolling traveling mechanism group that the first segmental lift can comprise the first lifting mechanism (211), the second lifting mechanism (222), the 3rd lifting mechanism (212), the first traveling mechanism (571), the second traveling mechanism ( 572) and the 3rd running mechanism (573);

One end of the first lifting mechanism (211), the second lifting mechanism (222) and the third lifting mechanism is connected to the frame (01);

The other end of the first lifting mechanism (211) is connected to the first traveling mechanism (571); the first lifting mechanism (211) is used to adjust the first traveling mechanism (571) relative to the frame (01 )distance;

The other end of the second lifting mechanism (222) is connected to the second traveling mechanism (572); the second lifting mechanism (222) is used to adjust the second traveling mechanism (572) relative to the frame (01 )distance;

The other end of the third lifting mechanism is connected to a third traveling mechanism (573); the third lifting mechanism is used to adjust the distance of the third traveling mechanism (573) relative to the frame (01);

And the first traveling mechanism (571) and the second traveling mechanism (572) are arranged at intervals along the traveling direction; the third traveling mechanism (573) is located between the first traveling mechanism (571) and the second Between walking mechanism (572).
The movable equipment according to claim 5, characterized in that, the equipment also comprises a fourth traveling mechanism (15), a mechanical arm or a multifunctional mechanical leg (02) or a manned cabin (11) for operation or underwater propulsion devices.
A control method for movable equipment as claimed in claim 5 or 6, the equipment comprises a frame (01), a group of rolling walking gears connected to the frame 01 that can be lifted and lowered in sections, the sectionable The lifting rolling walking mechanism group is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections, and the control method includes steps Y1 and/or Y2:

Y1: Control the device to travel, control the lifting mechanism corresponding to the walking mechanism to be overcome, make the walking mechanism to rise relative to the frame (01) to overcome the obstacle, and/or, control and eliminate the obstacle The lifting mechanism corresponding to several running gears other than the running gear of the obstacle makes the several running gears descend relative to the frame (01) to support the ground, so that the running gear to be surmounted can rise to surmount the obstacle.

Y2: Control the device to move in the direction of the lower step, control the lifting mechanism corresponding to the running mechanism that has been suspended above the section below the step, and make the running mechanism drop relative to the frame (01) so that the running mechanism The section below the steps supports the ground. The control method is used to enable the movable device to overcome obstacles.
A method for controlling movable equipment, the equipment comprising a frame (01), a fourth traveling mechanism (15) connected to the frame (01), and a rolling rolling mechanism connected to the frame 01 that can be raised and lowered in sections. The walking mechanism group, the rolling walking mechanism group that can be lifted and lowered in sections is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections; the control method includes steps S1 and/or or S2:

S1: Control the group (600) of rolling traveling gears (600) that can be raised and lowered in sections so that the raised and lowering rolling running gears contained therein are raised relative to the frame 01 so that the fourth running gear 15 supports the ground;

S2: Controlling the group of rolling traveling mechanisms (600) that can be raised and lowered in sections to make the equipment overcome obstacles.
A control method for a movable device, the movable device includes a frame (01) and a plurality of mechanical legs connected to the frame (01), and at least one of the plurality of mechanical legs is configured as a multi- The mechanical leg (02) of function, this multi-function includes being used for specific operation and walking, it is characterized in that, this control method comprises step M1:

Control the multifunctional mechanical leg (02) to carry the personnel in the manner of supporting the personnel from below; and/or control the multifunctional mechanical leg (02) to drive the working tool connected to the end of the mechanical leg (02) ( 17) transporting personnel by grabbing flexible objects connected to personnel; and/or, controlling the multifunctional mechanical leg (02) to drive the working tool (17) connected to the end of the mechanical leg (02) to perform specific operations, The specific operation is at least one of cutting an item or digging or shoveling.
A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, the control method according to any one of technical solutions 7-9 is implemented.
A control device for movable equipment, characterized in that the control device includes a processor, and the processor is used to execute a computer program, and when the program is executed by the processor, it can realize the process described in any one of technical solutions 7-9. control method.
A mobile device, characterized by comprising the control device according to technical solution 11.