WO2023134734A1 - Appareil mobile, procédé et dispositif de commande, support de stockage et plateforme mobile - Google Patents

Appareil mobile, procédé et dispositif de commande, support de stockage et plateforme mobile Download PDF

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Publication number
WO2023134734A1
WO2023134734A1 PCT/CN2023/071975 CN2023071975W WO2023134734A1 WO 2023134734 A1 WO2023134734 A1 WO 2023134734A1 CN 2023071975 W CN2023071975 W CN 2023071975W WO 2023134734 A1 WO2023134734 A1 WO 2023134734A1
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WO
WIPO (PCT)
Prior art keywords
leg
frame
mechanical
mechanical leg
base
Prior art date
Application number
PCT/CN2023/071975
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English (en)
Chinese (zh)
Inventor
冯春魁
Original Assignee
冯春魁
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from PCT/CN2022/071683 external-priority patent/WO2023133743A1/fr
Application filed by 冯春魁 filed Critical 冯春魁
Publication of WO2023134734A1 publication Critical patent/WO2023134734A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D90/00—Component parts, details or accessories for large containers
    • B65D90/12—Supports

Definitions

  • the invention belongs to the technical field of robots, and in particular relates to movable equipment, a control method and device, a storage medium and a mobile platform.
  • the publication number or authorization number disclosed by Nissan Corporation of Japan is CN100540237 called the control method of legged mobile robot, the disclosure or authorization number is CN1240524C, the biped walking robot, the disclosure or authorization number is CN1234507C biped walking robot, disclosure or authorization No. CN100566952 legged mobile robot and its control device and control method, public or authorized No. CN102300680A named robot arm control method, authorized announcement No. CN109571423A-robot control system, robot control method and robot control system users
  • the device discloses a variety of legged mobile robots with arms, a variety of legs, multiple arms, a coordinated control method for the robot to walk and arm fetching operations, and a legged mobile robot to push or pull or lift external objects (i.e. objects Objects) to make them move, legged mobile robots move, and methods for installing objects by hand.
  • the publication or authorization number published by Boston Dynamics in China is CN109571544A-mixed hydraulic and electric actuated mobile robot
  • the publication or authorization number is CN110035872A-the overall manipulation on legged robots using dynamic balance
  • the disclosure or authorization number is CN110073579A-Motor and controller integration for legged robots
  • public or authorized number is Boston-CN111482960A-robot and its operation method; discloses a variety of bipedal, quadrupedal or more-legged robots, legs, arms, joints , Actuators used to actuate the joints or components of the robot, a variety of control legs to make the robot walk (stand, walk, run, jump), control the arm to perform work, and control the technical control of the robot to maintain balance by manipulating the legs and arms at the same time plan.
  • Gait control technology for legged robots.
  • the legs are installed on opposite sides of the frame in pairs, and walking is realized through the alternation of support phase and swing phase of each pair of legs.
  • Gait is the method of moving on foot. Gait is achieved by defining when and where each foot is lifted and placed, complemented by 6 degrees of freedom of motion of the body to move the body.
  • a gait refers to the sequence of performing leg and body motions that make a legged robot walk. Gait is divided into discontinuous gait and continuous gait.
  • Continuous gait is divided into wave gait, crab gait and so on. wait.
  • Wavy gait is defined as having at least 3 legs in stance at any one time.
  • D-H forward kinematics model select the reference coordinate system associated with the joint and the connecting rod, and derive the kinematics model of the open chain mechanism.
  • Joint variables can also be determined via the inverse kinematics model, ie via the position and inversion of the foot.
  • To support the phase is to support the ground. Standing is when the legs touch the ground and the support frame lifts off the ground.
  • the frame swing phase is relative to the frame swing and off the ground.
  • the current excavator has a strong working ability, but it can only move the excavator simply by touching the ground with the excavator arm, and the simple movement is fundamentally different from the (real) walking with multiple legs alternately supporting the ground.
  • Robots and four-legged robot dogs can walk with multiple legs alternately (true), fast and flexible.
  • humanoid robots and quadruped robot dogs in the prior art lack the technical solutions and corresponding capabilities to perform (high performance, multi-scenario) specified operations with legs, resulting in (high cost, multi-joint, strong and powerful) mechanical legs (severe) Idle, reducing the cost performance; humanoid robots and quadruped robot dogs in the prior art have the problems of easily losing stable support (balance) ability, falling to the ground, and damage on the stomach when working with legs; This kind of wheel-leg integrated robot, because its wheels are set on the legs, once the legs are lifted up to carry out operations, the wheels will also be 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;
  • the wheel-track walking mechanism has high speed and high efficiency, but it has the problem of difficulty in overcoming obstacles. Therefore, there is an urgent need for new technologies to solve one or more of the above problems, so as to improve the performance of equipment with mechanical legs or to share and reduce the cost of using the
  • this application provides:
  • a movable device comprising: a rack (01);
  • the mechanical leg (02) located on the first side of the center of gravity (O) of the device and the mechanical leg (02) located on the second side of the center of gravity (O) of the device The mechanical leg (02) of the first side and the mechanical leg (02) of the second side are all connected to the frame (01); the mechanical leg (02) of the first side and the mechanical leg (02) of the second side ( 02) Configured to be able to walk;
  • At least one of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side is a mechanical leg with a leg-arm fusion, and the end of the mechanical leg with a leg-arm fusion is connected to an end effector, the The end effector is a work tool (17) or is used to connect a work tool (17) connecting portion;
  • the equipment also includes a rolling traveling mechanism (57) connected to the frame (01), which is used to support the frame (01) off the ground and make the device travel along the road; and/or, the
  • the device also includes a leg-root motion mechanism for enabling the base of the mechanical leg to move up and down and/or forward and backward relative to the frame (01), and one end of the leg-root motion mechanism is connected to the frame (01) , the other end of the leg root motion mechanism is connected to the base of the mechanical leg.
  • the fused robotic leg and the work implement (17) are configured for a given work. Walking is walking on multiple legs alternately.
  • the mechanical leg of leg-arm fusion is the multifunctional mechanical leg, that is, the mechanical leg with arm function, that is, the limb mechanism of leg-arm fusion, and the four are equivalent.
  • any one of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side includes: a first joint part (101), a thigh (102), a second joint part ( 103) and the lower leg (104), the second joint part (103) includes a second swing joint for enabling the lower leg (104) to swing back and forth relative to the thigh (102), the base of the mechanical leg refers to the first a base of a first joint included in a joint part (101), the end of the mechanical leg being the end of the lower leg (104);
  • the first joint part (101) includes a first swing joint (1012) that allows the thigh (102) to swing back and forth relative to the base of the mechanical leg, or the first joint part (101) includes a A first rotary joint (1011) for leg rotation and a first swing joint (1012) for enabling the thigh (102) to swing back and forth relative to the base of the mechanical leg, the first rotary joint (1011) is connected to The first swing joint (1012).
  • the first swing joint (1012) enables the thigh (102) to swing back and forth, and the second swing joint enables the lower leg to swing back and forth, thereby realizing the basic performance of walking.
  • the first rotary joint (1011) can make the thigh (102) sag and make the thigh (102) swing left and right relative to the base of the mechanical leg, which is beneficial for improving walking performance.
  • any of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side are used for walking, any of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side
  • the output shaft of the first joint included in a mechanical leg points forward and backward, left and right, or downward, and the root of the thigh (102) included in the mechanical leg (02) is located below the base of the first joint.
  • the benefit of the output shaft of the first rotary joint 1011 pointing forward and backward 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.
  • the rotation axis of the first joint of the digging arm of the excavator points up and down and the root of the digging arm is located above the base of the first joint, and the digging arm can Rotate back and forth around the vertical axis, so that the manned cabin must also rotate with the excavator arm, otherwise the two will interfere with each other.
  • the manned cabin needs to be rotated as a whole, it must not be firmly connected to the frame, cannot guarantee safety during high-speed driving, and especially cannot pass the collision safety test, so the excavator can only move slowly, losing the power of the car and the vehicle.
  • the first joint (101) of the first joint (101) of the mechanical leg (02) includes the output shaft of the first rotary joint (1011) pointing forward and backward or left and right, and the mechanical leg (02) does not It will hinder the connection of the frame and the manned pod, and will not cause the manned pod to rotate to avoid interference with the mechanical legs (02), so that the movable equipment allows high speed travel.
  • the end of the mechanical leg is connected to the end effector: the end of the mechanical leg is connected to the end effector through a third joint, and the third joint is used to adjust the attitude of the end effector;
  • the third joint part includes a joint (1052) for swinging the end effector relative to the lower leg (104).
  • the joint (1052) enables the end effector to swing up to prevent The end effector touches the ground; and/or, the third joint part includes at least three joints for adjusting the posture of the end effector in three-dimensional space.
  • the swing joint (1052) prevents the end effector from being trampled when the mechanical leg is used for walking. Because the real space and objects are mainly three-dimensional, at least three joints can realize three-dimensional angle adjustment, which is beneficial to improve operation performance.
  • the core difference between this solution and the excavator is that the excavator’s excavator arm has only four joints, and only six joints and six degrees of freedom mechanical legs can reach the end effector to any position and angle within the range of the arm, in order to achieve real High performance jobs.
  • One end of the third joint part is connected to the end of the lower leg (104), and the other end of the third joint part is connected to the end effector.
  • the at least three joints are sequentially connected joints (1051) for first end rotation, so that the end effectors are relatively
  • the joint (1052) for swinging the lower leg (104), the joint (1053) for the second end rotation, and the joint (1051) for the first end rotation is used to make the end effector output around the joint (1051)
  • the axis of the shaft rotates, and the second end-rotation joint (1053) is used to rotate the end effector about the axis (A6) of the output shaft of the joint (1053).
  • the movable device as described in technical solution 1, at any one of the first end of the rack (01), the middle of the rack (01) and the second end of the rack (01)
  • the base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side in the interval are connected through the second bracket, when the mechanical leg (02) on the first side connected through the second bracket
  • the mechanical leg (02) on the first side connected by the second bracket and the second side can walk along the road independently of the device.
  • the mechanical leg (02) can walk along the road independently of the device, and one function can become two machines to perform tasks respectively, which is of great significance.
  • connection part for connecting the working tool (17) is a grabbing device (06), and/or the connection is grabbing.
  • the grabbing device (06) can more conveniently replace the working tool (17) or working object, which is convenient for working.
  • the grabbing device (06) includes: a linear moving mechanism (06_2) for fetching objects, one end of the linear moving mechanism (06_2) is connected to the end of the mechanical leg of the leg-arm fusion, and the other end is connected to the hook The hook (06_3) of the object, the linear movement mechanism (06_2) is used to drive the hook (06_3) to move linearly to grab the object or release the object.
  • the common grasping device (06) is a finger-articulated grasping device, which grasps objects by holding multiple fingers together. Therefore, the multi-functional mechanical leg 02 in the equipment in this article is not only 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 tool stably or it will easily fall when climbing) , the pick-up device 06 adopts the way of grabbing in a straight line with a hook. Compared with the clamping scheme of the grabbing device with articulated swing and fingers gripping in the prior art, it has greater grabbing force and higher grabbing reliability. .
  • the rolling running gear (57) includes a first running gear (511) and a second running gear (522) that are connected to the frame (01), and when the posture of the frame (01) is the first lying position,
  • the first traveling mechanism (511) is located in front of the center of gravity (O) of the movable equipment
  • the second traveling mechanism (522) is located behind the center of gravity (O) of the movable equipment
  • the first traveling mechanism (511) The lower surface of the lower surface and the lower surface of the second running gear (522) are lower than the surface of the second area of the frame (01), the first running gear (511) and the second running gear (522) are used for supporting the frame (01) off the ground and making the device run along the road;
  • the rolling traveling mechanism (57) includes a third traveling mechanism connected to the frame (01).
  • the third traveling mechanism is a crawler type traveling mechanism (07).
  • the posture of the frame (01) is the first horizontal In the posture, the lower surface of the third traveling mechanism is lower than the surface of the second area of the frame (01), and the third traveling mechanism is used to support the frame (01) off the ground and make the equipment travel along the road surface, And the center of gravity (O) point of this equipment all has the arrival point of this 3rd running mechanism on the front, rear, left and right sides.
  • the first running mechanism and the second running mechanism are separated front and rear, which can form a standard front and rear wheel running mechanism.
  • This mechanism (like the wheel scheme of a car or motorcycle) has high efficiency and fast speed when driving on flat roads .
  • the tracked walking mechanism can provide greater grip than the wheel mechanism on the beach and snow, and is also suitable for climbing stairs.
  • the mobile device according to technical solution 2 includes any one or more of the first feature, the second feature, the third feature, and the fourth feature:
  • the edge of the first end of the first traveling mechanism (511) is located on the surface of the frame (01) close to the second area forward of the edge of the first end;
  • Second feature when the posture of the frame (01) is the first prone position, the edge of the second end of the second walking mechanism (522) is located on the first surface of the frame (01) close to the second area. behind the edges of both ends; and/or,
  • the device includes road wheels connected to the first area of the first end of the frame (01), when the frame (01) is in the first prone position: the first end of the first end.
  • the upper surface of the road wheels of the area is higher than the surface of the first area of the first end of the frame (01), and/or the edge of the first end of the road wheels of the first area of the first end is located at the frame (01) in front of the edge near the first end of the surface of the first region;
  • the device includes road wheels connected to the first area of the second end of the frame (01), when the frame (01) is in the first prone position: the first area of the second end
  • the upper surface of the road wheels is higher than the surface of the first area of the second end of the frame (01), and/or the edge of the second end of the road wheels of the first area of the second end is located near the frame (01) of the first area behind the edge of the second end of the surface.
  • the first running mechanism (511) can support the edge of the first end of the frame (01) close to the surface of the second area from the ground, the first Two standing postures are that the first end of the frame (01) faces the ground and the second end of the frame (01) faces upwards;
  • the second walking mechanism (522) can support the second side of the surface of the frame (01) close to the second area.
  • the edge of the end is off the ground, and the first standing posture is that the second end of the frame (01) faces the ground and the first end of the frame (01) faces upward.
  • the beneficial value of this feature is: when the posture of the frame (01) is the second standing posture, the walking wheels in the first area of the first end can support the frame (01) close to the first An edge of the first end of the surface of a region is off the ground.
  • the upper surface of the road wheels in the first region of the first end is higher than the first surface of the first region of the first end of the frame (01).
  • the upper surface feature of the road wheels in the first area of the first end is: when the posture of the frame (01) is the second prone position, the road wheels in the first area of the first end can support the The surface of the first region of the first end of the frame (01) is off the ground.
  • the edge of the second end of the road wheel in the first area of the second end is located at the edge of the second end of the surface of the frame (01) close to the first area
  • the beneficial value of this feature is: when the posture of the frame (01) is the first standing posture, the walking wheels in the first area of the second end can support the surface of the frame (01) close to the first area
  • the edge of the second end is off the ground.
  • the upper surface of the road wheels in the first region of the second end is higher than the second end of the surface of the first region of the second end of the frame (01).
  • the upper surface feature of the road wheels in a region the beneficial value of this feature is: when the posture of the frame (01) is the second prone position, the road wheels in the first region of the second end can support the frame (01 The surface of the first region of the second end of ) is off the ground.
  • the edge of the first end of the road wheel in the first area of the first end is located in front of the edge of the first end of the surface of the frame (01) close to the first area. Effect: when the posture of the frame (01) is the second standing posture, the first traveling mechanism (511) and the road wheels in the first area of the first end can support the first end of the frame (01). Edge off the ground.
  • the upper surface of the road wheel in the first area of the first end in the third feature is higher than the surface of the first area of the first end of the frame (01) + the first area of the second end in the fourth feature
  • the beneficial effect of the upper surface of the walking wheel being higher than the surface of the first area of the second end of the frame (01): when the posture of the frame (01) is the second prone position, the first area of the first end
  • the road wheels and the road wheels in the first area of the second end can support the surface of the frame (01) in the first area of the frame (01) off the ground.
  • one end of the edge facing the ground is provided with a wheel for supporting the end off the ground and the frame ( 01)
  • the resistance of sliding along the ground has a very good effect. Both ends of the edge towards the ground are provided with wheels for supporting the edge towards the ground from the ground, so that the resistance of the frame (01) sliding along the ground during this posture can be better reduced. Reduce the resistance of the frame (01) sliding along the ground in this posture, so that the frame (01) can move along the ground in this posture, and facilitate the adjustment of the mechanical legs of the leg-arm fusion according to the needs of the operation when performing specified operations
  • the front, rear, left, and right positions of the frame (01) can improve workability.
  • the equipment also includes a first lifting mechanism (211) and a second lifting mechanism (222), one end of the first lifting mechanism (211) and the second lifting mechanism (222) are connected to the frame (01), the The other end of the first elevating mechanism (211) is connected to the first traveling mechanism (511), and the first elevating mechanism (211) is used to lift the first traveling mechanism (511) relative to the frame (01).
  • the other end of the two lifting mechanisms (222) is connected to the second traveling mechanism (522), and the second lifting mechanism (222) is used to lift the second traveling mechanism (522) relative to the frame (01); and/or , the equipment also includes the third lifting mechanism, one end of the third lifting mechanism is connected to the frame (01), the other end of the third lifting mechanism is connected to the third traveling mechanism, and the third lifting mechanism is used to make the The 3rd traveling gear is lifted relative to this frame (01).
  • Robots in the prior art also have the problem that the whole machine is inconvenient to perform posture and/or ground height when the mechanical legs are used for work off the ground.
  • the lifting mechanism can not only improve the equipment's ability to overcome obstacles (such as raising the frame to overcome obstacles, such as lifting the rolling walking mechanism to be overcome to the ground to overcome obstacles), but also adjust the equipment when working with mechanical legs.
  • the attitude and/or height above the ground are beneficial to improve the quality of work.
  • 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.
  • 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.
  • the mobile device as described in technical solution 2 is characterized in that,
  • the first traveling mechanism (511) is the first traveling wheel or the first distributed crawler mechanism; and/or,
  • the second traveling mechanism (522) is a second traveling wheel or a second distributed crawler mechanism; and/or,
  • the first traveling mechanism (511) includes a first traveling mechanism (051) arranged on a first side of the center of gravity (O) of the equipment and a first traveling mechanism (053) arranged on a second side of the center of gravity (O)
  • the second traveling mechanism (522) includes a second traveling mechanism (052) arranged on the first side of the center of gravity (O) of the equipment and a second walking mechanism arranged on the second side of the center of gravity (O) Agency (054); and/or,
  • the rolling traveling mechanism composed of the first traveling mechanism (511) and the second traveling mechanism (522) is disconnected from the frame (01)
  • the rolling traveling mechanism can be independent of the equipment along the road driving in front of you; and/or,
  • the crawler-type traveling mechanism (07) When the crawler-type traveling mechanism (07) is disconnected from the frame (01), the crawler-type traveling mechanism (07) can run along the road independently of the equipment.
  • the first traveling mechanism is the first traveling wheel
  • the second traveling mechanism is the second traveling wheel
  • the cost of the traveling wheels is low
  • the driving speed on flat roads is fast
  • the efficiency is high.
  • distributed crawler mechanisms are more conducive to anti-skid.
  • the first running mechanism includes a left and right running mechanism
  • the second running mechanism includes a left and right running mechanism, which is similar to a tricycle or a four-wheel vehicle as the running mechanism, and can improve static stability when the supporting frame is off the ground.
  • the traveling mechanism can run along the road independently of the equipment, and one machine can be transformed into two machines, which can perform different tasks respectively.
  • the leg movement mechanism includes a first linear movement mechanism (184) connected to the bracket, the first linear movement mechanism (184) is arranged on the bottom of the frame (01) or on the first side or the second side, the first linear movement mechanism
  • the base of the kinematic mechanism (184) is connected to the frame (01)
  • the output part of the first linear kinematic mechanism (184) is connected to the bracket
  • the first side part of the bracket is connected to the leg-arm fusion of the first side.
  • the base of the mechanical leg, the component on the second side of the bracket is connected to the base of the mechanical leg fused with the leg arm on the second side, and the first linear motion mechanism is used to: drive the base of the mechanical leg on the first side
  • the base of the mechanical leg of the seat and the second side moves between the first end of the frame (01) and the second end of the frame (01) or between the first end of the frame (01) and the second end of the frame (01). moving between the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01); or,
  • the leg movement mechanism includes a first linear movement mechanism (184L) arranged on the first side of the frame (01), and the base of the first linear movement mechanism (184L) on the first side is connected to the frame (01), the output member of the first linear motion mechanism (184L) on the first side is connected to the base of the mechanical leg of the leg-arm fusion on the first side, and the first linear motion mechanism (184L) on the first side is used In: driving the base of the mechanical leg on the first side to move between the first end of the frame (01) and the second end of the frame (01) or between the first end of the frame (01) move between the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01), and/or,
  • the leg movement mechanism includes a first linear movement mechanism (184R) arranged on the second side of the frame (01), and the base of the first linear movement mechanism (184R) on the second side is connected to the frame (01), the output member of the first linear motion mechanism (184L) on the second side is connected to the base of the mechanical leg of the leg-arm fusion on the second side, and the first linear motion mechanism (184R) on the second side uses In: driving the base of the mechanical leg on the second side to move between the first end of the frame (01) and the second end of the frame (01) or between the first end of the frame (01) and between the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01). or,
  • the leg movement mechanism includes a first leg swing mechanism (19L) arranged on the first side of the frame (01), the base of the first leg swing mechanism (19L) on the first side is connected to the frame (01), and the rotation axis of the first leg swing mechanism (19L) on the first side is directed to the left and right, and the output member of the first leg swing mechanism (19L) on the first side is connected to the first side
  • the base of the mechanical leg of leg-arm fusion, the first leg root swing mechanism (19L) on the first side is used to: drive the base of the mechanical leg on the first side on the first side of the frame (01) swing between any two positions of the first end, the middle of the first side of the frame (01) and the second end of the first side of the frame (01), and/or,
  • the leg movement mechanism includes a first leg swing mechanism (19R) arranged on the second side of the frame (01), the base of the first leg swing mechanism (19R) on the second side is connected to the frame (01), and the rotation axis of the first leg swing mechanism (19R) on the second side is directed to the left and right, and the output member of the first leg swing mechanism (19R) on the second side is connected to the second side
  • the base of the mechanical leg of leg-arm fusion, the first leg root swing mechanism (19R) on the second side is used to: drive the base of the mechanical leg on the second side on the second side of the frame (01)
  • the first end, the middle part of the second side of the frame (01) and the second end of the second side of the frame (01) can swing between any two positions.
  • leg root motion mechanism can realize the forward and backward movement of the leg, and the cost of the first linear motion mechanism and the first leg root swing mechanism is lower than that of the mechanical leg, so that the two legs can exert greater value.
  • Two linear motion mechanisms (122R) the mechanical leg (02) of the first side includes a mechanical leg (021L) at the first end of the first side and a mechanical leg (022L) at the second end of the first side;
  • the mechanical leg (02) includes the mechanical leg (021R) at the first end of the second side and the mechanical leg (022R) at the second end of the second side;
  • the first end of the first side, the second end of the first side, the first end of the second side, and the second end of the second side of the base of the second linear motion mechanism in any orientation The two ends are respectively directed to the surface of the first area of the frame (01) and the surface of the second area of the frame (01), the base of the second linear motion mechanism is connected to the frame (01), the The output part of the second linear motion mechanism is connected to the base of the mechanical leg in any orientation; the second linear motion mechanism can drive the base of the mechanical leg to move to the first area, so that the mechanical leg in the first area Perform specified operations or climb, and/or, the second linear motion mechanism can also drive the base of the mechanical leg to move to the second area (lower part), so that the mechanical leg can be designated in the second area (lower part) homework or walking.
  • the second linear motion mechanism can realize the lifting of the leg root, and the cost of the second linear motion mechanism is lower than that of the mechanical leg, so that the leg can exert greater value.
  • the movable equipment as described in technical solution 1 is characterized in that, the specified operation includes carrying the personnel in the manner of supporting the personnel from below the personnel, driving the machine connected to the end of the mechanical leg (02)
  • Work tools (17) carry people, cut objects, dig, shovel, dig or shovel, pick objects, cultivate, paint objects, take bricks and build walls, weld objects, rotate tight Firmware to attach or detach items, eject objects either.
  • Beneficial effect of the scheme improving (multi-joint, thick, high-cost) leg working ability and reducing waste of resources.
  • the posture of the frame (01) can be either the first lying posture or the standing posture, and the standing posture is the first standing posture or the second standing posture.
  • the attitude of the frame (01) is the first lying position, and the length of the frame (01) is greater than the height at this moment, and the equipment is equivalent to a tiger robot at this moment, and is suitable for ground operations or front operations or For side work;
  • the posture of the frame (01) is a standing posture, and the height of the frame (01) is greater than the length in the front and rear directions at this time. Work or climb.
  • the end of the mechanical leg (02) is provided with a sole (106A) for supporting the ground.
  • the sole (106A) can improve the ground integral force relative to the end of the lower leg (104).
  • the ends of the mechanical legs (02) are provided with rollers for rolling along the road surface.
  • the mechanical leg (02) is provided with a power supply component for supplying power to the working tool, one end of the power supply component is connected to the power supply provided on the frame (01), and one end of the power supply component is used to connect the working tool .
  • 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 set There are scroll wheels.
  • the scheme is convenient for pipeline operation, if necessary, the end of the mechanical leg 02 is provided with a roller 106 or a fifth lifting mechanism (1315) so that the top can abut against the inner wall of the pipeline to prevent the equipment from slipping, and the top (115) is provided with a roller It can also reduce the friction force when passing in the pipeline.
  • the mobile device is configured to carry an adult, and/or the device also includes a manned cabin (11).
  • a tool that can carry people is more economically meaningful than designing the device as a non-passenger tool or toy.
  • the movable device is a car.
  • the car is the most important tool in human society. Compared with walking, the car has a high driving efficiency with a rolling walking mechanism.
  • the combination of the car and the mechanical legs integrated with the leg and arm makes the equipment have the ability of half a car and half a tiger, and improves the comprehensive ability .
  • the movable device further includes an underwater propulsion device (09) connected to the frame (01), and the underwater propulsion device (09) is configured to drive the movable device to travel in water; and/or , the buoyancy generated by the movable device in the water is not less than the weight of the movable device or the movable device is a boat.
  • the equipment that contains the propulsion device (09) in water and can generate sufficient buoyancy is a boat.
  • the boat is the most important tool in human society.
  • the combination of the boat and the mechanical legs that integrate the legs and arms makes the equipment half-boat, half-tiger, and improves the Comprehensive ability.
  • control method for controlling movable equipment as described in technical solution 1 or any optional technical solution based on technical solution 1, the control method comprising steps:
  • step S1 If the type of operation is to carry the personnel by holding the personnel from below, step S1 is performed.
  • step S2 is performed.
  • step S3 is performed.
  • step S4 is performed.
  • step S5 is performed.
  • step S6 is performed.
  • step S7 is performed.
  • step S8 is performed.
  • step S8 is performed.
  • step S9 If the type of operation is to rotate the fastener to install or disassemble the article, then perform step S9,
  • step S10 is performed.
  • step S11 If the type of operation is to climb along the external object through the mechanical leg fused with the leg arm, then perform step S11,
  • step S12 is performed
  • step S13 is performed;
  • S1 First place the movable part of the mechanical leg with the leg-arm fusion under the person to be carried to support the person, and then make the person lift and/or translate.
  • the movable part refers to the thigh of the mechanical leg with the leg-arm fusion (102) and/or the lower leg (104) and/or the joint at the end of the lower leg (104) and/or the tool to which the end of the leg-arm fusion robotic leg is attached;
  • the mechanical leg that controls the fusion of the leg and arm drives the end effector connected to the end of the mechanical leg to carry the person by grabbing the flexible object connected to the person.
  • the end effector is a grabbing device (06);
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to cut objects, and the working tool is a knife or a saw or a cutting machine;
  • the mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to pick items.
  • the picked items are vegetable picking or fruit picking or cotton picking or pulling plants or weeds.
  • the plants are vegetable plants, Any one or more of tree plants, seedlings, and traditional Chinese medicine plants, and the operating tool is a picker;
  • the mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to cultivate.
  • the cultivation refers to hoeing or planting.
  • the working tool for hoeing is a hoe, and the working tool for planting is seedling inserter;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg, and paints the working material carried by the working tool to the working object.
  • the working tool is a brushing tool, and the working material is paint or Pigment or powder or paste, the operation object refers to the wall or floor or equipment surface to be painted;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to weld objects, and the working tool is a welding tool;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to rotate the fastener to install or remove the object, the working tool is a grabbing part or the working tool is used to socket the fastening wrench or screwdriver;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to spray an object, the object is medicine or paint or powder or slurry or a fire extinguishing substance, and the working tool is a sprayer;
  • the mechanical leg controlling the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg of the fusion of the leg and arm to grab an external object higher than the frame (01) to make the device climb along the external object.
  • the second The mechanical leg (02) at the end makes the mechanical leg (02) touch the ground on the uphill section, so as to reduce the inclination angle of the crawler-type traveling mechanism (07).
  • the step S12 includes: controlling the first rotating joint (1011) included in the mechanical leg of the leg-arm fusion so that the thigh (102) is in a drooping posture and making the thigh (102) left and right relative to the base of the mechanical leg
  • the first swing joint (1012) is controlled to make the thigh (102) swing back and forth relative to the base of the mechanical leg
  • the second swing joint is controlled to make the lower leg (104) swing back and forth relative to the thigh (102).
  • 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.
  • the S1-S10 scheme improves the working ability of the (multi-joint, strong and powerful, high-cost) legs and reduces the waste of resources.
  • Proposal S11 enables leg-arm fused robotic legs to be used to allow the device to climb along the external object.
  • the crawler mechanism has outstanding advantages compared with the wheel or leg mechanism when climbing stairs and crossing soft areas (beach, mud); but when entering a downhill section from a flat road or entering a flat road from an uphill section , there are serious safety problems of 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 S13 scheme controls the legs at the second end (ie the rear) The lifting walking mechanism supports the ground at the rear, so that the buttocks of the equipment are turned up, and the experiment proves that it can reduce the adverse impact of the first end (ie, the front) of the equipment being suspended and hitting the ground.
  • steps S3 and S4 have a better effect. Cut items before digging or shoveling.
  • the knife and shovel are attached to the end of a fused robotic leg of the same leg arm.
  • the knife and the shovel are connected to the ends of different mechanical legs fused together, and this operation is the cooperation of multiple multifunctional mechanical legs 02.
  • the structure can be refined, non-bulky, reduce weight, reduce energy consumption when the multifunctional mechanical legs are in motion, avoid damage to the multifunctional mechanical legs 02 multifunctional mechanical legs, and prolong the service life.
  • the knife is a water knife or a laser knife.
  • the cutting machine is an electric grinding wheel cutting machine.
  • steps S7 and S8 are combined, and the specified operation is to apply mortar first and then take bricks to build walls.
  • This scheme can improve the comprehensive operation effect.
  • control method 1 includes step Z1 or step Z10 or step Z20 before performing the specified operation:
  • Z1 Obtain the pose information of the work object or obtain the orientation information of the target space
  • Z10 The mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg, so that the working tool moves from the current position of the working tool to the working position;
  • Z20 Control the movement of the mechanical leg of the leg-arm fusion and/or control the action of the working tool connected to the end of the mechanical leg of the leg-arm fusion, so as to load or grab the working material.
  • the mechanical legs (02) make the posture of the frame (01) switch between the first prone position and the standing position; the standing position is the first standing position or the second standing position.
  • the beneficial effect of the solution is that the posture switching is performed by the mechanical legs, which saves the cost of a dedicated posture adjustment mechanism.
  • a control method 3 for a movable device as described in the technical solution 3 includes steps:
  • the second lifting mechanism (222) is controlled to make the The second traveling mechanism (522) touches the ground on the uphill road section, so as to reduce the inclination angle of the crawler-type traveling mechanism (07); and/or,
  • Controlling the first elevating mechanism (211) and controlling the second elevating mechanism (222), and/or controlling the third elevating mechanism, is used for: when the mechanical leg of the leg-arm fusion is lifted off the ground to perform a designated operation. the height of the rack (01) relative to the road surface or adjust the attitude of the rack (01); or make the device switch between the first mode and the second mode;
  • the first mode is: the lower surface of the first traveling mechanism (511) and/or the lower surface of the second traveling mechanism (522) is not lower than the lower surface of the third traveling mechanism, supported by the third traveling mechanism
  • the frame (01) is off the ground and the movable equipment is driven along the road, or the machine is supported by one of the first traveling mechanism (511) and the second traveling mechanism (522) and the third traveling mechanism lift the frame (01) off the ground and drive the movable device along the road;
  • the second mode is: the lower surface of the first running gear (511) and the lower surface of the second running gear (522) are lower than the lower surface of the third running gear, and the first running gear (511) And the second walking mechanism (522) supports the frame (01) off the ground and enables the movable equipment to travel along the road.
  • the scheme of controlling the lifting mechanism to adjust the height of the frame (01) relative to the road surface or to adjust the attitude of the frame (01) is beneficial to improve the working performance.
  • the first mode is used for the first running mechanism (511) and the second running mechanism whose lower surface is not lower than the lower surface of the third running mechanism
  • Two running gears (522) leave the ground and overcome obstacles.
  • the second mode is used to enable the third traveling mechanism to overcome obstacles from the ground. This scheme improves the obstacle-surmounting ability of the equipment.
  • S4.2 Control the first linear motion mechanism (184) of the connecting bracket or control the first linear motion mechanism (184L) on the first side and the first linear motion mechanism (184R) on the second side, so that the second The base of the mechanical leg (02) on one side and the base of the mechanical leg (02) on the second side are located in the middle of the frame (01), or control the first leg root swing mechanism (19L) on the first side ) and the first leg root swing mechanism (19R) on the second side, so that the base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side are located on the frame ( 01); control the first side of the mechanical leg (02) and the second side of the mechanical leg (02) to walk; and/or,
  • Step S4.1 make the (multi-joint, thick, high-cost) mechanical leg move forward and backward through the leg root motion mechanism
  • the device When the mechanical legs can reach the first end (that is, the front end), the device constitutes a robot cart mode (the front end supports the ground with legs, and the rear end supports the ground through a rolling walking mechanism).
  • This robot cart mode can make the device Drive along the road surface, and more cleverly, the rolling walking mechanism at the first end (that is, the front end) can be lifted off the ground to overcome obstacles;
  • the device When the mechanical legs can reach the second end (i.e., the rear end), the device constitutes a robot cart mode (the front end is supported by a rolling walking mechanism, and the rear section is supported by legs).
  • the equipment travels along the road surface, and more ingeniously, the rolling traveling mechanism at the second end (ie, the rear end) can be lifted off the ground to overcome obstacles.
  • the second benefit is: when the mechanical leg 02 at a certain position is disabled, the mechanical leg can be transferred through the other end of the leg root motion mechanism to replace the disabled mechanical leg 02, which increases the fault adaptability of the equipment.
  • Step S4.2 through the leg root motion mechanism, the (multi-joint, strong and powerful, high cost) mechanical leg can move back and forth to reach the middle of the frame (01), because the center of gravity of the frame is in the middle, which is beneficial to the mechanical leg (02) Walk.
  • step S4.3 the base of the mechanical leg (02) can reach the middle and upper part of the frame 01 through the swinging mechanism of the first leg root, which is beneficial for climbing.
  • Step S4.4 through the leg root motion mechanism, the (multi-joint, strong and powerful, high-cost) mechanical legs can move back and forth to reach the first end (ie front end) of the rack (01) and the middle of the rack (01) With any position in the second end (ie, the rear section) of the frame (01), the specified operation can be performed as required, which is very beneficial to improve the operation efficiency.
  • the mechanical legs of the second end i.e. the back section
  • multi-joint, strong and powerful, high cost can be called to work; if at that time the first end (i.e.
  • the original two legs are changed to four (multi-joint, strong and powerful, high-cost) mechanical legs at this time.
  • the mechanical legs of the first end i.e. the front end
  • multi-joint, strong and powerful, high cost can be called to work; if the second end (i.e. the rear end) originally There are two legs, and at this time, do the mechanical leg work that becomes 4 (multi-joint, strong and powerful, high cost).
  • Step S5.1 enables the root of the thigh 102 of the mechanical leg to go up (to the top of the head), which reverses the industry's thinking bias (legs need to be firmly fixed on the buttocks), and greatly improves the operation and climbing performance of the multifunctional mechanical leg 02 ).
  • a computer-readable storage medium wherein computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the control method described in any one of the above is implemented.
  • control device for movable equipment, characterized in that the control device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the control described in any one of the above is realized method.
  • a mobile platform is a mobile device such as technical solution 1 or any optional technical solution based on technical solution 1, or the mobile platform includes a walking mechanism for driving the mobile platform along the road surface, It is characterized in that the mobile platform includes the above-mentioned control device.
  • a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, any one of claims 1-6 is realized.
  • Branch scheme 1 of the present invention a mechanical leg with legs and arms fused, the end of which is provided with a working tool 17 or a connecting part for connecting the working tool 17, the mechanical leg and the working tool 17 are both configured for specified operations, It is beneficial to solve the problem of insufficient leg work ability and waste of resources in humanoid robots and quadruped robot dogs in the prior art (multi-joint, strong and powerful, and high cost).
  • Branch solution 2 of the present invention the device includes a leg root movement 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 thigh 102 can go up (to the top of the head) Or move back and forth, reversing industry thinking biases (legs need to be firmly secured with hips).
  • the leg root motion mechanism drives the mechanical leg movement so that the equipment can form (“mechanical legs walking in front + wheel shoe mechanism rolling in the back") robot pulling carts mode, "wheel-shoe mechanism rolling in front + mechanical legs walking in the back” robot cart driving mode, "porter-style” walking mode in which the legs protrude outward at both ends of the middle frame to increase load stability, mechanical legs
  • the root (not the toe) of the machine rises to the top of the frame (that is, the head) in the "leg-on-head” operation mode, and can ingeniously assist the rolling walking mechanism with high efficiency, energy saving, large bearing capacity but poor obstacle-surmounting ability Lifting off the ground, overcoming obstacles) a variety of unique working modes break through the inertia of thinking and have a variety of unexpected effects.
  • Branching scheme 3 of the present invention the rolling traveling mechanism and the legs are independently connected to the frame 01, each performing its duties, and the function planning is reasonable and clear clear; when the mechanical legs are off the ground, the rolling walking mechanism can (stable and reliable) support the frame 01 and make the equipment travel; it solves the problem of humanoid robots and quadruped robots in the prior art when the dog legs are off the ground. Inverted, belly landing problem.
  • the rolling walking mechanism is cheaper than the multi-joint legs, which is convenient to reduce the cost of the robot and the cost of use, and the load, driving speed or efficiency of the rolling walking mechanism can support Compared with the legs, the stability is higher, which is beneficial to the stability and quality of the operation of the mechanical legs.
  • the mechanical legs multi-joint, strong and powerful, high cost
  • the mechanical legs have outstanding ability to overcome obstacles, they are expensive.
  • the price of a mechanical leg and a mechanical arm that rotates around a joint with a load of 50KG at the end costs tens of thousands of RMB
  • the price of a wheel-type walking mechanism, a crawler-type walking mechanism or a leg-root motion mechanism can reach hundreds of RMB, which has a significant cost advantage and
  • the mechanism is strong and rigid.
  • the present invention on the basis of overcoming the industrial prejudice that the above-mentioned mechanical legs are mainly used for walking, does not control the legs to perform simple operations of kicking and moving objects, but uses leg operating tools to perform specified procedures homework. Skillful use of tools is the main difference between animals and humans, and also the core difference between ordinary machines and advanced robotics. This is also where the core value of the present invention lies.
  • 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.
  • a person is transported in such a way that the mechanical legs fused with the legs and arms support the person from below the person, so that the person can be carried safely. 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 police or rescuers from going to the dangerous scene.
  • Cutting such as tree branches, damaged buildings
  • excavating or shoveling obstruction removal
  • safely moving people with mechanical legs with fused legs and arms are important tasks for emergency rescue (fire, flood, earthquake). It has important economic and social value.
  • 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
  • FIG. 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
  • Fig. 5 is a schematic diagram of a side view direction of a movable device with a mechanical leg fused with a leg and an arm in a walking state;
  • Fig. 6 is a schematic diagram of a side view direction of a movable device containing mechanical legs
  • Fig. 7 is a schematic diagram of a side view direction of a movable device containing mechanical legs
  • Fig. 8 is a schematic diagram of a side view direction of a movable device driven by a mechanical leg pulling a cart in front;
  • Fig. 9 is a schematic diagram of a side view direction of a movable device driven by a mechanical leg behind a cart;
  • 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 side view direction of a mobile device whose rack is in a standing position and whose mechanical legs are located on the upper part of the rack;
  • Fig. 17 is a side view direction schematic diagram of a mobile device whose rack is in a standing position mode and whose mechanical legs are located at the lower part of the rack;
  • Fig. 18 is a side view schematic diagram of a movable device with the rack in the supine mode and the mechanical legs in the middle of the rack for walking.
  • Fig. 19 is a schematic diagram of another crawler-type traveling mechanism.
  • 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-grabbing device 062L-grabbing device of the end of the leg of the second end of the first side; 171-chainsaw; 172-shovel; 173-scissors;
  • 184 first linear motion mechanism
  • 184L first linear motion mechanism on first side
  • 184R first linear motion mechanism on second side
  • L and R marks when there are several components horizontally placed along the traveling direction, their labels will be followed by L and R marks, wherein L indicates that it is located on the left side of the rack along the traveling direction, and R indicates that it is located on the left side of the rack along the traveling direction.
  • the first lifting mechanism 211 is provided with two, wherein one first lifting mechanism is marked as 211L, and the other first lifting mechanism is marked as 211R, then the first lifting mechanism 211L is located on the left side of the frame along the traveling direction, and the first The lifting mechanism 211R is located on the right side of the frame along the traveling direction.
  • the second elevating mechanism 222 is provided with two, wherein one second elevating mechanism is marked as 222L, and another second elevating mechanism is marked as 222R, then the second elevating mechanism 222L is positioned at the left side of the frame along the travel direction, and the second The lifting mechanism 222R is located on the right side of the frame in the direction of travel. Others, and so on.
  • the label of the crawler-type traveling mechanism may also be 07M. 171, 172 and 173 are working tools.
  • Car driving mode "porter-style” walking mode in which the legs protrude outward at both ends of the middle rack to increase the stability of heavy-load walking, and the roots of the mechanical legs (not toes) rise to the top of the rack (that is, the head Part) of the "legs on the head” operation mode, the operation tool is operated by the legs (instead of the hands) to perform a variety of special operations...
  • the branch schemes 1, 2 and 3 in the present invention can not only be used in isolation, but can cooperate with each other to make The effect is multiplied.
  • branch plan 2 can not only greatly expand the scope of operation in branch plan 1, but also improve the quality and efficiency of the operation (such as cutting tree roots with a knife, and first cutting through the leg-root movement mechanism). Lowering the mechanical leg fused with the leg and arm to a lower position is more suitable for exerting force, making the work quality or work efficiency better; for example, using a knife to trim high branches, and first raising the mechanical leg fused with the leg and arm to a high position through the leg root movement mechanism, Make the operation quality or operation efficiency better.
  • branch scheme 2 and branch scheme 3 can also play a similar role. For example, some operations require front operations (such as excavation), and some operations require rear operations.
  • the leg root movement mechanism can move the mechanical legs to different positions according to different operation requirements, which is beneficial to improve the front part.
  • Efficiency or quality of operation the fourth movement mechanism first moves the mechanical leg of the leg-arm fusion to the rear, which can improve the efficiency or quality of the rear operation.
  • the driving direction refers to the driving direction of the rolling walking mechanism or the forward movement of the legs without steering.
  • the direction of travel is forward, the first side is the left side, and the second side is the right side.
  • the front, back, left, and right directions are bounded by the center of gravity O of the device.
  • the road surface refers to the flat road; the movable equipment is placed on the horizontal road; the rack is parallel to the flat road.
  • the direction indicated by X in the drawing is the driving direction.
  • the movable device moves in a predetermined direction X1.
  • the predetermined direction X1 is the horizontal direction.
  • the predetermined direction X1 also has a certain angle with the horizontal direction.
  • the posture of the rack 01 of the movable equipment is the first lying posture.
  • the first prone position is the posture of the device as shown in FIGS. 1-7 .
  • the first standing posture is that the head end of the frame 01 is up and the tail end of the frame 01 is down.
  • the first standing posture is straight standing.
  • the height refers to the distance in the up-down direction between the upper surface and the lower surface of the rack 01 .
  • the length refers to the distance between the front surface and the rear surface of the rack 01 along the traveling direction.
  • the first prone position is a normal, stable state. The first prone position is that the abdomen of the frame 01 faces down and the back of the frame 01 faces up. The first lying position is prone. Standing posture means that one end of the rack 01 faces up and the other end faces down, and the height of the rack 01 is greater than the length of the rack 01 at this time.
  • the posture of the frame 01 of the equipment is the first prone position: the first end of the frame 01 is located in front of the center of gravity of the equipment, the second end of the frame 01 is located behind the center of gravity of the equipment, the surface of the second area face down.
  • the body is flat and the four limbs are on the ground to walk.
  • the posture of the tiger is the first lying position.
  • the posture in which a person stands up is a standing posture.
  • the posture of people's prone position is the first prone position.
  • Embodiment 1 of a movable device includes:
  • the mechanical leg 02 located on the first side of the center of gravity O of the device and the mechanical leg 02 located on the second side of the center of gravity O of the device are connected to the frame 01;
  • the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are configured to be able to walk, and all the mechanical legs in the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are leg-arm fusion
  • a mechanical leg, the end of the mechanical leg fused with the leg arm is connected to the end effector, and the end effector is the working tool 17 or a connecting part for connecting the working tool 17;
  • the device also includes a rolling traveling mechanism 57 connected to the frame 01, which is used to support the frame 01 off the ground and make the device travel along the road; the device also includes a mechanism for making the mechanical legs
  • the base of the leg movement mechanism can realize up and down movement and/or forward and backward movement relative to the frame 01, one end of the leg movement mechanism is connected to the frame 01, and the other end of the leg movement mechanism is connected to the mechanical leg base.
  • the fused robotic leg and the work tool 17 are configured for a given task.
  • all the mechanical legs are mechanical legs with leg-arm fusion can be replaced by: the mechanical legs at the first end or the second end are mechanical legs with leg-arm fusion.
  • any walking is multi-leg alternating walking.
  • Figure 1- Figure 1- Figure 5 shows the same type of equipment
  • Figure 1 is a three-dimensional structure diagram of the equipment
  • Figure 2 is a top view
  • Figure 3 Figure 4 and Figure 5 are side views
  • the device includes four mechanical legs 02, the four mechanical legs 02 are respectively: a leg 021L at the first end of the first side, a leg 021R at the first end of the second side, and a leg 022L at the second end of the first side , the leg 022R of the second end of the second side;
  • a chainsaw 171 is connected to the end of the left front leg 021L; a shovel 172 is connected to the end of the right front leg 021R; a retrieval device 062L is connected to the end of the left rear leg 022R; scissors 173 are connected to the end of the right rear leg 022R;
  • the rolling traveling mechanism 57 includes a first traveling mechanism 511 and a second traveling mechanism 522 connected to the frame 01.
  • the first traveling mechanism 511 is located Before the center of gravity O of the equipment
  • the second traveling mechanism 522 is located behind the center of gravity O of the movable equipment, and the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522 are lower than the frame 01
  • the surface of the second area, the first traveling mechanism 511 and the second traveling mechanism 522 are used to support the frame 01 off the ground and make the equipment travel along the road surface;
  • the first traveling mechanism 511 is a first traveling wheel and the second traveling mechanism 522 is a second traveling wheel;
  • the first traveling mechanism 511 includes the first traveling mechanism 051 arranged on the first side of the center of gravity O of the equipment and the first traveling mechanism 053 arranged on the second side of the center of gravity O;
  • the second traveling mechanism 522 includes The second traveling mechanism 052 on the first side of the center of gravity O of the equipment and the second traveling mechanism 054 arranged on the second side of the center of gravity O;
  • This rolling type running mechanism 57 comprises the 3rd running mechanism that is connected with this frame 01, and this 3rd running mechanism is crawler type running mechanism 07, when the posture of this frame 01 is the first lying position, this 3rd running mechanism
  • the lower surface of the lower surface of the frame 01 is lower than the surface of the second area of the frame 01.
  • the third traveling mechanism is used to support the frame 01 off the ground and make the equipment run along the road, and the center of gravity O of the equipment is in the front, rear, left, and right directions. There is an arrival point of the third traveling mechanism, and the third traveling mechanism is located between the first traveling mechanism 511 and the second traveling mechanism 522;
  • the equipment also includes a first lifting mechanism 211 and a second lifting 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 second lifting mechanism.
  • a walking mechanism 511, the first lifting mechanism 211 is used to lift the first walking mechanism 511 relative to the frame 01, the other end of the second lifting mechanism 222 is connected to the second walking mechanism 522, the second lifting mechanism 222 Used to make the second traveling mechanism 522 move up and down relative to the frame 01;
  • the equipment also includes the third lifting mechanism, one end of the third lifting mechanism is connected to the frame 01, the other end of the third lifting mechanism is connected to the third walking mechanism, and the third lifting mechanism is used to make the third walking mechanism The mechanism moves up and down relative to the frame 01;
  • the top 115 of the equipment is connected to the frame 01 through the top elevating mechanism 1315, and the top 115 can be lifted relative to the frame 01; the top 115 is provided with rollers 1151; side.
  • the leg motion mechanism includes: a second linear motion mechanism 121L disposed at the first end of the first side of the frame 01, a second linear motion mechanism 121R disposed at the first end of the second side of the frame 01 , the second linear motion mechanism 122L disposed at the second end of the first side of the frame 01 and the second linear motion mechanism 122R disposed at the second end of the second side of the frame 01
  • the output member of the second linear motion mechanism 121L is connected to the base of the mechanical leg 021L;
  • the output member of the second linear motion mechanism 121R is connected to the base of the mechanical leg 021R;
  • the output member of the second linear motion mechanism 122L is connected to the base of the mechanical leg 022L;
  • the output member of the second linear motion mechanism 122R is connected to the base of the mechanical leg 022R;
  • the second linear motion mechanism in any orientation above can drive the base of the mechanical leg in any orientation to move to the first area, so that the mechanical leg can perform specified operations or climb in the first area, and the second linear motion mechanism can move to the first area.
  • the motion mechanism can also drive the base of the mechanical leg to move to the second area for designated operations or walking.
  • the second linear motion mechanism 12 When the frame 01 is in a prone position: the second linear motion mechanism 12 is connected to the frame 01 in the vertical direction.
  • the center of gravity O point of the equipment is located between the first traveling mechanism and the second traveling mechanism.
  • the third running gear is located between the first running gear and the second running gear.
  • each second linear motion mechanism 12 respectively drives the base of the mechanical leg 02 connected to the output part of the mechanism to move to the upper part for the mechanical leg to move to the upper part. For assigned work or climbing.
  • each second linear motion mechanism 12 respectively drives the base of the mechanical leg 02 connected to the output part of the mechanism to move to the lower part, so that the mechanical leg can perform specified operations or walk.
  • the above-mentioned embodiment 2 is a typical embodiment in this application. Has many characteristics.
  • the device also includes a first forward and backward motion mechanism 181, and the two ends of the first forward and backward motion mechanism 181 are respectively connected
  • the first lifting mechanism 211 and the frame 01 are used to make the first traveling mechanism move forward and backward along the traveling direction.
  • 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 member of the first front and rear movement mechanism 181L on the first side can drive the first traveling mechanism 051 at the first end (left front) on the first side to move back and forth, and can also drive the second linear movement mechanism arranged on this side and this position 121L and mechanical leg 021L move 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 end (front right) on the second side to move back and forth, and also drive the second linear movement mechanism arranged on this side and this position 121R and mechanical leg 021R move back and forth;
  • the device also includes a second forward and backward movement mechanism 182, the two ends of the second forward and backward movement mechanism 182 are respectively connected to the second traveling mechanism and the frame 01, and are used to move the second traveling mechanism forward and backward along the traveling direction .
  • a second forward and backward movement mechanism 182 the two ends of the second forward and backward movement mechanism 182 are respectively connected to the second traveling mechanism and the frame 01, and are used to move the second traveling mechanism forward and backward along the traveling direction .
  • 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 front and rear movement mechanism 182L on the first side can drive the second traveling mechanism 052 at the second end (left rear) on the first side to move back and forth, and can also drive the second linear movement arranged on this side and this position Mechanism 122L and mechanical leg 022L move back and forth;
  • the output part of the second front and rear movement mechanism 182R of the second side can drive the second traveling mechanism 054 front of the second end (right rear) of the second side. Back movement, and can also drive the second linear motion mechanism 122R and the mechanical leg 022R arranged on this side and this part to move forward and backward.
  • Figure 6 and Figure 7 are schematic diagrams of the same device;
  • Figure 6 and Figure 7 are side views;
  • Figure 16, Figure 17 and Figure 18 are A schematic diagram of the same device;
  • Embodiment 3 based on Embodiment 1: Based on the equipment shown in Embodiment 1,
  • the device includes two mechanical legs 02, the number of legs 02 on the first side is one, and the number of legs 02 on the second side is also one;
  • the leg motion mechanism includes a first linear motion mechanism 184L disposed on the first side of the frame 01 and a first linear motion mechanism 184R disposed on the second side of the frame 01;
  • the base of the first linear motion mechanism 184L on the first side is connected to the frame 01, and the output member of the first linear motion mechanism 184L on the first side is connected to the base of the mechanical leg of the leg-arm fusion on the first side. seat; the first linear motion mechanism 184L on the first side is used to: drive the base of the mechanical leg on the first side to move between the first end of the frame 01 and the second end of the frame 01;
  • the base of the first linear motion mechanism 184R on the second side is connected to the frame 01, and the output member of the first linear motion mechanism 184L on the second side is connected to the base of the mechanical leg of the leg-arm fusion on the second side. seat; the first linear motion mechanism 184R on the second side is used to: drive the base of the mechanical leg on the second side to move between the first end of the frame 01 and the second end of the frame 01;
  • the rolling traveling mechanism 57 includes a first traveling mechanism 511 and a second traveling mechanism 522 connected to the frame 01.
  • the first traveling mechanism 511 is located Before the center of gravity O of the equipment
  • the second traveling mechanism 522 is located behind the center of gravity O of the movable equipment, and the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522 are lower than the frame 01
  • the surface of the second area, the first traveling mechanism 511 and the second traveling mechanism 522 are used to support the frame 01 off the ground and make the equipment travel along the road surface;
  • the first traveling mechanism 511 is a first traveling wheel and the second traveling mechanism 522 is a second traveling wheel.
  • the rolling traveling mechanism 57 includes a third traveling mechanism connected to the frame 01.
  • the basic structures of the top views in FIG. 6 , FIG. 7 , FIG. 8 , FIG. 9 , FIG. 16 , FIG. 17 and FIG. 18 are all similar to those in FIG. 2 .
  • the difference is that if the device includes two legs, the two legs are respectively arranged on the left and right sides of the center of gravity O of the device. If the device includes 4 legs, the 4 legs are respectively arranged at the left front, right front, left rear and right rear of the center of gravity O point of the device.
  • the movable device as described in Embodiment 1 the device includes two mechanical legs 02, the number of the first side leg 02L is one, and the number of the second side leg 02R is also one;
  • the leg root movement mechanism includes a connecting bracket
  • the first linear motion mechanism 184, the first linear motion mechanism 184 is arranged below the frame 01, the base of the first linear motion mechanism 184 is connected to the frame 01, the first linear motion mechanism 184
  • the output member is connected to the bracket, the first side part of the bracket is connected to the base of the leg-arm fusion mechanical leg on the first side, and the second side part of the bracket is connected to the leg-arm fusion robot leg on the second side. base.
  • the first linear motion mechanism is used to: drive the base of the mechanical leg 02L on the first side and the base of the mechanical leg 02R on the second side to connect with the first end of the frame 01 01 to move between the second ends.
  • the first linear motion mechanism is used to: drive the base of the mechanical leg 02L on the first side and the base of the mechanical leg 02R on the second side to connect with the first end of the frame 01 01 or between the middle of the rack 01 and the second end of the rack 01.
  • Figure 6 and Figure 7 show the same type of equipment.
  • Figures 8 and 9 show the same type of equipment.
  • the output part of the first linear motion mechanism drives the base of the mechanical leg to move to the first end (front) of the frame 01, at this time the equipment can form a "mechanical The unique driving mode of "legs pulling the car in front", and the mechanical legs supporting the ground help the first walking wheel 511 to lift off the ground and overcome obstacles, which solves the pain point of the wheel mechanism with high efficiency and heavy load but poor obstacle ability.
  • the output part of the first linear motion mechanism drives the base of the mechanical leg to move to the second end (rear) of the frame 01, at this time the equipment can form a "mechanical
  • the unique driving mode of "legs in the backward car” helps the second walking wheel 522 to lift off the ground and overcome obstacles, which solves the pain point of the wheel mechanism with high efficiency and heavy load but poor obstacle ability.
  • the rack 01 of the equipment is in the first standing position, and the base of the mechanical leg reaches the first end of the rack 01, that is, the top of the rack (equivalent to the position above the head) driven by the first linear motion mechanism , which is very conducive to high-level operations and climbing at this time.
  • the base of the mechanical legs reaches the second end of the frame 01; at this time, the frame 01 of the equipment is in the first standing position; that is, the base of the mechanical legs reaches The bottom of the rack (equivalent to the tail position), constitutes a standard human-like walking pattern with the body standing upright and the legs on the ground, which is very conducive to low-position operations at this time.
  • the frame 01 of the equipment is in the supine position, that is, the second prone position.
  • the base of the mechanical legs reaches the middle of the frame 01, because the loads at both ends of the equipment Relatively balanced, a unique "porter-style" walking pattern is formed at this time.
  • porters pick goods people stand in the middle and goods are on both sides (the balance is good, so they can pick up heavier burdens). Stability of walking.
  • the first linear motion mechanism 184 is disposed under the frame 01 instead of: the first linear motion mechanism 184 is disposed on the first side or the second side of the frame 01 .
  • the base of the first linear motion mechanism is connected to the frame 01 along the front-rear direction, and moves between the first end of the frame 01 and the second end of the frame 01 ie moves forward and backward.
  • the output member of the first linear motion mechanism is connected to the base of the mechanical leg 02 .
  • Embodiment 5 based on Embodiment 1: the movable device as described in Embodiment 1, the leg movement mechanism includes a first leg swing mechanism 19L arranged on the first side of the frame 01, the first leg swing mechanism 19L The base of the first leg swing mechanism 19L on one side is connected to the frame 01, and the rotation axis of the first leg swing mechanism 19L on the first side points to the left and right, and the first leg swing mechanism on the first side The output of mechanism 19L is connected to the base of the robotic leg of the leg-arm fusion on the first side;
  • the first leg root swing mechanism 19L on the first side is used to: drive the base of the mechanical leg on the first side at the first end of the first side of the frame 01 and the middle part of the first side of the frame 01 swing between the second end of the first side of the rack 01;
  • the leg movement mechanism includes a first leg swing mechanism 19R arranged on the second side of the frame 01, the base of the first leg swing mechanism 19R on the second side is connected to the frame 01, and the The rotation axis of the first leg swing mechanism 19R on the second side points to the left and right, and the output part of the first leg swing mechanism 19R on the second side is connected to the base of the mechanical leg of the leg-arm fusion on the second side;
  • the first leg swing mechanism 19R on the second side is used to: drive the base of the mechanical leg on the second side at the first end of the second side of the frame 01 and the middle part of the second side of the frame 01 swing between the second end and the second side of the rack 01.
  • the purpose of the first leg root swing mechanism 19L on the first side is replaced by: the base for driving the mechanical leg on the first side is on the first side of the first side of the frame 01 One end, the middle of the first side of the rack 01 and the second end of the first side of the rack 01 can swing between any two positions.
  • the purpose of the first leg swing mechanism 19R on the second side is replaced by: the base for driving the mechanical leg on the second side is on the second side of the frame 01 One end, the middle of the second side of the rack 01 and the second end of the second side of the rack 01 can swing between any two positions.
  • the rotation mechanism of the first leg root swing mechanism may adopt a gear set mechanism or a worm gear mechanism.
  • the first leg root swing mechanism is a worm gear mechanism which can self-lock.
  • the first end on both sides of the frame 01, the middle part of the frame 01 and the second end of the frame 01 are provided with a locking mechanism, when the movable end of the first leg swing mechanism swings to where the locking mechanism is located position, the locking mechanism can lock the movable end so that the movable end is firmly fixed at the position of the locking mechanism.
  • the first linear motion mechanism 184, the second linear motion mechanism 12, and the first leg root swing mechanism can arbitrarily constitute a multi-dimensional motion 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.
  • the base of the first leg swing mechanism 19L on the first side is installed on the outer edge of the middle part of the first side of the frame; the base of the first leg swing mechanism 19R on the second side Installed on the outer edge of the middle part of the first side of the frame; and the rotation axis of the base points to the left and right, so that the swing arm of the first leg swing mechanism can swing up and down relative to the frame 01.
  • the length of the swing arm of the first leg root swing mechanism can be set to be close to 1/2 the length of the frame.
  • the approximation may be equal to. For example, as shown in FIG. 6 or FIG.
  • the first linear motion mechanism 184 on the first side is canceled, and the base of the first leg swing mechanism 19L on the first side is installed on the first side of the center of gravity O point.
  • the location of the outer edge of the rack For example, as shown in Figure 18, the first linear motion mechanism 184 on the first side is canceled, and the base point of the first leg swing mechanism 19L on the first side is set at the intersection of the leg 02L and the leg 02R in the up and down position. place.
  • the base of the first leg swing mechanism 19L is mounted on the edge of the first side of the frame at the intersection.
  • the base of the mechanical leg 02 on the first side of the first end of the frame 01 and the base of the mechanical leg 02 on the second side are connected through a second bracket.
  • the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are disconnected from the frame 01, the mechanical leg 02 on the first side and the mechanical leg 02 on the second side connected by the second bracket Able to walk along the road independently of the device. Disengagement or separation is the breaking of a mechanical connection.
  • the first end of the rack 01 can be replaced by the middle of the rack 01 or the second end of the rack 01 .
  • the mechanical legs 02 on the first side and the mechanical legs 02 on the second side are connected by the second bracket, that is, a pair of mechanical legs 02 .
  • the number of pairs of mechanical legs 02 is not limited to one pair.
  • the number of paired mechanical legs can also be two pairs, for example, the two pairs can be the first rack 01 of the equipment.
  • the number of mechanical legs is four.
  • the mechanical leg 02 on the first side and the mechanical leg 02 on the second side connected by the second bracket have a battery for the legs and a walking control device that can be independent of the device.
  • the leg battery is used to provide power for the pair of mechanical legs
  • the walking control device is used to control the pair of mechanical legs to walk along the road.
  • the walking control device has a second communication module
  • the control device of the equipment has a first communication module.
  • the second communication module and the first communication module can communicate with each other.
  • the control device of the device can control the walking control device through the communication module, that is, the control device of the device can control the pair of mechanical legs through the communication module.
  • Fig. 1 to Fig. 7, optional embodiment 3 the equipment described in embodiment 1, embodiment 2 or embodiment 3,
  • the first traveling mechanism 511 is the first traveling wheel and the second traveling mechanism 522 is the second traveling wheel.
  • the wheeled traveling gear has a second battery and a second control device that can be independent of the device.
  • the second battery is used to provide power for the wheeled running mechanism
  • the second control device is used to control the rolling running mechanism to walk along the road surface.
  • the second control device has a third communication module, and the control device of the equipment has a first communication module.
  • the third communication module and the first communication module can communicate with each other.
  • the control device of the equipment can control the second control device through the communication module, that is, the control device of the equipment can control the wheeled traveling mechanism through the communication module.
  • the edge of the first end of the first traveling mechanism 511 is located in front of the edge of the first end of the surface of the frame 01 close to the second area;
  • the edge of the second end of the second traveling mechanism 522 is located behind the edge of the second end of the surface of the frame 01 close to the second area.
  • the mobile device includes road wheels connected to the first region of the first end of the frame 01, when the frame 01 is in the first prone position: the first The upper surface of the road wheels in the first area of one end is higher than the surface of the first area of the first end of the frame 01, and the edge of the first end of the road wheels in the first area of the first end is located at the frame In front of the edge of the first end of the surface of O1 close to the first region.
  • the movable device according to Embodiment 4 includes road wheels 502 connected to the first area of the second end of the frame 01, when the posture of the frame 01 is the first lying posture: the upper surface of the road wheels 502 in the first area of the second end is higher than the surface of the first area of the second end of the frame 01, and the edge of the second end of the road wheels 502 in the first area of the second end is located The rear of the edge of the second end of the surface of the frame 01 close to the first area.
  • the edge of the second end of the second traveling mechanism 522 is behind the edge of the second end of the surface of the frame 01 close to the second area, and the edge of the first area of the second end is The edge of the second end of the road wheel 502 is located behind the edge of the second end of the surface of the frame 01 close to the first area;
  • the second traveling mechanism 522 can support the frame 01 near the second end of the surface of the second area
  • the edge is off the ground, and the walking wheels 502 in the first area of the second end can support the edge of the second end of the surface of the frame 01 close to the first area, so that the equipment can travel flexibly even when it is in the first standing position. Adjusting the working position is very helpful to improve the working efficiency and working performance.
  • the road wheels 501 in the first area of the first end are not shown in the accompanying drawings, with the same logic, refer to Embodiment 3 and Embodiment 4 to set the first traveling mechanism 511 and the road wheels 501 in the first area of the first end.
  • the first running mechanism 511 can support the first part of the surface of the frame 01 close to the second area.
  • the edge of the end is off the ground, and the walking wheels 501 in the first area of the first end can support the edge of the first end of the frame 01 near the surface of the first area, so that the equipment can be lifted even when it is in the second standing position.
  • Flexible driving and adjustment of working position are very helpful to improve working efficiency and working performance.
  • the first traveling mechanism 511 and the second traveling mechanism 522 are all connected to drivers (being powered wheels), and the traveling wheels 501 in the first region of the first end and the traveling wheels 502 in the first region of the second end have no driver ( but slideable). At this time, the comprehensive cost performance is the best.
  • the device as described in embodiment 1, embodiment 2 or embodiment 3, the first traveling wheel and the second traveling wheel are in-wheel motors.
  • the in-wheel motor refers to a motor that drives the road wheel to rotate and a brake for braking the road wheel in the housing of the road wheel.
  • the hub motor can make the traveling wheel and drive small in size, light in weight and simplified in structure.
  • Fig. 1 to Fig. 5 optional embodiment 6: the mobile device as described in embodiment 1 and embodiment 2,
  • the caterpillar 07 has a third battery and a third control device which can be independent of the device.
  • the third battery is used to provide power for the rolling running mechanism
  • the third control device is used to control the crawler running mechanism 07 to walk along the road.
  • the device has a fourth communication module, the control device of the device has a first communication module.
  • the fourth communication module and the first communication module can communicate with each other.
  • the control device of the equipment can control the third control device through the communication module, that is, the control device of the equipment can control the crawler-type traveling mechanism 07 through the communication module.
  • a linear motion mechanism or a linear moving mechanism is a linear drive mechanism.
  • the first traveling mechanism 511 is a first distributed crawler mechanism.
  • the second traveling mechanism 522 is a second distributed crawler mechanism.
  • the rolling traveling mechanism 57 only includes the first traveling mechanism 511 and the second traveling mechanism 522 connected to the frame 01 .
  • the equipment does not have the rolling walking mechanism 57, and the equipment only includes a leg-heel motion mechanism.
  • the rolling traveling mechanism 57 only includes a third traveling mechanism connected to the frame 01, and the third traveling mechanism is a crawler-type traveling mechanism 07.
  • any lifting mechanism can be a linear motion mechanism vertically connected to the frame 01 .
  • Any lifting mechanism includes a top lifting mechanism 1315 and a rolling element lifting mechanism 21 .
  • the linear motion mechanism is an electric push rod.
  • the linear motion mechanism is a telescopic hydraulic cylinder or a telescopic air cylinder.
  • the second linear motion mechanism 12 is a rail type motion mechanism.
  • the types of the first forward and backward movement mechanism and the second forward and backward movement mechanism are electric push rods.
  • the front and rear movement mechanisms are telescopic hydraulic cylinders or telescopic air cylinders.
  • the first linear motion mechanism is a guide rail type motion mechanism.
  • the optional first linear motion mechanism is an electric push rod or a telescopic hydraulic cylinder.
  • the crawler-type traveling mechanism 07 includes a base, a first track wheel 0721 connected to the base, a second track wheel 0722 and a track 070, and the track 070 is sleeved on the first track wheel 0721 and Second Track Wheel 0722.
  • the base is the stand.
  • the crawler running mechanism 07 includes a crawler running mechanism on the first side and a crawler running mechanism on the second side.
  • the area formed by connecting the outer 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 top view includes the center of gravity of the equipment 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 track 0701 on the first side is sleeved on the first track wheel 0721 on the first side and the second track wheel 0722 on the first side.
  • the track 0702 on the second side is sleeved on the first track wheel 0721 on the second side and the second track wheel 0722 on the second side.
  • the lifting mechanism corresponding to the crawler-type traveling mechanism 07 may also be the first lifting mechanism 211 and the second lifting mechanism 222 .
  • the optional connection schemes are as follows:
  • the output member of the first lifting mechanism 211L at the first end of the first side is connected to the base of the crawler-type traveling mechanism at the first end of the first side;
  • the output member of the second lifting mechanism 222L at the second end of the first side is connected to the base of the crawler-type traveling mechanism at the second end of the first side;
  • the output member of the first lifting mechanism 211R at the first end of the second side is connected to the base of the crawler-type traveling mechanism at the first end of the second side;
  • the output member of the second lifting mechanism 222R at the second end of the second side is connected to the base of the crawler-type traveling mechanism at the second end of the second side.
  • 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 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 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
  • Embodiment 1 and Embodiment 2 four third lifting mechanisms are provided, for example, the third lifting mechanism 212L at the first end and the first side, the third lifting mechanism 212R at the first end and the second side, The third elevating mechanism 221L at the second end and the first side and the third elevating mechanism 221R at the second end 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 .
  • the equipment includes a first traveling mechanism 511 and a second traveling mechanism 522 .
  • the crawler-type traveling mechanism 07m is arranged at the middle part of the equipment, and the base of the crawler-type traveling mechanism 07 is connected to the output members of the 4 third lifting mechanisms.
  • One end of the third lifting mechanism is connected to the frame 01, and the other ends of the four third lifting mechanisms are respectively connected to the bases of the crawler-type traveling mechanism 07m located at the left front, left rear, right front and right rear corner; the third lifting mechanism is used for The crawler-type traveling mechanism 07 is raised and lowered relative to the frame 01 .
  • connection mode of the third elevating mechanism shown in the present embodiment 1 and embodiment 2 and the crawler-type traveling mechanism 07 is as follows:
  • the first end and the output member of the third lifting mechanism 212L on the first side are connected to the base of the crawler-type traveling mechanism on the first side of the first end;
  • the output member of the third lifting mechanism 212R at the first end and the second side is connected to the base of the crawler-type traveling mechanism at the second side of the first end;
  • the second end and the output member of the third lifting mechanism 221L on the first side are connected to the base of the crawler-type traveling mechanism on the first side of the second end;
  • the output member of the third lifting mechanism 221R at the second end and on the second side is connected to the base of the crawler-type traveling mechanism on the second side of the second end.
  • connection between any kind of rolling traveling mechanism and the rolling element lifting mechanism can be deduced to obtain an accurate connection scheme.
  • the rolling element lifting mechanism 21 is the first lifting mechanism 211 and/or the second lifting mechanism 222 and/or the third lifting mechanism.
  • the rolling traveling mechanism 57 is the first traveling mechanism 511 and/or the second traveling mechanism 522 and/or the third traveling mechanism.
  • rolling walking mechanism Wheeled running gear and/or tracked running gear The rolling walking mechanism is set in the middle and lower part of the equipment.
  • 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.
  • the lower surface of the rolling traveling mechanism when supporting the frame 01 off the ground is located under the frame 01.
  • the walking wheel is the wheel mechanism.
  • the connection wheel in any place refers to the shaft of the connection wheel.
  • a plurality of first traveling mechanisms 511 can be connected to a first lifting mechanism 211, or each plurality of first traveling wheels 511 can be connected to a corresponding first lifting mechanism 211; each plurality of second traveling mechanisms 522 can be connected to a second lifting mechanism 211.
  • the mechanism 222 or the plurality of second traveling wheels 522 are correspondingly connected to a second lifting mechanism 222 .
  • Corresponding connection refers to separate connection or respectively corresponding connection.
  • 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. Any road wheel is a rotatable connection lifting mechanism.
  • the shaft of the road wheel 051 at the first end (left front) of the first side is connected to the first lifting mechanism 211L of this orientation, and the walking of the first end (right front) of the second side
  • the shaft of wheel 053 is connected to the first elevating mechanism 211R on the right side
  • the shaft of the road wheel 052 at the second end (left rear) on the first side is connected to the second elevating mechanism 222L on the left side
  • the second end (right rear) on the second side is connected to the second elevating mechanism 222L on the left side.
  • the axle of the walking wheel 054 of rear) is connected to the second elevating mechanism 222R on the right side.
  • 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 output member of the first elevating mechanism 211 is vertically connected to the frame 01.
  • Direction stretching or 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 unchanged, and the first lifting mechanism 211 can make the first traveling mechanism relative to the machine
  • the frame 01 is close to the 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.
  • 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 the first 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 .
  • the connection of other lifting mechanisms and corresponding running mechanisms can be carried out sequentially.
  • 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.
  • all components are configured not to interfere with each other.
  • the lower surface of any running gear can be lower than the lower surface of the frame 01.
  • any one of the mechanical legs 02 on the first side and the mechanical legs 02 on the second side includes: first joints connected in sequence part 101, thigh 102, second joint part 103 and calf 104, the second joint part 103 includes a second swing joint for enabling the calf 104 to swing back and forth relative to the thigh 102, the base of the mechanical leg refers to the The base of the first joint included in the first joint part 101 , the end of the mechanical leg is the end of the lower leg 104 .
  • the first joint part 101 includes a first swing joint 1012 enabling the thigh 102 to swing back and forth relative to the base of the mechanical leg.
  • the first joint part 101 further includes a first rotary joint 1011 for rotating the leg, and the first rotary joint 1011 is connected to the first swing joint 1012 .
  • 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 connection surface between the mechanical leg 02 and the frame 01 can be at F of the first rotary joint 1011 , and the connection surface of the first end (for example, the first end (front)) leg 021 is connected to the front facing surface of the frame 01 .
  • the connection face of the second end (eg rear) leg 022 connects the rear facing face 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 the rotation axis of the joint.
  • the first swing joint 1012 is used to adjust the included angle ag2 of the thigh 102 relative to the base of the mechanical leg.
  • the axis of the thigh 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 lower leg 104 relative to the upper leg 102 .
  • the axis A4 of the lower leg 104 is perpendicular to the output axis A3 of the second swing joint 103 .
  • the arrangement of the series of joints enables both the thigh 102 and the lower leg 104 to swing back and forth.
  • the end of the mechanical leg is connected to the end effector through the third joint part 105 , and the third joint part 105 is used to adjust the posture of the end effector.
  • the third joint part 105 includes a joint 1052 for swinging the end effector relative to the lower leg 104, when the When the mechanical leg is used for walking, the joint 1052 can make the end effector swing up to prevent the end effector from touching the ground.
  • the third joint part includes three joints connected in sequence to adjust the attitude of the end effector in three-dimensional space.
  • the mechanical leg is configured such that when the mechanical leg is used for walking, the lower surface of the ground-supporting part of the mechanical leg is lower than the lower surface of the output member of the joint 1052, and the joint 1052 can make the end effector put.
  • the parts for supporting the ground are feet. Further, the foot is connected with sole 106A.
  • the three joints are the joint 1051 for the first terminal rotation, the joint 1052 for swinging the end effector relative to the lower leg 104, and the joint 1053 for the second terminal rotation, which are sequentially connected.
  • the used joint 1051 is used to rotate the end effector around the axis of the output shaft of the joint 1051
  • the joint 1053 used for the second end rotation is used to rotate the end effector around the axis A6 of the output shaft of the joint 1053 .
  • the output shaft of the joint 1051 for the first end rotation is parallel to (or coincides with) the axis A4 of the lower leg 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 angle ag5 of the terminal device relative to the lower leg 104 .
  • the output axis of the joint 1053 is perpendicular to the output axis of the joint 1052 .
  • the number of the first joint part 101 and the second joint part 103 connected in sequence is one.
  • the first joint part 101 is the first joint part included in the mechanical leg.
  • the number of joints included in the first joint part 101 may be multiple.
  • the first joint included in the first joint part 101 is the first rotary joint 1011 .
  • the first joint included in the first joint part 101 is the first swing joint 1012 .
  • the first joint refers to the joint of the mechanical leg that is closest to the rack 01 of the equipment in connection relationship. Any mechanical leg is connected to the frame 01 of the equipment through the first joint portion 101 of the mechanical leg.
  • the first joint must be the joint included in the first joint part 101 of the mechanical leg.
  • the base of the first joint is the base of the mechanical leg.
  • Fig. 1 to Fig. 5 Please refer to Fig. 1 to Fig. 5: Further, according to the device described in Embodiment 1, when the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are used for walking, the mechanical leg 02 on the first side The output axis of the first joint included in any one of the mechanical legs 02 and the second mechanical leg 02 points forward and backward.
  • the output shaft of the first joint included in the mechanical leg points downward and the root of the thigh 102 included in the mechanical leg 02 is located below the base of the first joint.
  • the driver of each joint in the mechanical leg 02 is a rotary driver.
  • the rotary drive enables the swing angle of the output parts of each joint to be greater than 180 degrees. Increased working flexibility and/or working range compared to a drive with a linear drive.
  • the rotary driver is a rotary motor.
  • the drivers of the first swing joint 1012 and the second swing joint 103 are linear drives.
  • Linear actuators can achieve high-power operations at low cost.
  • the driver of the second swing joint 103 is a linear driver 103A, for example, the linear driver 103A is an electric push rod.
  • the linear actuator 103A is a telescopic hydraulic cylinder
  • 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.
  • the thigh is the thigh link, the first link.
  • the shank is the shank link and is the second link.
  • the mechanical leg of leg-arm fusion is the body mechanism of leg-arm fusion.
  • the leg is the limb; the base of the mechanical leg is the base of the limb; the first joint also has the function of the shoulder joint; the thigh also has the function of the big arm; the second joint also has the function of the elbow function; the lower leg also has the function of the forearm; part or all of the joints in the third joint also have the function of the wrist; the end effector also includes the fetching device and/or working tools.
  • the fused robotic leg of this leg-arm is used as an arm when used for a specified task.
  • 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.
  • one or two rollers 106 can be provided 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.
  • the solution of the roller 106 can also refer to FIG. 11 .
  • the walking direction of the plurality of mechanical legs 02 is consistent with the traveling direction of the rolling traveling mechanism 57 .
  • the rolling traveling mechanism can make the device travel along the road.
  • the mechanical leg 02 stands on the ground, the lower surface of the mechanical leg 02 can be lower than the lower surface of the rolling walking mechanism 57 .
  • the device has 6 legs, in addition to the above four legs, it also includes the middle leg 023L on the first side and the middle leg 023R on the second side.
  • walking refers to alternating walking.
  • Alternate walking refers to walking with a plurality of mechanical legs 02 alternately supporting and lifting off the ground. Each mechanical leg in the plurality of mechanical legs 02 will support and lift off the ground alternately.
  • Alternating touchdown and liftoff refers to touchdown and liftoff during a first period of time and liftoff during a second period of time different from the first period of time. And the ground support and lift off will repeat the cycle. Specifically, each mechanical leg supports the ground
  • the control of lift and lift belongs to the category of gait control. The gait control can be performed with reference to the prior art in the background art, and will not be repeated herein.
  • walking refers to multi-leg alternating walking. Walking is different from jumping and moving.
  • Walking refers specifically to the walking of humans or quadrupeds with alternating legs. Each leg must alternately hold and swing off the ground while walking.
  • Multi-legged walking refers to walking with at least two legs crossed instead of on the floor. Alternate that is, alternately hold and lift off the ground. Alternate multi-leg walking is multi-leg alternate ground-supporting walking. In this paper, the leg at any place is the mechanical leg.
  • the underwater propulsion device is a propeller or a mechanical leg capable of performing a stroke.
  • the mechanical leg 02 is connected to the frame 01 , which means that the base of the mechanical leg is connected to the frame 01 .
  • the legs are the thigh 102 and the calf 104 .
  • Leg rotation refers to rotation of the upper leg 102 and lower leg 104 .
  • Leg rotation refers in particular to thigh 102 rotation.
  • Alternate multi-leg walking is multi-leg alternating walking. Walking with alternating legs is equivalent to walking with alternating legs.
  • the base of the mechanical leg refers to the base of the first joint included in the first joint part 101 included in the mechanical leg.
  • the end of the mechanical leg is the end of the lower leg 104 included in the mechanical leg.
  • connection portion is the installation portion.
  • the connecting part for connecting the working tool 17 is the grabbing device 06 .
  • This connection is fetched.
  • the end of the fused robotic leg has a connection portion for connecting to a grasping device 06 configured to have the ability to grasp a working tool 17 for a specified operation or has a connection portion for connecting a work tool .
  • the grasping device 06 includes: a linear movement mechanism 06_2 for picking up objects, one end of the linear movement mechanism 06_2 is connected to the end of the mechanical leg for leg-arm fusion, and the other end is connected to the For the hook 06_3 that hooks the object, the linear movement mechanism 06_2 is used to drive the hook 06_3 to move linearly to grab the object or release the object.
  • the object is the work tool 17 or work object or work material.
  • the end of the mechanical leg is the output member of the joint 1053 for the rotation of the second end of the mechanical leg.
  • the linear movement mechanism 06_2 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 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 linear moving mechanism 06_2 for picking up objects is an electric push rod or a screw mechanism or a telescopic hydraulic cylinder or a telescopic air cylinder.
  • 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 specified operation includes carrying the person in a manner of supporting the person from below the person, driving the working tool 17 connected to the end of the mechanical leg 02 to grab Moving people by means of flexible objects attached to people, cutting objects, digging or shoveling objects, picking objects, tilling, painting objects, taking bricks to build walls, welding objects, rotating fasteners to install or remove objects, spraying objects any kind.
  • a specified job is a specific job. To specify is to specify. Specifying is equivalent to specifying.
  • the working tool 17 for cutting objects is a knife or a saw or a cutting machine.
  • the working tool 17 for digging or shoveling is a shovel.
  • 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.
  • the posture of the frame 01 can be either the first prone position or the standing position.
  • the optional standing posture is the first standing posture or the second standing posture.
  • the devices shown in Figures 1 to 9 are all in the first prone position.
  • the device shown in Figures 16 and 17 is in a first standing position.
  • the device shown in Figure 18 is the second lying position, ie supine.
  • the end of the mechanical leg 02 in any of the movable devices described above is provided with a foot 106A for supporting the ground.
  • the end of the mechanical leg 02 in any of the mobile devices described above is provided with rollers for rolling along the road.
  • the mechanical leg 02 is provided with a power supply component for supplying power to the working tool, one end of the power supply component is connected to the power supply provided on the frame 01, and the power supply component One end is used to attach the work tool.
  • the power supply component can be a power interface and/or a wire.
  • the power connector is pluggable to power the work tool.
  • One end of the wire is connected to the power interface and the other end is connected to the battery of the frame 01 .
  • the top 115 of any one of the above movable devices 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 described in any one of the above is configured to be able to carry an adult to travel.
  • the frame of the device or its related parts (such as the seat 117 ) is structurally designed to withstand a standard preset (such as 100KG) force.
  • the mobile device described in any one of the above further includes a manned cabin 11 .
  • the mobile device described in any one of the above items is a cart.
  • the mobile device described in any one of the above further includes an underwater propulsion device 09 connected to the frame 01, and the underwater propulsion device 09 is configured to drive the mobile device to travel in water; and/or , the buoyancy generated by the movable device in the water is not less than the weight of the movable device or the movable device is a boat.
  • the underwater propulsion device 09 is a propeller.
  • the underwater propulsion device 09 is a water jet propeller.
  • a control method 1 for a mobile device as described in Embodiment 1 or any alternative solution based on Embodiment 1 includes steps:
  • step S1 If the type of operation is to carry the personnel by holding the personnel from below, step S1 is performed.
  • step S2 is performed.
  • step S3 is performed.
  • step S4 is performed.
  • step S5 is performed.
  • step S6 is performed.
  • step S7 is performed.
  • step S8 is performed.
  • step S8 is performed.
  • step S9 If the type of operation is to rotate the fastener to install or disassemble the article, then perform step S9,
  • step S10 is performed.
  • step S11 If the type of operation is to climb along the external object through the mechanical leg fused with the leg arm, then perform step S11,
  • step S12 is performed
  • step S13 is performed;
  • S1 First place the movable part of the mechanical leg fused with the leg and arm under the person to be transported to support the person and then lift and/or translate the person.
  • the movable part refers to the thigh 102 and/or of the mechanical leg fused with the leg and arm or the lower leg 104 and/or the joint at the end of the lower leg 104 and/or the tool to which the end of the leg-arm fusion robotic leg is attached;
  • the mechanical leg that controls the fusion of the leg and arm drives the end effector connected to the end of the mechanical leg to carry the person by grabbing the flexible object connected to the person.
  • the end effector is the grabbing device 06;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to cut objects, and the working tool is a knife or a saw or a cutting machine;
  • the mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to pick items.
  • the picked items are vegetable picking or fruit picking or cotton picking or pulling plants or weeds.
  • the plants are vegetable plants, Any one or more of tree plants, seedlings, and traditional Chinese medicine plants, and the operating tool is a picker;
  • the mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to cultivate.
  • the cultivation refers to hoeing or planting.
  • the working tool for hoeing is a hoe, and the working tool for planting is seedling inserter;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg, and paints the working material carried by the working tool to the working object.
  • the working tool is a brushing tool, and the working material is paint or Pigment or powder or paste, the operation object refers to the wall or floor or equipment surface to be painted;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to weld objects, and the working tool is a welding tool;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to rotate the fastener to install or remove the object, the working tool is a grabbing part or the working tool is used to socket the fastening wrench or screwdriver;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to spray an object, the object is medicine or paint or powder or slurry or a fire extinguishing substance, and the working tool is a sprayer;
  • a specified job is a specific job. To specify is to specify. Specifying is equivalent to specifying.
  • control method 1 includes step Z0 before performing the specified operation: obtaining pose information of the work object or obtaining orientation information of the target space.
  • control method 1 includes step Z10 before performing the specified operation: controlling the limb mechanism to drive the working tool connected to the end of the limb mechanism so that the working tool is changed from the current pose of the working tool Move to working position.
  • control method 1 includes step Z20 before performing the specified operation: controlling the movement of the limb mechanism and/or controlling the action of the working tool connected to the end of the limb mechanism to load or grab the working materials.
  • the mechanical leg controlling the leg-arm fusion is the movement of the mechanical leg controlling the leg-arm fusion.
  • the work tool attached to the end is the work tool attached to the end.
  • the leg-arm fused robotic leg is configured to have capabilities, attributes for assigned tasks and for walking.
  • the internal structural characteristics of the mechanical leg fused with the leg and arm meet the two requirements, and the mechanical leg with the fused leg and arm is not an ordinary mechanical leg.
  • the leg-arm fusion mechanical leg has the characteristics and capabilities of a mechanical leg.
  • the mechanical leg of the leg-arm fusion is configured to realize the function of the arm. Realizing the function of an arm is also referred to as using as an arm.
  • the mechanical leg of the leg-arm fusion 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. The same hardware can realize different functions, which is of great benefit to cost saving and performance improvement.
  • the leg-arm fused mechanical leg is configured to bear the force generated by the leg-arm fused mechanical leg performing a specified operation.
  • the control device controls the movement of the mechanical leg of the leg-arm fusion by controlling the movement of the arm.
  • the driving instructions issued by the control device to the driver of the joint of the mechanical leg of the leg-arm fusion are all instructions for driving the arm to move.
  • the mechanical leg of the leg-arm fusion When the mechanical leg of the leg-arm fusion is used for walking, the mechanical leg of the leg-arm fusion is used as a mechanical leg.
  • the method of controlling the mechanical leg of the leg-arm fusion is to control the movement of the (ordinary) mechanical leg. method.
  • the driving instructions issued by the control device to the driver of the joint of the mechanical leg of the leg-arm fusion are all instructions for driving the movement of the (ordinary) mechanical leg of the leg-arm fusion.
  • 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 legs can also have no ankle joints and no feet, and walk on the ground by the end of the lower leg.
  • the type of work tool corresponds to the kind of work. Whether or not to add the term "job" after the name of any specified job refers to the same content.
  • job 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.
  • 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.
  • 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.
  • the operation tool connected to the end of the mechanical leg that drives the fusion of the leg and arm is also referred to as adjusting the pose of the operation tool connected to the end of the mechanical leg of the fusion of the leg and arm.
  • 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).
  • 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.
  • 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.
  • 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.
  • the grasping component is a multi-fingered manipulator or claws or hooks.
  • the gripping part is an electromagnetic chuck.
  • a job tool is a tool used for a specified job. Tools are also called utensils.
  • the mechanical leg with the leg-arm fusion is used for operation Z or the mechanical leg with the leg-arm fusion performs operation Z, and the operation method and step Z of the operation Z are: control the leg
  • the mechanical legs with fused arms drive the working tools connected to the ends of the mechanical legs to perform operations.
  • the mechanical leg of the leg-arm fusion is the mechanical leg or the mechanical arm of the leg-arm fusion.
  • Pose is position and posture.
  • the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg to perform operations, that is, the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg to perform operations.
  • the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg, that is: the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg.
  • 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.
  • This first category of operations is moving people, cutting objects, digging or shoveling objects, plowing, picking objects, welding, turning fasteners to install or remove objects.
  • the operation step of the first type of operation is step Z11.
  • step Z10 may also be executed before step Z11.
  • Z10 The mechanical leg that controls the fusion of the legs and arms drives the working tool connected to the end of the mechanical leg, so that the working tool moves from the current pose of the working tool to the working pose.
  • Z11 is: the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg to process the working object.
  • the object of the processing operation is moving people, cutting objects, digging or shoveling objects, hoeing, picking objects, welding objects, and rotating fasteners. Cultivation refers to hoeing or transplanting seedlings.
  • 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.
  • 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.
  • 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.
  • the processing portion of the work tool is in contact with the work object.
  • the type of operation is cutting an article
  • the working tool for this operation is a tool with a blade
  • the processing part is the blade.
  • the operation that puts the operation materials into the target space is the second type of operation.
  • work materials are loaded or carried by work tools.
  • the target space is also called the space to be released.
  • the target space is the space where the target object is located.
  • a target space may also refer to a target object.
  • Embodiments of cutting, digging or shoveling The operation method is as follows: the mechanical leg that controls the fusion of the legs and arms drives the working tool connected to the end of the mechanical leg to cut the work object.
  • the working tool is a knife or a saw or a cutting machine.
  • the cutting object is harvesting Chinese herbal medicines, harvesting crops, mowing grass, pruning branches or cutting trees.
  • Crops refer to rice and/or wheat and/or corn.
  • the felling of trees is preferably sawing.
  • 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.
  • Implementation of excavation drive the operation tool to excavate the operation object.
  • the work tool is a digging tool.
  • the digging tool is a shovel.
  • the operation object is the item to be excavated.
  • the implementation of shoveling drive the operation tool to shovel the operation object.
  • the work tool is a shovel tool.
  • 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.
  • Picking items are picking vegetables or fruits or picking cotton or pulling plants or weeds, and the plants include any one or more of vegetable plants, tree plants, seedlings, and traditional Chinese medicine plants.
  • the implementation of picking items drive the working tools to pick the working objects.
  • the working tool is a picking tool.
  • the operation object is the item to be picked.
  • the picking tool is a picker designed according to the items to be picked.
  • the picker is a weed comb, a fruit grabber, a seedling puller, and the like.
  • the scheme of hoeing drive the working tools to plow the land.
  • the operation tool is a hoe.
  • the operation object is the land to be hoeed.
  • the implementation of welding drive the working tool to weld the working object.
  • the work tool is a welding tool.
  • 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.
  • the implementation of rotating fasteners to install or remove items Drive the work tool to rotate the work object to install or remove items.
  • 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.
  • the job object is the fastener to be rotated.
  • the second type of operation is transplanting seedlings, spraying objects, painting objects or taking bricks to build walls.
  • step Z21 The operation step of this second type of operation is Z21.
  • step Z20 may also be executed before step Z21.
  • Z20 Control the movement of the mechanical leg of the leg-arm fusion and/or control the action of the working tool connected to the end of the mechanical leg of the leg-arm fusion, so as to load or grab the working materials.
  • Z21 Control the movement of the mechanical leg of the leg-arm fusion, so as to: put the working materials carried by the working tool connected to the end of the mechanical leg of the leg-arm fusion to the target space, or the working tool connected to the end of the mechanical leg of the leg-arm fusion
  • the carried work materials are processed 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 throwing or processing includes spraying, painting, inserting, shooting any one or any combination of them. This delivery is also called a treatment.
  • This step Z21 is to control the movement of the mechanical leg of the leg-arm fusion, so that the working tool connected to the end of the mechanical leg of the leg-arm fusion and loaded or carrying the operating material moves from the current posture to the working posture, so that the Job materials are delivered to 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.
  • the motion in the step Z10, step Z11, step Z20, and step Z21 refers to motion according to the set motion 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.
  • the end of the robotic leg fused with the leg and arm is connected to the grabbing device 06 , and the working tool is the working tool grabbed by the grabbing device 06 .
  • it before performing step Z, it also includes: obtaining pose information of the work object or obtaining orientation information of the target space; and/or, controlling the mechanical leg for leg-arm fusion and the end of the mechanical leg for controlling the leg-arm fusion
  • the connected grabbing device 06 grabs the work tool.
  • the above operation Z can be any operation in this paper. Replace any operation in this article with the operation Z in the above paragraph Z, and the operation scheme of any operation can be obtained. For example, according to the general operation technical scheme Z and operation step Z in paragraph Z of this article, any step of performing a certain operation with the mechanical leg of any kind of leg-arm fusion mentioned in this article can be realized.
  • Moving personnel or accessing articles can be called moving personnel and articles.
  • 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.
  • Implementation of seedling insertion drive the operating tool to drop the operating materials loaded by the operating tool into the target space. This delivery is an interjection.
  • the operating tool is a seedling inserter.
  • the working material is a seedling or a grabbing device.
  • the seedlings are crop seedlings or traditional Chinese medicine seedlings or tree seedlings.
  • the target space is the space to be planted.
  • the embodiment of painting articles or holding brick walls painting articles, the articles are paint or pigment or powder or paste.
  • 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 brushing tool is a brush or a roller or a scraper.
  • the target space is the space of the object to be painted.
  • the job object refers to the wall or ground or equipment surface to be painted.
  • the implementation of taking bricks and building walls drive the operation tool, and put the operation materials carried by the operation tool into the target space.
  • the working tool is a grabbing part.
  • the job material is brick.
  • the target space is the space to be built.
  • Building a wall refers to placing bricks side by side one by one, and building up the walls layer by layer.
  • Layer by layer means that bricks are piled up layer by layer.
  • Spray which is medicine or paint or powder or slurry or fire extinguishing substance.
  • 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.
  • the working material is paint or powder or slurry or fire extinguishing substance, and the object is wall or ground or equipment surface.
  • the working materials are insecticides, and the objects are crops or vegetables or plants.
  • the working material is a herbicide, and the object is grass.
  • a mobile device with 4 mechanical legs has 1-4 mechanical legs with fused arms, and a shovel tool is connected to the end of the fused mechanical legs. This equipment is used to shovel animal manure in farms.
  • a mobile device with 4 mechanical legs has 4 mechanical legs with fused arms that can walk, and a tool for harvesting Chinese herbal medicines (sickle) is connected to the end of the fused mechanical leg with 1 leg and arm.
  • a digging tool (bucket) is connected to the end of a mechanical leg with fused arms, and a grabbing device (062) is connected to the end of the mechanical leg with fused arms of the other two legs.
  • the control method of the equipment control a mechanical leg with a fusion of legs and arms to harvest Chinese medicinal materials on the ground with a tool for harvesting Chinese medicinal materials (sickle), control a mechanical leg with a fusion of legs and dig tools (shovel) to dig the medicinal materials in the ground, control Additional 2-leg-arm-fused robotic leg with gripper
  • the fetching device 062 carries the collected medicinal materials.
  • the combination of mechanical legs with 4 legs and arms can greatly improve the efficiency of collecting Chinese medicinal materials.
  • a control method 2 for a mobile device as described in Embodiment 1 or any alternative solution based on Embodiment 1 includes the step of: controlling the mechanical leg 02 on the first side and/or controlling the mechanical leg 02 on the second side
  • the legs 02 make the posture of the frame 01 switch between the first lying posture and the standing posture; the standing posture is the first standing posture or the second standing posture.
  • the devices shown in Figures 1 to 9 are all in the first prone position.
  • the device shown in Figures 16 and 17 is in a first standing position.
  • the device shown in Figure 18 is the second lying position, ie supine.
  • the equipment that is, a robot, can also change its posture with its legs on the ground.
  • a method 3 for controlling a mobile device as described in Embodiment 1, Embodiment 2, and Embodiment 3 includes steps:
  • the second lifting mechanism 222 is controlled to make the second walking mechanism 522 reach the ground on the flat road, so that the crawler-type Elevation of the rear of the running gear 07m; and/or,
  • the second lifting mechanism 222 is controlled to make the second traveling mechanism 522 reach the ground on the uphill road section, to reduce the inclination angle of the crawler-type running gear 07m; and/or,
  • Controlling the first elevating mechanism 211 and controlling the second elevating mechanism 222, and/or controlling the third elevating mechanism, is used to adjust the relative adjust the height of the road surface or adjust the attitude of the frame 01; or make the device switch between the first mode and the second mode;
  • the first mode is: the lower surface of the third traveling mechanism is lower than the lower surface of the first traveling mechanism 511 and/or the lower surface of the second traveling mechanism 522, and the frame 01 is supported by the third traveling mechanism.
  • ground and make the movable equipment travel along the road, or support the frame 01 off the ground and make the movable equipment by one of the first traveling mechanism 511 and the second traveling mechanism 522 and the third traveling mechanism drive along the road;
  • the second mode is: the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522 are all lower than the lower surface of the third traveling mechanism, and the first traveling mechanism 511 and the second traveling mechanism 522 supports the frame 01 off the ground and enables the movable equipment to travel along the road.
  • 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 Sag.
  • 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.
  • a control method 4-1 for a movable device as described in embodiments 1, 2, 3, and implementations 7 and 8 includes the steps:
  • Control a leg root motion mechanism so that the base of the mechanical leg 02 on the first side and the base of the mechanical leg 02 on the second side are located at a certain end of the frame 01; control the mechanical leg 02 on the first side so that the The mechanical leg 02 on the first side supports the ground and/or controls the mechanical leg 02 on the second side to make the mechanical leg 02 on the second side support the ground, or controls the mechanical leg 02 on the first side and the mechanical leg 02 on the second side.
  • leg 02 walks, so that the equipment travels along the road and/or a certain end of the frame 01 and the rolling walking mechanism located at the certain end are lifted off the ground to overcome obstacles;
  • the certain end is the first end and the other end is The second end, or the certain end is the second end and the other end is the first end;
  • the certain leg movement mechanism is the first linear movement mechanism 184 of the connecting bracket, or the certain leg movement mechanism is the first The first linear motion mechanism 184L on the first side and the first linear motion mechanism 184R on the second side, or the leg motion mechanism is the first leg swing mechanism 19L on the first side and the first leg on the second side. Root swing mechanism 19R.
  • the leg root movement mechanism drives the mechanical legs to move to the first end (front) of the frame 01.
  • the equipment can form a "car pulled by the mechanical legs" Unique driving mode, and can assist the first road wheel 511 to leave the ground and overcome obstacles.
  • the leg root movement mechanism drives the mechanical leg to move to the second end (rear) of the rack 01.
  • the equipment can form a unique "backward car by the mechanical leg" driving mode, and can assist the second road wheel 522 to lift off the ground and overcome obstacles.
  • a control method 4-2 of a movable device as described in Embodiments 1, 2, 3, and Embodiments 7 and 8 includes steps:
  • the base of the mechanical leg 02 on the second side is located in the middle of the frame 01, or the first leg swing mechanism 19L on the first side and the first leg swing mechanism 19R on the second side are controlled to make the first leg swing mechanism 19R
  • the base of the mechanical leg 02 on one side and the base of the mechanical leg 02 on the second side are located at the middle and lower part of the frame 01; the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are controlled to walk.
  • a control method 4-3 of a mobile device as described in Embodiments 1, 2, 3, 7, and 8 includes the steps:
  • this certain leg root movement mechanism is the first linear movement mechanism 184 of this connecting bracket, the first linear movement mechanism 184L of this first side, the first linear movement mechanism 184L of this second side.
  • this movement mechanism 184R the first leg swing mechanism 19L on the first side, and the first leg swing mechanism 19R on the second side any kind.
  • a control method 4-4 of a movable device as described in Embodiment 8 includes steps:
  • the first leg root swing mechanism on a certain side so that the base of the mechanical leg 02 on the certain side is located at the middle and upper part of the frame 01, and control the mechanical leg 02 to perform specified operations or climb.
  • the end effector connected to the end of the mechanical leg grabs an external object higher than the frame 01 to make the device crawl along the external object, the end effector is a grabbing device 06 or a working tool for climbing, the A certain side is the first side or the second side.
  • a control method 5-1 of a movable device as described in embodiment 1, embodiment 2, and embodiment 8 includes steps:
  • the end effector connected to the end grabs an external object higher than the frame 01 to make the device crawl along the external object, and the end effector is a grabbing device 06 or a working tool for climbing.
  • a control method 5-2 of a movable device as described in Embodiment 1, Embodiment 2, and Embodiment 8 includes the step of: controlling the second linear motion mechanism in any orientation to drive the second linear motion mechanism in any orientation
  • the base of the mechanical leg moves to the second area, and the mechanical leg is controlled to perform specified operations.
  • a control method 5-3 of a movable device as described in Embodiment 1, Embodiment 2, and Embodiment 8 includes the steps:
  • a computer-readable storage medium wherein computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the control method described in any one of the above is implemented.
  • control device for movable equipment, characterized in that the control device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the control described in any one of the above is realized method.
  • the control means can be located either within the device or in another mobile platform separate from the mobile device.
  • a mobile platform the mobile platform is the movable device as described in embodiment 1 or any optional solution based on embodiment 1, or the mobile platform includes a walking mechanism for driving the mobile platform along the road surface,
  • the mobile platform includes the above-mentioned control device.
  • the manned cabin 11 includes a bottom 116, and a space for people is left on the bottom 116. Borders are arranged on the left and right sides of the manned space. This border is the edge.
  • a frame is also provided on the front or rear of the manned compartment. At least one side of the passenger cabin 11 is provided with a door or window that can be opened and closed.
  • 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.
  • a plurality of longitudinal girders may be stacked vertically, and a plurality of cross beams may be stacked vertically.
  • 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.
  • 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 kinematic mechanism 181 for the forward and backward motion of the first end and the base of the kinematic mechanism 182 for the forward and backward motion of the second end are longitudinal beams of the frame 01 .
  • the bases of the third lifting mechanism 212 at the first end and the third lifting mechanism 221 at the second end are vertically connected to the frame 01 .
  • the device also includes several guiding mechanisms for guiding and increasing structural strength.
  • 1611, 1612, 1621 and 1622 are all guiding mechanisms. Both ends of the first guide mechanism 1611 are respectively connected to the middle part of the frame 01 and the upper part at the first end. Two ends of the first guiding mechanism 1612 are respectively connected to the middle part of the frame 01 and the lower part of the first end. Two ends of the second guide mechanism 1621 are respectively connected to the middle part of the rack 01 and the upper part of the second end. Both ends of the second guide mechanism 1622 are respectively connected to the middle part of the rack 01 and the lower part of the second end.
  • 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.
  • the device is configured to be capable of carrying people, and the width is set to be not less 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.
  • the embodiment of connection: the connection of each part of the frame is welding.
  • the frame is threaded with other parts.
  • the description at any place can be used in any scheme in this paper: the any scheme especially refers to any mobile equipment scheme.
  • a specified job is a specific job. To specify is to specify. Specifying is equivalent to specifying.
  • equipment is a machine or a robot, and the three are equivalent.
  • all definitions of front, rear, left, and right directions are based on the driving direction of the device along the road. Taking the driving direction of the device along the road as a reference, it can also be described as being in the driving direction of the device, and the two are equivalent.
  • the benchmark is the reference.
  • the direction of travel is forward, the first side is the left side, and the second side is the right side.
  • the road surface refers to a flat road.
  • first end is first
  • the first part is the front part.
  • the second end is the second part or the second part or the rear part. Longitudinal refers to the front-to-back direction. Horizontal refers to the left-right direction.
  • the first part is the part before the center of gravity of the device.
  • the second part is the part behind the center of gravity of the device.
  • the first site and the second site are opposite sites.
  • the first end and the second end are opposite ends bounded by the center of gravity O.
  • the first end of the rack 01 of the device is located in front of the point O of the center of gravity of the device.
  • the second end of the rack 01 of the device is located behind the point O of the center of gravity of the device.
  • the middle part of the rack 01 of the equipment is located between the first end of the rack 01 and the second end of the rack 01 .
  • one side of the center of gravity O is the first side
  • the other side of the center of gravity O is the second side.
  • the first side and the second side are located on opposite sides of the center of gravity O.
  • the direction of travel is forward, the first side is the left side, and the second side is the right side. Either side, not limited to the outer surface of that side.
  • the axis in the direction of travel passing through the point O of the center of gravity of the device is the longitudinal axis. To the left of the vertical axis is the left side. To the right of the vertical axis is the right side.
  • the first side and the second side are located on opposite sides of the longitudinal axis.
  • the first side of the center of gravity O of the device ie the center of the frame 01 of the device, is located on the first side of the longitudinal axis of the device.
  • the second side of the center of gravity O of the device ie the center of the frame 01 of the device, is located on the second side of the longitudinal axis of the device.
  • the point O of the center of gravity is the center of the rack 01 of the equipment.
  • the position of the center of gravity is the center position.
  • 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.
  • the front part is the first part
  • the rear part is the second part.
  • the second part is the second part.
  • the first part is the first part. Longitudinal refers to the front-to-back direction. Horizontal refers to the left-right direction.
  • the position of any lifting mechanism refers to the position of the output member of the lifting mechanism.
  • the position of any forward and backward movement mechanism refers to the position of the output member of the forward and backward movement mechanism.
  • the walking wheel is a wheeled walking mechanism. To walk is to move the ground and to travel. Wheeled walking is wheeled movement, that is, wheeled travel.
  • the mechanical leg of leg-arm fusion is the multifunctional mechanical leg, that is, the mechanical leg with arm function, that is, the limb mechanism of leg-arm fusion, and the four are equivalent.
  • the leg root motion mechanism is the fourth motion mechanism.
  • the second linear motion mechanism is the fourth lifting mechanism.
  • the first linear motion mechanism is the fourth forward and backward motion mechanism.
  • the first leg root swing mechanism is the first single-stage swing mechanism.
  • the second end is the second part, that is, the rear portion, that is, the tail end.
  • the middle part is the third part.
  • the top elevating mechanism is the fifth elevating mechanism.
  • any device is a mobile device.
  • a removable device is simply referred to as a device.
  • the crawler-type traveling mechanism is the crawler-type traveling device, and the two are equivalent.
  • the wheeled walking mechanism is the walking wheel.
  • the front edge of the road wheel refers to the front edge of the road wheel.
  • the rear edge of the road wheel refers to the rear edge of the road wheel. Touching the ground means touching the road. When you support the ground, you reach the ground.
  • the ground is the road. To drive means to drive along the road.
  • the crawler-type traveling mechanism is an integral crawler-type traveling mechanism.
  • the integral crawler-type traveling mechanism means that the forward arrival point of the crawler-type traveling mechanism is located in front of the center of gravity of the movable equipment and the rear-arrival point of the crawler-type traveling mechanism located behind the center of gravity of the device.
  • Integral crawler-type traveling mechanism refers to that crawler belts for reaching the ground are provided between the front arrival point and the rear arrival point of the crawler-type traveling mechanism.
  • the distributed crawler mechanism refers to a crawler-type walking mechanism whose front and rear arrival points are located before or after the center of gravity of the movable equipment.
  • the landing point of the road wheel refers to the lower surface of the road wheel.
  • the front arrival point of the crawler-type traveling mechanism refers to the front point of the lower surface of the crawler included in the crawler-type traveling mechanism
  • the rear-arrival point of the crawler-type traveling mechanism refers to the rearward point of the lower surface of the crawler included in the crawler-type traveling mechanism. point.
  • the lower surface of the track refers to the longest straight line in the lower surface of the track.
  • the center of the road wheel or wheel is the axis of the wheel.
  • the center of the crawler-type traveling mechanism in the front-rear direction is at the 1/2 length of the crawler belt.
  • the landing point of any walking component refers to the part of the walking component that is used to touch the ground. The arrival point is allowed to be lifted and off the ground.
  • 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.
  • Azimuth means direction, means angular position, means orientation.
  • the reference object is the center of gravity O point of the movable device in any orientation of front, rear, left, right, up, and down.
  • the center of gravity (O) of a device refers to the center of gravity (O) of the device's construction. Any part refers to the center of the part unless otherwise specified.
  • inward or outward refers to the reference object as a reference, inward means: the direction pointing to the reference object; outward means: pointing in the opposite direction to the reference object.
  • forward refers to; the direction in which movable equipment travels.
  • the front refers to the direction indicated by X1 in the attached drawing.
  • X1 indicates the front
  • X2 indicates the rear.
  • Left-right means left and/or right
  • front-back means front and/or back.
  • Advance and retreat refers to advance and/or retreat.
  • the front view is viewed from the front and back, the front view is the left view; the side view is the front view, which is the front view, and the view direction is from left to right; the top view is from the top to bottom view.
  • 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.
  • the first side and the second side are opposite orientations.
  • the first side is the left side, that is, the left side, that is, the left side
  • the second side is the right side, that is, the right side, that is, the right side.
  • the middle part herein refers to the position between the first running gear and the second running gear.
  • the first end of the first side is the front left.
  • the first end of the second side is the front right.
  • the second end of the first side is the left rear.
  • the second end of the second side is the right rear.
  • the front surface is the end surface of the first end.
  • the rear surface is the end surface of the second end.
  • the upper surface is the surface of the first region.
  • the lower surface is the surface of the second region.
  • the first area is the upper area of the frame 01, namely the back.
  • the second area is the lower area of the rack 01, i.e. the abdomen.
  • the surface of the first region, that is, the upper surface of the first region, is the back surface.
  • the surface of the second area is the lower surface of the second area.
  • the first area and the second area are bounded by the height line of 1/2 of the height of the rack 01, the first area is above the 1/2 height line, and the second area is below the 1/2 height line .
  • any part has two ends, one end of the part refers to the root of the part, and the other end of the part refers to the end of the part.
  • the root refers to the part close to the rack.
  • the end refers to the part away from the rack.
  • the part is in particular a leg, an arm, a mechanism or a joint.
  • 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.
  • 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 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 and the torso is the fuselage and the frame.
  • the ground is the road.
  • Floor means the bottom surface under the equipment used to support the equipment.
  • any connection wheel refers to the shaft of the connection wheel.
  • the crawler-type traveling mechanism and the crawler belt are installed in the middle of the bottom of the equipment. Unless otherwise specified, the positional relationship of any member with respect to the other member is based on the center of the two members.
  • the scheme includes the scheme after the word “can” or “may” or “with” is removed.
  • Arbitrary refers to several. Several can be one or more. A certain kind, that is, any one or any variety.
  • A includes B, including: A is connected to B or A is B. Include can be just include. Just include it.
  • connection includes direct connection or connection through an intermediate piece.
  • 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.
  • connection refers to concatenation.
  • a plurality of components are connected in sequence, and the end of the former component is connected to the root end of the latter component, that is, the ends of the plurality of components are connected in sequence.
  • the connection is mechanical.
  • the type of (mechanical) connection including: fixed connection, detachable connection.
  • the connection of the two can also be the integration of the two.
  • a detachable connection that is, a connection in such a way that it can be disconnected in a controlled manner.
  • Active connections include slidable connections or rotatable connections; rotatable connections are hinged.
  • 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.
  • 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.
  • 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.
  • the components included in the device may be one or more. Any part may be distributed over multiple physical entities or a single physical entity. Multiple components may also be arranged within the same object entity.
  • the drive unit is also known as the drive or power unit. Drives are also referred to as actuators.
  • the kinematic mechanism and its drive can be integrated.
  • 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.
  • the frame is the body, the body, the torso, the fuselage, and the five are equal.
  • Any movable piece of equipment has a rack.
  • Rack that is, parts of a mobile device 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 the device.
  • the equipment in any place includes all the devices needed to realize the operation.
  • Any equipment includes: control device, operating device and energy supply device.
  • 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.
  • 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.
  • the operation includes driving the equipment and specifying the operation.
  • 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 rolling traveling device is the rolling traveling mechanism and the driver of the rolling traveling mechanism.
  • the running gear can be a rolling running gear or a walking gear.
  • the walking device is the leg device.
  • the walking mechanism is the leg.
  • Leg walking is walking. 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 comprises wheeled running gear and/or crawler running gear and/or leg gear. To walk is to drive. To walk means to move on the ground. Walking gear is also called ground moving gear.
  • the control unit is connected to the drive.
  • the driver is controlled by the control device, and the action of the mechanism is controlled by the control device.
  • any mechanism is connected with a driver for driving the lifting mechanism.
  • the output of the wheel mechanism is the rim and/or the tire that fits on the rim. Drives can contain reducers.
  • any motion mechanism that can be controlled by the control device is connected with a driver for driving the motion 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.
  • Types of locomotion include lifting, walking on legs, walking on wheels, walking on tracks, and water propulsion.
  • the movement mechanism can be divided into lifting mechanism, walking mechanism, wheel type walking mechanism, crawler type walking mechanism, and underwater propulsion mechanism.
  • moving devices can be divided into lifting devices, leg-type walking devices, wheel-type walking devices, crawler-type walking 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 equipment may refer to the rack 01 of the 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.
  • the ground is the road surface.
  • the job executing device is a mobile appliance.
  • mobility equipment include feet, climbing equipment, wheels.
  • the work tools include grabbing devices and/or work tools.
  • the energy supply device includes or is a power source.
  • the power supply is connected to the control device to supply power for the control device; 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 power supply.
  • 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.
  • the power conversion device is an electric motor, a hydraulic cylinder, a hydraulic motor, an air cylinder or an air motor.
  • the drive device further includes a power control device for controlling the power components.
  • the power control device is a motor driver and a hydraulic valve.
  • the control device is configured to implement any of the control methods herein.
  • the control device includes a processor and a storage medium for storing instructions executable by the processor, and the processor is configured to implement any one of the control methods herein.
  • Processors are used to process, execute programs, and manipulate data.
  • the storage module is used to store programs and data.
  • the storage medium is the storage module.
  • Processor is CPU or DSP.
  • the control device also includes a communication module.
  • the communication module is used to obtain environmental information collected by external sensors and obtain control instructions.
  • the communication module communicates with the man-machine interface to obtain manual control instructions.
  • the communication module can also automatically control module communication to obtain automatic control instructions.
  • the automatic control module is an automatic driving module that can output driving instructions or an artificial intelligence module that can output special operation control instructions.
  • the software program can come from a memory module inside the control device or from outside. The external especially refers to network and cloud platform.
  • the control device includes software, hardware and structural components for realizing control functions. 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.
  • 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.
  • 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.
  • the wireless communication module is a mobile communication module or an infrared communication module.
  • Human-machine interface includes voice input system, touch screen, keyboard, mouse, buttons, human gesture recognition system, etc.
  • the sensor module includes a sensor for acquiring status information of the device itself and/or an environment perception module 08 for acquiring environmental information.
  • 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, moving speed, acceleration, angle of each joint, angular velocity, position of each leg, each arm, etc.
  • the sensor includes IMU, gyroscope, acceleration 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 control device is configured to control the movable equipment to perform any of the operations herein.
  • the control device (electricity) is connected to the operation device to control it to perform operations.
  • the control device (electrically) is connected to the moving device in the working device, controls the moving device, and the working device connected to it is driven by the moving device to perform operations.
  • the moving device is the working device.
  • the control device is (electrically) connected to the drive device in the working device, the control device controls the drive device, and the drive device drives the motion mechanism connected to it (mechanically).
  • the motion mechanism is a leg, a rolling walking mechanism, a mechanical arm or a mechanical leg fused with a leg and an arm.
  • the mechanical arm or the mechanical leg with the fusion of the leg and arm drives the working tool connected to it (mechanically) to perform operations.
  • 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.
  • Work tools are gripping devices and/or work tools.
  • the control device (electrically) controls the driving device, which means: the control device (the processing module in it) processes the information related to the operation, executes the program related to the operation, and the control device can issue control related to the operation to the driving device Signal.
  • 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 equipment traveling on three wheels may be a steering mechanism of a tricycle.
  • 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.
  • the motion control devices can be steering wheel, accelerator, brake, and rocker.
  • Motion maneuvers include forward and backward maneuvers and/or steering maneuvers.
  • the automatic driving module is used to control the movement of movable equipment in an automatic driving manner. Autonomous driving is driverless. since 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.
  • connection part used to connect the kinematic mechanism in the device.
  • the connection part is arranged on the frame of the equipment.
  • Motion includes any one or any combination of rotation, linear movement, and oscillation.
  • 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.
  • 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 power unit is also called a drive.
  • the name of the device can be directly used to indicate the mechanism of the device.
  • 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.
  • the motion mechanism includes a rotary mechanism, a linear movement mechanism and a swing mechanism.
  • the drive device can be divided into rotary drive device, linear drive device, etc.
  • 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 linear moving mechanism is an electric push rod device, or a piston 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.
  • 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.
  • 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.
  • the telescopic mechanism is an electric push rod, a piston cylinder or a telescopic hydraulic cylinder.
  • 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
  • the mechanism comprises a screw 202A driven by a motor 204A.
  • 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.
  • the piston cylinder that is, the telescopic cylinder
  • the piston 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 swing mechanism herein refers to a single-link swing mechanism, that is, a single-stage swing mechanism.
  • the lifting mechanism can be a vertical linear movement mechanism or a swing mechanism.
  • the swing mechanism is the swing joint.
  • the swing 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, and one end of the output part is a hinged end.
  • the output part of the swing mechanism is a swing arm. .

Abstract

L'invention concerne un appareil mobile, un procédé et un dispositif de commande, un support de stockage et une plateforme mobile. L'appareil comprend une crémaillère (1), une patte mécanique (02) située sur un premier côté, et une patte mécanique (02) située sur un second côté du centre de gravité (O) de l'appareil, la patte mécanique (02) située du premier côté et la patte mécanique (02) située du second côté étant conçues pour pouvoir marcher, et au moins une patte mécanique (02) entre la patte mécanique (02) située sur le premier côté et la patte mécanique (02) située sur le second côté étant une patte mécanique à bras-patte fusionnés (02), une extrémité arrière de la patte mécanique à bras-patte fusionnés (02) étant reliée à un effecteur d'extrémité arrière. L'appareil comprend en outre un mécanisme de déplacement de base de patte et/ou un mécanisme de marche de type roulant, qui sont utilisés pour permettre à une base de chaque patte mécanique (02) de réaliser un mouvement d'élévation et/ou un mouvement vers l'avant et vers l'arrière. Chaque patte mécanique (02) comprend une première partie d'articulation (101), une cuisse (102), une seconde partie d'articulation (103) et une tige (104), qui sont reliées successivement, une base de la première partie d'articulation (101) étant reliée à la crémaillère (01). L'appareil mobile permet d'améliorer la capacité de fonctionnement ou de franchissement d'un obstacle.
PCT/CN2023/071975 2022-01-12 2023-01-12 Appareil mobile, procédé et dispositif de commande, support de stockage et plateforme mobile WO2023134734A1 (fr)

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CN202210034117 2022-01-12
CN202210034117.6 2022-01-12
PCT/CN2022/071683 WO2023133743A1 (fr) 2022-01-12 2022-01-12 Appareil mobile, procédé de commande, dispositif de commande, support d'enregistrement et accessoire
CNPCT/CN2022/071683 2022-01-12

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PCT/CN2023/071975 WO2023134734A1 (fr) 2022-01-12 2023-01-12 Appareil mobile, procédé et dispositif de commande, support de stockage et plateforme mobile

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