1. A multi-source power robot walking method is used for a robot with the following structure: the robot comprises a rack (1) and a walking device, wherein the walking device is arranged on the rack (1), the walking device comprises telescopic supporting legs and walking wheels (5) arranged on the supporting legs, the walking wheels (5) comprise two first idler wheels (51) which are coaxially arranged and distributed on different sides of the rack (1), and further comprise second idler wheels (52) fixed on the rack (1) or the walking device, and the second idler wheels (52) are positioned in front of the first idler wheels (51); in the height direction, the relative position of the second roller (52) and the first roller (51) is linearly adjustable in the telescopic process of the supporting leg; the walking method is based on a perception system to realize road condition recognition, and when a walking path including an obstacle or a trench needing to jump and cross the obstacle is recognized, the robot is controlled by executing a jumping method to jump and cross the obstacle, and the walking method is characterized by comprising a robot posture control step, wherein the posture control step is as follows:

before the jump-off action is executed, the robot is supported by the first roller (51) and the second roller (52) together when the flight is triggered by controlling the posture of the robot so that the gravity center of the robot falls between the first roller (51) and the second roller (52);

in the emptying stage, the gravity center of the robot is enabled to fall between the first roller (51) and the second roller (52) by controlling the posture of the robot, and the first roller (51) is positioned below or at the same height position as the second roller (52);

in the touchdown stage, the walking wheels (5) support the robot in any one of the following modes:

the first method is as follows: the first roller (51) firstly touches the ground and then contacts the ground for buffering through the contraction of the supporting legs; in the landing buffering stage, the second roller (52) touches the ground along with the descending of the height of the rack (1);

the second method comprises the following steps: the first roller (51) and the second roller (52) are synchronously grounded.

2. The multi-source power robot walking method according to claim 1,

the jump method further includes a jump determination step of:

s1, determining the size of the obstacle or the trench through the sensing system;

s2, determining the take-off position of the robot according to the result of S1;

s3, combining the results of S1 and S2, and determining the posture and the moment required by the robot according to the dynamic model of the robot;

when the performance of the robot meets the requirements of the posture and the moment, judging that the jumping can be executed;

when the performance of the robot does not meet the attitude and moment requirements, one or more of the following walking method steps are performed: turn around, send a non-overridable signal.

3. The multi-source power robot walking method according to claim 1, characterized in that in a first mode, the second roller (52) and the first roller (51) are both mounted on the support leg, the relative position of the second roller (52) and the first roller (51) is fixed, after the second roller (52) contacts the ground, the support leg continues to contract to cushion the ground, and then the support leg is locked to form a rigid support for the robot;

when the robot touches the ground, the landing legs are contracted to perform floor buffering, and then the rigid support is formed for the robot by locking the state of the landing legs.

4. The multi-source power robot walking method according to claim 3, characterized in that the supporting leg comprises a telescopic link mechanism (4), the link mechanism (4) comprises a third connecting rod (43) which is arranged at the bottom side of the link mechanism (4) and is a rocker arm when the link mechanism (4) is telescopically deformed, and the second roller (52) and the first roller (51) are both arranged on the third connecting rod (43); when the third connecting rod swings, the relative position of the first roller (51) and the second roller (52) can be converted into that: the supporting wheel surface of the second roller (52) is positioned above the supporting wheel surface of the first roller (51);

in the first mode, the landing and landing buffering postures or states of the landing legs are controlled through the deformation of the connecting rod mechanism (4);

in the second mode, the landing and landing buffering postures or states of the landing legs are controlled through the deformation of the connecting rod mechanism (4);

the locking legs are maintaining the state of the linkage (4).

5. The multi-source power robot walking method according to claim 4, wherein the link mechanism (4) further comprises a second link (42) and a first link (41), the first link (41) and the second link (42) are hinged to different positions of a third link (43) in the length direction through rotating shafts;

the rotating shafts of the first connecting rod (41) and the second connecting rod (42) and the third connecting rod (43) are parallel to each other;

the first connecting rod (41) is connected to the rack (1) through the driving and rotating device (3), and the driving and rotating device (3) is used as a power source for the telescopic deformation of the connecting rod mechanism (4);

the second connecting rod (42) is hinged on the frame (1);

in the process of executing the jumping action, the driving device (3) is used as an extension power source of the connecting rod mechanism (4).

6. The multi-source power robot walking method according to claim 4, characterized by further comprising a cylinder (2), wherein one of a cylinder body part and a piston rod part of the cylinder (2) is fixedly connected with a third connecting rod (43), and the other is fixedly provided with a connecting piece (8), and the connecting piece (8) is connected with the other and the frame (1);

a rotating shaft is arranged on the connecting piece (8), and the air cylinder (2) and the rack (1) can rotate around the rotating shaft;

the rotating shaft on the connecting piece (8) is parallel to the axis of the swinging shaft when the third connecting rod (43) swings;

the connecting piece (8) is also provided with a locking piece, and the locking piece is used for realizing the rotation locking of the cylinder (2) relative to the rack (1);

the landing buffer is controlled by the state of the air cylinder (2): the deformation of the link mechanism (4) is controlled by the state of the cylinder (2).

7. The multi-source power robot walking method according to claim 4, characterized by further comprising a cylinder (2), wherein one of a cylinder body part and a piston rod part of the cylinder (2) is fixedly connected with a third connecting rod (43), and the other is fixedly provided with a connecting piece (8), and the connecting piece (8) is connected with the other and the frame (1);

a rotating shaft is arranged on the connecting piece (8), and the air cylinder (2) and the rack (1) can rotate around the rotating shaft;

the rotating shaft on the connecting piece (8) is parallel to the axis of the swinging shaft when the third connecting rod (43) swings;

the connecting piece (8) is also provided with a locking piece, and the locking piece is used for realizing the rotation locking of the cylinder (2) relative to the rack (1);

the connecting rod mechanism (4) further comprises a second connecting rod (42) and a first connecting rod (41), and the first connecting rod (41) and the second connecting rod (42) are hinged to different positions of a third connecting rod (43) in the length direction through rotating shafts;

the rotating shafts of the first connecting rod (41) and the second connecting rod (42) and the third connecting rod (43) are parallel to each other;

the first connecting rod (41) is connected to the rack (1) through a driving motor, and the driving motor is used as a power source for the telescopic deformation of the connecting rod mechanism (4);

the second connecting rod (42) is hinged on the frame (1);

in the process of executing the take-off action, the air cylinder (2) and the driving motor jointly provide take-off power.

8. The multi-source power robot walking method according to claim 7, characterized in that the take-off action process further comprises a take-off power-storage stage;

the jump power storage stage is as follows: the power storage is realized by compressing the gas in the cylinder (2) by the connecting rod mechanism (4) through the work of the driving motor.

9. A multi-source power robot walking method according to claim 6 or 7, characterized in that during the jump-starting action, the compressed gas source of the cylinder (2) is from a compressed gas cylinder or engine exhaust.

10. The multi-source power robot walking method according to claim 1, characterized in that the second rollers (52) are universal wheels; the first roller (51) is also connected with a driving device (6) for driving the first roller to roll.

Background

In the tasks of bomb disposal and mine elimination, earthquake rescue, mine disaster search and rescue, jungle battle and the like, the terrain environment is complex, the operation conditions are hard, the traditional operation mode is generally operated directly by personnel, casualties and great loss are often caused, meanwhile, a large amount of instruments and equipment are required to be carried in field operation, the task load is heavy, the personnel load capacity is limited, and the single task benefit is greatly limited by the traditional operation mode.

Taking the existing walking robot as an example, in the prior art, mobile devices capable of running autonomously are widely used for executing various tasks, and along with the diversification of a motion system matched with the mobile devices and the development of a control technology, in the military and civil fields, the mobile devices gradually replace the traditional manual operation with the advantage that the direct operation of personnel cannot be compared.

The existing wheel-leg combined type motion platform has various structures, typically comprises Finland PAW, North aviation NOROS, Japanese Work' n Roll and Chinese academy HyTro, and has simple structure and high stability. In addition, as patent application numbers: the technical schemes of CN201210219117.X, CN202011524973.7, CN202011007980.X, CN201810597168.3 and CN202010806731.0 also provide a plurality of different motion platforms capable of executing corresponding tasks.

In order to meet different terrain requirements or motion requirements, the development direction of the current motion platform is a multi-modal direction. Like the technical scheme that application number is CN202010806731.0 provides, for the mode that makes train and ground contact can set up according to the application condition is nimble, its frame through supplementary leg installation auxiliary wheel, through extensible member installation wheel, and through carrying out the state adjustment to the extensible member, realize that three legs support state, two legs support state are changeable.

In order to improve the terrain adaptability of the robot, for example, the technical schemes with application numbers of CN201810866476.1 and CN201810135603.0, the technical scheme that the takeoff posture can be optimized or limited by takeoff and posture adjustment during obstacle crossing and the robustness of a lifting mechanism is provided.

Further optimizing the state stability of the robot in the motion process, and having positive promoting significance for the application and development of the robot.

Disclosure of Invention

Aiming at the technical problems that the state stability of the robot in the motion process is further optimized and the application and development of the robot are positively promoted, the invention provides a multi-source power robot walking method. By adopting the walking method, the robot can reliably touch the ground when crossing obstacles.

Aiming at the problems, the multi-source power robot walking method provided by the invention solves the problems through the following technical key points: a multi-source power robot walking method is used for a robot with the following structure: the robot comprises a rack and a walking device, wherein the walking device is arranged on the rack and comprises telescopic supporting legs and walking wheels arranged on the supporting legs, the walking wheels comprise two first rollers which are coaxially arranged and distributed on different sides of the rack and also comprise second rollers fixed on the rack or the walking device, and the second rollers are positioned in front of the first rollers; in the height direction, the relative position of the second roller and the first roller is linearly adjustable in the telescopic process of the supporting leg; the walking method is based on a perception system to realize road condition recognition, when a walking path including obstacles or trenches needing to jump and cross obstacles is recognized, the robot is controlled to jump and cross obstacles by executing a jumping method, the jumping method comprises a robot posture control step, and the posture control step is as follows:

before the jumping action is executed, the gravity center of the robot is enabled to fall between the first roller and the second roller by controlling the posture of the robot, and the robot is supported by the first roller and the second roller together when the jumping action is triggered;

in the emptying stage, the gravity center of the robot is enabled to fall between the first roller and the second roller by controlling the posture of the robot, and the first roller is positioned below or at the same height as the second roller;

in the touchdown stage, the walking wheel supports the robot in any one of the following modes:

the first method is as follows: the first roller contacts the ground firstly, and then the landing buffering is carried out through the contraction of the supporting legs; in the landing buffering stage, the second roller contacts the ground along with the descending of the height of the rack;

the second method comprises the following steps: the first roller and the second roller are synchronously grounded.

In the prior art, as a technical solution provided in patent application No. CN201810866476.1, in a multi-legged robot jumping and obstacle-surmounting system, by introducing a posture detection subsystem, and processing the posture and joint signals returned by the robot by the posture detection subsystem, and finally calculating the expected displacement, velocity, and acceleration values, the robot can jump through an obstacle and get on a step when facing a larger obstacle or a higher step. In the technical scheme provided by the patent application with the application number of CN201810135603.0, the technical scheme which takes the trunk posture as the target in the motion constraint and finally achieves the purposes of accurate take-off pose and good mechanism robustness is provided. In other technical solutions provided by patent applications CN201911203547.0 and CN201910677901.7, the attitude is considered as a factor for designing the robot structure or the control strategy. But above scheme all does not relate to including can bounce and support, and adopt a plurality of walking wheels can provide the technical scheme that the face supported.

In the prior art, for example, the technical scheme provided by the patent application with the application number of CN202010806731.0 includes a telescopic member, wheels mounted on the telescopic member, and auxiliary wheels mounted on a frame through auxiliary legs. And is different from the prior art, the part which is in direct contact with the ground after the bouncing is finished and the part is a wheel train below the part. Based on the existing design concept, the technical scheme is provided, which is suitable for the gear train to touch the ground, utilizes the gear train capable of forming surface support and provides obstacle-crossing and anti-toppling protection for mobile equipment, and has important significance for the development of the industry and the application of the mobile equipment.

In order to solve the problems, the scheme provides a multi-source power robot walking method which comprises a jumping method related to the robot posture control step. In the method, the robot is set to comprise two first rollers and a second roller positioned in front of the first rollers, so that the upper traveling wheels provide a wheel train capable of realizing surface support for the robot; meanwhile, the relative position of the second roller and the first roller is limited to be linearly adjustable in the telescopic process of the supporting leg, namely the method is used for realizing that: this robot can utilize first gyro wheel and second gyro wheel according to concrete needs, provides different support state for the robot: through the extension and contraction of the supporting legs, the relative positions of the first roller and the second roller in the height direction are changed, and only the first roller support, the second roller and the first roller support are switched.

In the concrete attitude control step, set up as the focus of robot and fall between first gyro wheel and second gyro wheel, the robot is supported by first gyro wheel and second gyro wheel jointly when vacating to trigger, aims at realizing: when the robot is triggered in the air, a walking wheel is used for providing surface support for the robot (the first roller wheel provides two support points, the second roller wheel provides a support point positioned on the front side of the support point of the first roller wheel, so that the surface support is formed by the support points), the accurate gravity height and the position of the gravity relative to the first roller wheel are obtained by utilizing the telescopic degree adjustment of the supporting legs, the accurate position of the first roller wheel relative to an obstacle or a trench is obtained, and thus, the takeoff position parameter of the robot can be accurately and uniquely determined; subsequently, in the emptying stage, through robot attitude control, the relative positions of the first roller and the second roller at the time of touchdown in the touchdown stage and the subsequent tilting mode of the robot can be restrained through the definition of the gravity center position of the robot and the definition of the relative positions of the first roller and the second roller, and the two modes of the touchdown stage are obtained. The above mode one is used for realizing: after the first roller contacts the ground firstly and before the second roller contacts the ground, the robot rolls through the first roller, the robot turns around the first roller, the landing buffer is realized by the contraction of the supporting legs, and then the supporting state of the robot surface is obtained after the second roller contacts the ground. The above manner is used for realizing that a stable surface supporting state is formed for the robot by utilizing the first roller and the second roller at the moment that the robot touches the ground.

Compared with the prior art, the robot based on roller walking has the advantages that after the robot finishes jumping, the robot has forward kinetic energy and can overturn around the rollers, the walking wheels are fully utilized for balance constraint through the limitation of the gravity center relative to the positions of the rollers and the limitation of the ground contact mode, and the purpose that the robot can reliably contact the ground when crossing obstacles is achieved.

In particular applications, it is preferred to employ the first mode to utilize the period of non-equilibrium before the second roller is in non-contact with the ground to dissipate the energy of the robot through the action of the legs in the process, so as to reduce the possibility and extent of subsequent bounce, for example, after the second roller is in contact with the ground, to further effect contact with the ground in a manner that allows the robot to reliably contact the ground when an obstacle is passed.

The multi-source power robot defined above may be understood as a robot having multiple power sources, as a person skilled in the art. If the first rollers are respectively provided with a driving device for driving a motor, the robot steering is realized through differential rotation, namely the robot with the defined multi-remote power can be the prior art; the multi-source power robot defined above can also be a technical solution provided as follows: aiming at the telescopic supporting leg provided above, a joint motor is adopted as a driving and rotating device, the driving is carried out on the supporting leg of the connecting rod mechanism to rotate so as to realize the state adjustment of the walking wheel and provide power for the robot jumping and obstacle crossing, and the following proposed method is adopted to realize the state adjustment of the walking wheel and provide power for the robot jumping and obstacle crossing by utilizing the cylinder to realize the telescopic supporting leg of the connecting rod mechanism.

The further technical scheme is as follows:

as a more complete technical scheme of the walking method, the walking method is set as follows: the jump method further includes a jump determination step of:

s1, determining the size of the obstacle or the trench through the sensing system;

s2, determining the take-off position of the robot according to the result of S1;

s3, combining the results of S1 and S2, and determining the posture and the moment required by the robot according to the dynamic model of the robot;

when the performance of the robot meets the requirements of the posture and the moment, judging that the jumping can be executed;

when the performance of the robot does not meet the attitude and moment requirements, one or more of the following walking method steps are performed: turn around, send a non-overridable signal. In the scheme, the steps are executed by adopting the jumping judgment steps, so that an accurate judgment result can be obtained to determine whether to jump and cross obstacles, and the walking safety of the robot is facilitated. In specific application, for example, based on a sensing system comprising a state observer and a sensor, the state observer is an image recognition device, the sensor is a distance detection device, and a judgment result of a flat road surface, an obstacle and a trench is obtained through road condition and state recognition. And when the robot judges that the robot is an obstacle or a trench, the robot is switched to a leg type walking mode based on the supporting legs, and determines to adopt a jumping mode, a steering and bypassing mode or a local alarm mode and the like according to whether the robot can jump over the judgment.

As a technical scheme that after the first roller and the second roller contact the ground, the landing buffering can be finished based on the shrinkage of the same supporting leg, and the simplified design and the light weight design of the robot can be realized, the first mode is adopted, the second roller and the first roller are both arranged on the supporting leg, the relative position of the second roller and the first roller is fixed, after the second roller contacts the ground, the supporting leg continues to perform landing buffering through shrinkage, and then the rigid support is formed on the robot through the state of locking the supporting leg;

when the second mode is adopted, the second idler wheel and the first idler wheel are both mounted on the supporting leg, the relative position of the second idler wheel and the first idler wheel is fixed, after the robot contacts the ground, the supporting leg is retracted to be buffered in the ground, and then the rigid support is formed for the robot through the state of locking the supporting leg. When the scheme is implemented specifically, if the second idler wheel is needed to be utilized to perform further floor buffering on the robot in the robot supporting state, the robot is subjected to further energy consumption in the continuous deformation period through the supporting legs.

In the technical solutions provided above, the corresponding robot is actually a robot based on a wheel-leg combined type gear train system, and although a corresponding wheel-leg combined type design concept is disclosed in the prior art, the walking wheels in the prior art generally adopt a plurality of support legs to complete supporting, and typically, each roller of the gear train adopts an independent support leg to complete connection with the frame. Meanwhile, in consideration of a surface supporting mode, the single supporting legs are generally distributed in a multi-point mode and are distributed in different lines, so that the supporting legs located at different positions are sequentially arranged in the width direction and the length direction of the robot, and the arrangement mode of the supporting legs also generates obstruction when the robot jumps when facing obstacles for a longer time. Aiming at the problems, the further scheme of the scheme is designed as follows:

the supporting legs comprise telescopic connecting rod mechanisms, each connecting rod mechanism comprises a third connecting rod which is arranged at the bottom side of the corresponding connecting rod mechanism and is a rocker arm when the corresponding connecting rod mechanism is in telescopic deformation, and the second roller and the first roller are both arranged on the third connecting rods; when the third connecting rod swings, the relative position of the first roller and the second roller can be converted into: the supporting wheel surface of the second roller is positioned above the supporting wheel surface of the first roller;

in the first mode, the landing and landing buffering postures or states of the landing legs are controlled through deformation of the connecting rod mechanism;

in the second mode, the landing and landing buffering postures or states of the landing legs are controlled through the deformation of the connecting rod mechanism;

the locking legs are configured to maintain the state of the linkage. Link mechanism is as the shank arm of landing leg, the walking wheel is as the gyro wheel of train system, and link mechanism and walking wheel provide wheel leg combined type motion structure basis for this system promptly above: the height of the supported object can be adjusted by the extension and contraction of the link mechanism; the supported object can jump and cross the obstacle by stretching the link mechanism.

According to the scheme, when the model is specifically selected, the connecting rod mechanism comprises the third connecting rod, the third connecting rod is a rocker arm when the connecting rod mechanism deforms, and the travelling wheels are arranged on the third connecting rod, so that when the model is specifically used, the driving device is adopted to drive the connecting rod mechanism to deform, the third connecting rod swings, and the first roller is arranged on the bottom side of the third connecting rod, so that the first roller can always provide support for the wheel system; when the third connecting rod swings to the state that the second roller is separated from the supporting surface, the first roller only supports the gear train system; when the third connecting rod swings to the position that the second roller is supported on the supporting surface, the first roller and the second roller jointly provide support for the gear train system. Meanwhile, the second idler wheel is converted from a state of being in contact with the supporting surface into a state of being separated from the supporting surface, the third connecting rod takes the first idler wheel as a fulcrum, and the upper end of the third connecting rod is in an upward overturning process. Therefore, the scheme can realize the switching of the motion modes in various states according to specific operation places. In the jumping and landing stage, when the robot inclines until the first roller and the second roller are both contacted with the ground, in the further deformation process of the connecting rod mechanism, the posture of the rack relative to the ground is further changed synchronously.

In this scheme, through installing first gyro wheel and the equal integration of second gyro wheel on the third connecting rod, can realize different walking wheels through the swing of third connecting rod and support the mode switching, so be different from prior art, on reaching the basis that communicates with each other and support the function switching, this scheme need not set up solitary supplementary leg for the second gyro wheel, so this scheme structure is more simple, and whole quality can set up more lightly, is convenient for promote duration, spring ability and the response speed of robot.

In the scheme, the first roller and the second roller are integrally mounted on the third connecting rod, for example, the traveling direction of the first roller and the second roller is set to be the length direction of the projection line of the third connecting rod on the supporting surface (as a person skilled in the art, this state is only one possible operation mode of the wheel train system, meanwhile, the person skilled in the art can also set the wheel train system to be the above motion mode according to specific requirements, for example, a four-bar mechanism provided in the following text part and the accompanying drawing part of the specification and formed by the frame, the first connecting rod, the second connecting rod and the third connecting rod) or a certain angle is formed between the traveling direction and the length direction, in the obstacle crossing capability of traveling in a wheel type manner, because the design characteristics of the wheel train system only need to consider the width of the supporting legs in the region where the robot forms an obstacle in advance, for example, two supporting legs are adopted to realize that the robot is left and left, And right support, namely, whether the robot cannot pass through the support structure due to the fact that obstacles exist in front of the supporting legs only needs to be considered, a three-supporting-leg type support mode in the prior art is converted into a portal-type frame type two-supporting-leg type support mode, and the environment adaptive capacity of the robot during wheel-type operation can be effectively improved.

Based on the above leg form including the link mechanism, regarding the above first and second modes, as discussed above, the relative position of each roller can be controlled through the attitude control of the link mechanism, and the required support mode of the walking wheel to the robot can be maintained and obtained through the tilting of the robot. After locking the legs, i.e. constraining the linkage to rigid legs, it can be used to maintain the final state of the robot. The specific locking mode can adopt a driving device to lock the third connecting rod, can also lock the state of the connecting rod mechanism through an air cylinder, and can also restrain the state of the connecting rod mechanism through the driving device and the air cylinder together.

As a flexible link mechanism cooperation frame when specifically using, can regard as four-bar linkage, realize on simple structure's basis, only need adopt one to drive first connecting rod and second connecting rod that changes device restraint and drive as follows, can realize link mechanism attitude control and flexible control to change the high and realization train system take-off's of train system technical scheme sets up to: the connecting rod mechanism further comprises a second connecting rod and a first connecting rod, and the first connecting rod and the second connecting rod are hinged to different positions of the third connecting rod in the length direction through rotating shafts;

the rotating shafts of the first connecting rod and the second connecting rod and the third connecting rod are parallel to each other;

the first connecting rod is connected to the rack through a driving device, and the driving device is used as a power source for the telescopic deformation of the connecting rod mechanism;

the second connecting rod is hinged to the frame;

and in the process of executing the take-off action, the driving device is used as an extension power source of the connecting rod mechanism. In this scheme, drive the flexible power take-off and take-off of commentaries on classics device performance link mechanism and adjust power take-off and take-off power take-off, the robot structure of being convenient for simplifies the design and the lightweight design. When the wheel train system is used specifically, the first connecting rod, the second connecting rod and the third connecting rod are arranged to be coplanar, and when the connecting rod mechanism is arranged vertically, the first idler wheel and the second idler wheel are located under or on the side face of the third connecting rod, so that the projection width of the wheel train system in front of the wheel train system and on the inner side perpendicular to the wheel train system is reduced, and the traffic capacity of the wheel train system is improved. More preferably, the wheel diameter that sets up to first gyro wheel is greater than the wheel diameter of second gyro wheel, and first gyro wheel setting is in the side of third connecting rod, and the second gyro wheel setting is under the third connecting rod to realize: the larger wheel diameter of the first roller is matched with a driving device connected with the first roller, so that a structural foundation is provided for improving the walking capability of a gear train system; the third connecting rod can be arranged at a lower height so as to obtain a robot posture with a lower gravity center, so that the walking speed, the stability and the low-posture passing capacity of the robot are improved. The driving device only needs to adopt a servo motor.

The connecting rod mechanism further comprises a cylinder, one of the cylinder body part and the piston rod part of the cylinder is fixedly connected with the third connecting rod, and the other one of the cylinder body part and the piston rod part is fixedly provided with a connecting piece which is connected with the other one of the cylinder body part and the piston rod part and the frame;

the connecting piece is provided with a rotating shaft, and the air cylinder and the rack can rotate around the rotating shaft;

the rotating shaft on the connecting piece is parallel to the axis of the swinging shaft when the third connecting rod swings;

the connecting piece is also provided with a locking piece, and the locking piece is used for realizing the rotation locking of the cylinder relative to the frame;

the falling buffer is controlled by the state of the cylinder: the deformation of the link mechanism is controlled by the state of the cylinder. Among the prior art, consider current motor driving force, concrete structural design etc. the flexible driving piece that current leg running gear adopted generally is equipped with elastic mechanism to match mobile device's bearing capacity and self lightweight design: in particular to the technical proposal provided by the invention patent applications with application numbers of CN201610206266.0, CN202010751681.0 and the like. This scheme is to current design, provides one kind not only can realize walking speed and walking stability concurrently, simple structure, bearing capacity are strong simultaneously, the fast technical scheme of lift adjustment response speed. This scheme is when specifically using, with as above the concrete train system structure that provides, as the traveling system of robot, and specifically install and be: the air cylinder is rotatably connected to a rack of the robot through a connecting piece, and a rotating shaft on the connecting piece is used as a rotating shaft of the air cylinder relative to the rack; the upper driving and rotating device is fixedly arranged on the rack, the third connecting rod is provided with a wheel carrier, the wheel carrier is provided with a traveling wheel matched with a driving device in a connecting mode, and the driving device is connected onto the first roller. Therefore, the driving device can realize the length adjustment of the connecting rod mechanism by driving the corresponding connecting rod on the connecting rod mechanism to rotate, and in the length change process of the connecting rod mechanism, the air cylinder is connected between the wheel carrier and the rack, so that the rotating shaft arranged on the connecting piece aims to ensure that the air cylinder can rotate to be synchronous with the length change of the connecting rod mechanism at the moment. The locking piece is arranged at the same time, so that the rotation of the air cylinder relative to the frame can be locked, and the air cylinder can have the capacity of supporting the frame.

The structural foundation of the walking system provided above can realize: the cylinder and the supporting legs are used as supporting parts of the rack, and the height lifting and the take-off of the rack are realized through the expansion of the cylinder and the connecting rod mechanism; wherein, the mode of providing the support to the frame does: in the whole or partial walking process of the robot, the state constraint of the driving and rotating device on the link mechanism is removed, so that the link mechanism can freely stretch and retract, and the support of the rack is realized through the air cylinder; when the frame is lifted and lowered: removing the constraint of the cylinder on the extension and retraction of the link mechanism, and driving the link mechanism to extend and retract by using the driving device to complete the height adjustment of the rack; when the machine frame is lifted and jumped, the connecting rod mechanism is used for compressing the gas in the cylinder to realize the force storage of the cylinder.

The height lifting is used for meeting the passing requirement of the rack: when the ground is flat, the robot can be contracted through the connecting rod mechanism, so that the gravity center of the robot is lowered, and the walking speed is increased; when walking in pothole ground, accessible link mechanism extends for the frame is supported by the high-order, with the mode of sacrificing the focus height, avoids frame contact ground, promotes robot's current ability. The above take-off is used for the robot to cross obstacles, so that the robot has all-terrain adaptability. When the rack is supported, the constraint of the driving and rotating device on the extension and retraction of the connecting rod mechanism is removed according to needs, and the rack is supported only by using the air cylinder, so that the characteristic of compressible air in the air cylinder body can be utilized, the support structure of the rack can absorb impact, and the damping function is realized to adapt to bumpy road conditions; meanwhile, the mode that only the air cylinder supports the frame can be used for landing buffering. Therefore, the damping can be realized, and the requirement on the balance capacity of the balance part carried on the robot can be reduced for a double-wheel-foot walking mode. Simultaneously, above scheme still is particularly useful for robot self to subtract heavy design demand: in the prior art, if foot-type bouncing is realized through a motor, the inertia of the motor itself needs to be considered, and if a low-inertia motor is generally adopted, the bouncing is realized in a manner that: the scheme also has the characteristics of relatively complex structure and relatively complex control strategy. And this scheme of adoption, cylinder itself can regard as energy storage component and as the power component when bouncing for single part can the multipurpose on this traveling system, is convenient for realize that the robot subtracts heavy design and the design of simple structure. By adopting the scheme, after the power storage is completed, the driving device and the air cylinder can further apply work for the connecting rod mechanism, and the capability of the robot for jumping obstacles is improved through the combined action of multiple parts. Adopt this scheme simultaneously, because the cylinder generally has the characteristics of big inertia, low response, be different from the device of rotating that drives that generally is the motor, have bigger bearing capacity under the prerequisite that the volume is littleer, weight is lighter, and the model selection of motor in the field generally is the motor of low inertia, high response, so this scheme can adopt when carrying out frame height control: remove the cylinder to link mechanism's restraint (remove the locking of locking piece to the cylinder and remove the restraint of gas circuit system to cylinder piston motion), only utilize the device work of driving commentaries on classics, realize frame height high accuracy and high efficiency and adjust, then reuse the cylinder to carry out auxiliary stay to the frame or convert the mode that only the cylinder supported the frame into, so not only can promote frame height control accuracy, can guarantee the bearing capacity and the reliability of robot at whole task in-process simultaneously.

For the design of connecting piece, when specifically using, can set up to the connecting piece and include the second hoop body that is used for the first hoop body of fixed connection frame and is used for fixed connection cylinder, first hoop body and second hoop body pass through the pivot and connect. The corresponding locking piece is just required to adopt a rotating shaft locking device. Meanwhile, as a person skilled in the art, the above wheel carrier may be the link mechanism itself, or may be a separate component mounted on the link mechanism.

The specific technical scheme for utilizing the driving device to take off and store power for the robot is as follows: the connecting rod mechanism further comprises a cylinder, one of the cylinder body part and the piston rod part of the cylinder is fixedly connected with the third connecting rod, and the other one of the cylinder body part and the piston rod part is fixedly provided with a connecting piece which is connected with the other one of the cylinder body part and the piston rod part and the frame;

the connecting piece is provided with a rotating shaft, and the air cylinder and the rack can rotate around the rotating shaft;

the rotating shaft on the connecting piece is parallel to the axis of the swinging shaft when the third connecting rod swings;

the connecting piece is also provided with a locking piece, and the locking piece is used for realizing the rotation locking of the cylinder relative to the frame;

the connecting rod mechanism further comprises a second connecting rod and a first connecting rod, and the first connecting rod and the second connecting rod are hinged to different positions of the third connecting rod in the length direction through rotating shafts;

the rotating shafts of the first connecting rod and the second connecting rod and the third connecting rod are parallel to each other;

the first connecting rod is connected to the rack through a driving motor, and the driving motor is used as a power source for the telescopic deformation of the connecting rod mechanism;

the second connecting rod is hinged to the frame;

in the process of executing the take-off action, the take-off power is provided by the air cylinder and the driving motor together.

The process of the take-off action also comprises a take-off and force accumulation stage;

the jump power storage stage is as follows: through the work of driving the motor, utilize link mechanism to compress for the gas in the cylinder and realize holding power. The same as above, the present solution also aims to realize the multipurpose of the driving device, so as to realize the reliable obstacle crossing of the robot under the condition of the simple structure as possible.

As a cylinder power supply, the weight is lighter, and can inject the technical scheme of the compressed gas of the atmospheric pressure for the cylinder in the short time, adopt: during the jump-start action, the source of compressed gas from the cylinder is either from a compressed gas cylinder or engine exhaust.

For when making the second gyro wheel as the preceding guide pulley of robot, can set up to according to the technical scheme that ground condition automatic steering: the second roller is a universal wheel; the first roller is also connected with a driving device for driving the first roller to roll. In a specific application, the robot further comprises a restraining device for restraining the traveling direction of the second roller, so that the second roller can automatically turn under ground restraint only at a required moment, and in other time periods, the robot traveling route can be effectively executed as preset as required. The above restraining means may employ a clamp capable of clamping or gripping the second roller steering shaft.

The invention has the following beneficial effects:

the scheme provides a multi-source power robot walking method which comprises a jumping method related to the posture control step of the robot. In the method, the robot is set to comprise two first rollers and a second roller positioned in front of the first rollers, so that the upper traveling wheels provide a wheel train capable of realizing surface support for the robot; the relative position of the second roller and the first roller is linearly adjustable in the telescopic process of the supporting leg, namely the robot can utilize the first roller and the second roller according to specific requirements to provide different support states for the robot: through the extension and contraction of the supporting legs, the relative positions of the first roller and the second roller in the height direction are changed, and only the first roller support, the second roller and the first roller support are switched.

In the concrete attitude control step, set up as the focus of robot and fall between first gyro wheel and second gyro wheel, the robot is supported by first gyro wheel and second gyro wheel jointly when vacating to trigger, aims at realizing: when the robot is triggered in the air, a walking wheel is used for providing surface support for the robot (the first roller wheel provides two support points, the second roller wheel provides a support point positioned on the front side of the support point of the first roller wheel, so that the surface support is formed by the support points), the accurate gravity height and the position of the gravity relative to the first roller wheel are obtained by utilizing the telescopic degree adjustment of the supporting legs, the accurate position of the first roller wheel relative to an obstacle or a trench is obtained, and thus, the takeoff position parameter of the robot can be accurately and uniquely determined; subsequently, in the emptying stage, through robot attitude control, the relative positions of the first roller and the second roller at the time of touchdown in the touchdown stage and the subsequent tilting mode of the robot can be restrained through the definition of the gravity center position of the robot and the definition of the relative positions of the first roller and the second roller, and the two modes of the touchdown stage are obtained. The above mode one is used for realizing: after the first roller contacts the ground firstly and before the second roller contacts the ground, the robot rolls through the first roller, the robot turns around the first roller, the landing buffer is realized by the contraction of the supporting legs, and then the supporting state of the robot surface is obtained after the second roller contacts the ground. The above manner is used for realizing that a stable surface supporting state is formed for the robot by utilizing the first roller and the second roller at the moment that the robot touches the ground.

Compared with the prior art, the robot based on roller walking has the advantages that after the robot finishes jumping, the robot has forward kinetic energy and can overturn around the rollers, the walking wheels are fully utilized for balance constraint through the limitation of the gravity center relative to the positions of the rollers and the limitation of the ground contact mode, and the purpose that the robot can reliably contact the ground when crossing obstacles is achieved.

Drawings

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention, in which the robot is a multi-source power robot;

FIG. 2 is an exploded view of the structure shown in FIG. 1;

fig. 3 is a flowchart illustrating an implementation of a specific embodiment of a multi-source power robot walking method according to the present disclosure.

The reference numbers in the drawings are respectively: 1. the device comprises a frame, 2, a cylinder, 3, a driving device, 4, a connecting rod mechanism, 41, a first connecting rod, 42, a second connecting rod, 43, a third connecting rod, 5, a traveling wheel, 51, a first roller, 52, a second roller, 6, a driving device, 7, a wheel carrier, 8 and a connecting piece.

Detailed Description

The present invention will be described in further detail with reference to the following examples, but the present invention is not limited to the following examples:

example 1:

as shown in fig. 1 to 3, a multi-source power robot walking method is used for a robot having the following structure: the robot comprises a rack 1 and a walking device, wherein the walking device is arranged on the rack 1, the walking device comprises telescopic supporting legs and walking wheels 5 arranged on the supporting legs, the walking wheels 5 comprise two first idler wheels 51 which are coaxially arranged and distributed on different sides of the rack 1, the robot also comprises second idler wheels 52 fixed on the rack 1 or the walking device, and the second idler wheels 52 are positioned in front of the first idler wheels 51; in the height direction, the relative position of the second roller 52 and the first roller 51 is linearly adjustable in the leg stretching process; the walking method is based on a perception system to realize road condition recognition, when a walking path including obstacles or trenches needing to jump and cross obstacles is recognized, the robot is controlled to jump and cross obstacles by executing a jumping method, the jumping method comprises a robot posture control step, and the posture control step is as follows:

before the jump-off action is executed, the robot is supported by the first roller 51 and the second roller 52 together when the flight is triggered by controlling the posture of the robot so that the gravity center of the robot falls between the first roller 51 and the second roller 52;

in the emptying stage, the gravity center of the robot is enabled to fall between the first roller 51 and the second roller 52 by controlling the posture of the robot, and the first roller 51 is positioned below or at the same height position as the second roller 52;

in the touchdown stage, the walking wheels 5 support the robot in any one of the following modes:

the first method is as follows: the first roller 51 contacts the ground first, and then the landing buffering is performed through the contraction of the supporting legs; in the landing buffering stage, the second roller 52 touches the ground along with the descending of the height of the machine frame 1;

the second method comprises the following steps: the first roller 51 and the second roller 52 are synchronously grounded.

In the prior art, as a technical solution provided in patent application No. CN201810866476.1, in a multi-legged robot jumping and obstacle-surmounting system, by introducing a posture detection subsystem, and processing the posture and joint signals returned by the robot by the posture detection subsystem, and finally calculating the expected displacement, velocity, and acceleration values, the robot can jump through an obstacle and get on a step when facing a larger obstacle or a higher step. In the technical scheme provided by the patent application with the application number of CN201810135603.0, the technical scheme which takes the trunk posture as the target in the motion constraint and finally achieves the purposes of accurate take-off pose and good mechanism robustness is provided. In other technical solutions provided by patent applications CN201911203547.0 and CN201910677901.7, the attitude is considered as a factor for designing the robot structure or the control strategy. But above scheme all does not relate to including the technical scheme that can bounce and support, and adopt a plurality of walking wheels 5 can provide the face and support.

In the prior art, for example, the technical scheme provided by the patent application with the application number of CN202010806731.0 includes a telescopic member, wheels mounted on the telescopic member, and auxiliary wheels mounted on the frame 1 through auxiliary legs. And is different from the prior art, the part which is in direct contact with the ground after the bouncing is finished and the part is a wheel train below the part. Based on the existing design concept, the technical scheme is provided, which is suitable for the gear train to touch the ground, utilizes the gear train capable of forming surface support and provides obstacle-crossing and anti-toppling protection for mobile equipment, and has important significance for the development of the industry and the application of the mobile equipment.

In order to solve the problems, the scheme provides a multi-source power robot walking method which comprises a jumping method related to the robot posture control step. In the method, two first rollers 51 and a second roller 52 positioned in front of the first rollers 51 are set, so that the upper traveling wheels 5 provide a wheel train for the robot, which can realize surface support; meanwhile, the relative position between the second roller 52 and the first roller 51 is linearly adjustable in the telescopic process of the supporting legs, namely the robot can provide different support states for the robot by utilizing the first roller 51 and the second roller 52 according to specific requirements: by extending and contracting the support legs, the relative positions of the first roller 51 and the second roller 52 in the height direction are changed, and the switching among only the first roller 51 support, the second roller 52 and the first roller 51 support is realized.

In the specific attitude control step, the gravity center of the robot is set to fall between the first roller 51 and the second roller 52, and the robot is supported by the first roller 51 and the second roller 52 when the emptying is triggered, so that the following steps are realized: when the robot is triggered to ascend and descend, the walking wheels 5 are used for providing surface support for the robot (the first roller 51 provides two support points, the second roller 52 provides a support point positioned on the front side of the support point of the first roller 51, and thus the surface support is formed by the support points), so that the accurate gravity height and the position of the gravity relative to the first roller 51 are obtained by adjusting the telescopic degree of the supporting legs, the accurate position of the first roller 51 relative to an obstacle or a trench is obtained, and the takeoff position parameter of the robot can be accurately and uniquely determined; subsequently, in the emptying stage, through the robot posture control, the relative positions of the first roller 51 and the second roller 52 at the time of the ground contact stage and the subsequent tilting mode of the robot can be restrained through the definition of the gravity center position of the robot and the definition of the relative positions of the first roller 51 and the second roller 52, so that the two modes of the ground contact stage can be obtained. The above mode one is used for realizing: after the first roller 51 contacts the ground first and before the second roller 52 contacts the ground, the robot rolls by the first roller 51, turns around the first roller 51, and utilizes the contraction of the supporting legs to realize the ground buffer, and then the second roller 52 contacts the ground, namely the robot surface supporting and supporting state is obtained. The above manner is used for realizing that a stable surface supporting state is formed for the robot at the time of the robot touchdown, namely, by using the first roller 51 and the second roller 52.

Compared with the prior art, the robot based on roller walking has the advantages that after the robot finishes jumping, the robot has forward kinetic energy and can overturn around the rollers, the walking wheels 5 are fully utilized for balance constraint through the limitation of the gravity center relative to the positions of the rollers and the limitation of the ground contact mode, and the purpose that the robot can reliably contact the ground when crossing obstacles is achieved.

In particular use, it is preferred to employ means for dissipating the robot's energy through the action of the legs during the non-equilibrium period prior to the second roller 52 being free of touchdown to reduce the likelihood and extent of subsequent bounce, for example, after touchdown of the second roller 52, to further touchdown effect to enable the robot to reliably touchdown while surmounting an obstacle.

The multi-source power robot defined above may be understood as a robot having multiple power sources, as a person skilled in the art. If the driving devices 6, which are driving motors, are respectively installed on the first rollers 51, the robot steering is realized through differential rotation, i.e. the above-defined multi-powered robot itself can be the prior art; the multi-source power robot defined above can also be a technical solution provided as follows: aiming at the telescopic supporting leg provided above, a joint motor is adopted as a driving and rotating device 3, the driving is realized by the supporting leg of a connecting rod mechanism 4 to rotate so as to realize the state adjustment of a walking wheel 5 and provide power for the jumping and obstacle crossing of the robot, and the telescopic supporting leg of the connecting rod mechanism 4 is realized by the cylinder 2 to realize the state adjustment of the walking wheel 5 and provide power for the jumping and obstacle crossing of the robot.

Example 2:

this example is further defined on the basis of example 1:

as a more complete technical scheme of the walking method, the walking method is set as follows: the jump method further includes a jump determination step of:

s1, determining the size of the obstacle or the trench through the sensing system;

s2, determining the take-off position of the robot according to the result of S1;

s3, combining the results of S1 and S2, and determining the posture and the moment required by the robot according to the dynamic model of the robot;

when the performance of the robot meets the requirements of the posture and the moment, judging that the jumping can be executed;

when the performance of the robot does not meet the attitude and moment requirements, one or more of the following walking method steps are performed: turn around, send a non-overridable signal. In the scheme, the steps are executed by adopting the jumping judgment steps, so that an accurate judgment result can be obtained to determine whether to jump and cross obstacles, and the walking safety of the robot is facilitated. In specific application, for example, based on a sensing system comprising a state observer and a sensor, the state observer is an image recognition device, the sensor is a distance detection device, and a judgment result of a flat road surface, an obstacle and a trench is obtained through road condition and state recognition. And finishing walking through the walking wheels 5 under the judgment result of the flat road surface, switching the robot into a leg type walking mode based on the supporting legs when judging that the robot is an obstacle or a trench, and determining to adopt a jumping mode, a steering and bypassing mode or a local alarm mode and the like through judging whether the robot can jump over.

Example 3:

this example is further defined on the basis of example 1:

as a technical scheme that after the first roller 51 and the second roller 52 contact the ground, the landing buffering can be completed based on the contraction of the same supporting leg, and the simplified design and the light weight design of the robot can be realized, in the first adoption mode, the second roller 52 and the first roller 51 are both mounted on the supporting leg, the relative position of the second roller 52 and the first roller 51 is fixed, after the second roller 52 contacts the ground, the supporting leg continues to contact the ground through the contraction for buffering, and then the rigid support is formed for the robot by locking the state of the supporting leg;

when the second mode is adopted, the second roller 52 and the first roller 51 are both mounted on the supporting leg, the relative positions of the second roller 52 and the first roller 51 are fixed, after the robot touches the ground, the supporting leg is retracted to be buffered on the ground, and then the rigid support is formed on the robot by locking the state of the supporting leg. When the scheme is implemented specifically, if the second roller 52 is required to be used in the robot supporting state, the robot is further buffered in a landing mode, and the robot is further subjected to energy consumption in a continuous deformation period through the supporting legs.

Example 4:

this example is further defined on the basis of example 1:

in the technical solutions provided above, the corresponding robot is actually a robot based on a wheel-leg combined type gear train system, and although a corresponding wheel-leg combined type design concept is disclosed in the prior art, the walking wheels 5 in the prior art generally use a plurality of support legs to complete supporting, typically, each roller of the gear train uses a single support leg to complete connection with the frame 1. Meanwhile, in consideration of a surface supporting mode, the single supporting legs are generally distributed in a multi-point mode and are distributed in different lines, so that the supporting legs located at different positions are sequentially arranged in the width direction and the length direction of the robot, and the arrangement mode of the supporting legs also generates obstruction when the robot jumps when facing obstacles for a longer time. Aiming at the problems, the further scheme of the scheme is designed as follows:

the supporting leg comprises a telescopic connecting rod mechanism 4, the connecting rod mechanism 4 comprises a third connecting rod 43 which is arranged at the bottom side of the connecting rod mechanism 4 and is a rocker arm when the connecting rod mechanism 4 is telescopically deformed, and the second roller 52 and the first roller 51 are both arranged on the third connecting rod 43; when the third link 43 swings, the relative positions of the first roller 51 and the second roller 52 can be converted into: the supporting wheel surface of the second roller 52 is positioned above the supporting wheel surface of the first roller 51;

in the first mode, the landing and landing buffering postures or states of the landing legs are controlled through the deformation of the connecting rod mechanism 4;

in the second mode, the landing and landing buffering postures or states of the landing legs are controlled through the deformation of the connecting rod mechanism 4;

the locking legs are to maintain the state of the linkage 4. Link mechanism 4 is as the shank arm of landing leg, walking wheel 5 is as the gyro wheel of train system, and link mechanism 4 and walking wheel 5 provide wheel leg combined type motion structure basis for this system promptly: the height of the supported object can be adjusted by stretching and contracting the connecting rod mechanism 4; the supported object can jump and cross the obstacle by stretching the link mechanism 4.

According to the scheme, when the model is specifically selected, the link mechanism 4 comprises the third connecting rod 43, the third connecting rod 43 is a rocker arm when the link mechanism 4 deforms, and the traveling wheels 5 are arranged on the third connecting rod 43, so that the link mechanism 4 is driven to deform by the driving and rotating device 3 when the model is specifically used, the third connecting rod 43 swings, and the first roller 51 is arranged on the bottom side of the third connecting rod 43, so that the first roller 51 can always provide support for the wheel system; when the third link 43 swings until the second roller 52 is disengaged from the supporting surface, that is, only the first roller 51 supports the train system; when the third link 43 swings to the position where the second roller 52 is supported on the supporting surface, the first roller 51 and the second roller 52 together provide a support for the wheel train system. Meanwhile, the state that the second roller 52 is converted from the state of contacting with the supporting surface to the state of being separated from the supporting surface is the process that the third connecting rod 43 takes the first roller 51 as a fulcrum and the upper end of the third connecting rod is turned upwards, so that the wheel train system is lifted along with the improvement of the gravity center of the wheel train system, and the wheel train system is lowered along with the descending of the gravity center of the wheel train system, so that only the first roller 51 supports to enable the corresponding robot to have stronger obstacle passing capacity, and the first roller 51 and the second roller 52 support the robot together to enable the robot to have ideal supporting stability, thereby being beneficial to improving the walking speed of the robot in the state. Therefore, the scheme can realize the switching of the motion modes in various states according to specific operation places. In the jumping landing stage, when the robot tilts until the first roller 51 and the second roller 52 both contact the ground, the posture of the frame 1 relative to the ground may further change synchronously in the process of further deformation of the link mechanism 4.

In this scheme, through all integrated the installing on third connecting rod 43 with first gyro wheel 51 and second gyro wheel 52, can realize different walking wheels 5 through the swing of third connecting rod 43 and support the mode switch, so be different from prior art, on reaching the basis that communicates with each other the support function switches, this scheme need not set up solitary supplementary leg for second gyro wheel 52, so this scheme structure is more simple, whole quality can set up more lightly, be convenient for promote the duration of the robot, bounce ability and response speed.

In the present embodiment, by integrally mounting the first roller 51 and the second roller 52 on the third link 43, if the traveling direction of the first roller 51 and the second roller 52 is set to be the length direction of the projection line of the third link 43 on the supporting surface (as a person skilled in the art, this state is only one possible operation mode of the wheel train system, and at the same time, the person skilled in the art can set the wheel train system to be the above motion mode according to specific requirements, such as the four-bar linkage 4 formed by the frame 1, the first link 41, the second link 42 and the third link 43 and provided in the following text and drawings of the specification, or a certain angle between the traveling direction and the length direction, in terms of obstacle crossing capability of the wheel-type traveling, because the design features of the wheel train system only need to consider the width of the legs in the region where the robot is moving obstacle, such as two legs are used to realize left, right, left, right, and the like, And right support, namely, whether the robot cannot pass through the support structure due to the fact that obstacles exist in front of the supporting legs only needs to be considered, a three-supporting-leg type support mode in the prior art is converted into a portal-type frame type two-supporting-leg type support mode, and the environment adaptive capacity of the robot during wheel-type operation can be effectively improved.

Based on the above leg form including the link mechanism 4, with regard to the above proposed first and second modes, as discussed above, the relative position of each roller can be controlled by the attitude control of the link mechanism 4, the robot can be tilted, and the required support mode of the traveling wheels 5 to the robot can be maintained and obtained. After locking the legs, i.e. constraining the linkage 4 to rigid legs, it can be used to maintain the final state of the robot. The specific locking mode can adopt the driving device 3 to lock the third connecting rod 43, can also lock the state of the connecting rod mechanism 4 through the air cylinder 2, and can also restrain the state of the connecting rod mechanism 4 through the driving device 3 and the air cylinder 2 together.

As a kind of when specifically using the flexible link mechanism 4 cooperates with the framework 1, can regard as the four-bar linkage 4, realize on the basis of simple in construction, only need to adopt one to drive the apparatus 3 to restrain and drive the first connecting rod 41 and second connecting rod 42 as follows, can realize 4 attitude control of link mechanism and flexible control, in order to change the height of the system of the gear train and realize the technical scheme of the system of the gear train take-off, set up as: the link mechanism 4 further includes a second link 42 and a first link 41, and the first link 41 and the second link 42 are both hinged to different positions of the third link 43 in the length direction through a rotating shaft;

the rotating shafts of the first connecting rod 41 and the second connecting rod 42 and the third connecting rod 43 are parallel to each other;

the first connecting rod 41 is connected to the frame 1 through the driving device 3, and the driving device 3 is used as a power source for the telescopic deformation of the connecting rod mechanism 4;

the second connecting rod 42 is hinged on the frame 1;

the driving device 3 serves as an extension power source of the link mechanism 4 during the execution of the take-off action. In this scheme, drive and change device 3 performance link mechanism 4 and stretch out and draw back regulation power take off and take off power take off, the robot structure of being convenient for simplifies the design and the lightweight design. In a specific application, the first connecting rod 41, the second connecting rod 42 and the third connecting rod 43 are arranged to be coplanar, and when the link mechanism 4 is arranged vertically, the first roller 51 and the second roller 52 are positioned right below or on the side surface of the third connecting rod 43, so that the projection width of the wheel train system in front of the wheel train system and on the inner surface perpendicular to the wheel train system is reduced, and the traffic capacity of the wheel train system is improved. Preferably, the wheel diameter of the first roller 51 is larger than that of the second roller 52, the first roller 51 is arranged on the side of the third link 43, and the second roller 52 is arranged right below the third link 43, so as to realize that: the larger wheel diameter of the first roller 51 is matched with the driving and rotating device 3 connected with the first roller, so that a structural foundation is provided for improving the walking capability of a gear train system; the third link 43 can be set at a lower height to obtain a robot attitude with a lower center of gravity to improve the walking speed, stability and low-attitude passing capability of the robot. The driving device 3 can be a servo motor.

The cylinder 2 is further included, one of the cylinder body part and the piston rod part of the cylinder 2 is fixedly connected with the third connecting rod 43, the other one is fixedly provided with a connecting piece 8, and the connecting piece 8 is connected with the other one and the frame 1;

the connecting piece 8 is provided with a rotating shaft, and the air cylinder 2 and the rack 1 can rotate around the rotating shaft;

the rotating shaft on the connecting piece 8 is parallel to the axis of the swinging shaft when the third connecting rod 43 swings;

the connecting piece 8 is also provided with a locking piece which is used for realizing the rotation locking of the cylinder 2 relative to the frame 1;

the landing buffering is controlled by the state of the cylinder 2: the deformation of the link mechanism 4 is controlled by the state of the cylinder 2. Among the prior art, consider current motor driving force, concrete structural design etc. the flexible driving piece that current leg running gear adopted generally is equipped with elastic mechanism to match mobile device's bearing capacity and self lightweight design: in particular to the technical proposal provided by the invention patent applications with application numbers of CN201610206266.0, CN202010751681.0 and the like. This scheme is to current design, provides one kind not only can realize walking speed and walking stability concurrently, simple structure, bearing capacity are strong simultaneously, the fast technical scheme of lift adjustment response speed. This scheme is when specifically using, with as above the concrete train system structure that provides, as the traveling system of robot, and specifically install and be: the cylinder 2 is rotatably connected to the frame 1 of the robot through a connecting piece 8, and a rotating shaft on the connecting piece 8 is used as a rotating shaft of the cylinder 2 rotating relative to the frame 1; the upper driving device 3 is fixedly arranged on the frame 1, the third connecting rod 43 is provided with a wheel carrier 7, the wheel carrier 7 is provided with a traveling wheel 5 matched with a driving device 6 in a mounting and connecting way, and the driving device 6 is connected on the first roller 51. Like this, the device 3 that rotates can realize link mechanism 4's length adjustment through the corresponding connecting rod rotation on the drive link mechanism 4, above link mechanism 4 length change in-process, because cylinder 2 is connected between wheel carrier 7 and frame 1, so the pivot that sets up on the connecting piece 8 aims at making cylinder 2 can rotate this moment in order to be synchronous with link mechanism 4 length change. The locking member is also provided so that the rotation of the cylinder 2 relative to the frame 1 can be locked, thus allowing the cylinder 2 itself to have the ability to support the frame 1.

The structural foundation of the walking system provided above can realize: the cylinder 2 and the supporting legs are used as supporting parts of the rack 1, and the height of the rack 1 is lifted and bounced through the expansion of the cylinder 2 and the connecting rod mechanism 4; wherein, the mode of providing support to frame 1 does: in the whole or partial walking process of the robot, the state constraint of the driving and rotating device 3 on the link mechanism 4 is removed, so that the link mechanism 4 can freely stretch and retract, and the support of the rack 1 is realized through the air cylinder 2; when the frame 1 is lifted and lowered: removing the constraint of the cylinder 2 on the extension and contraction of the link mechanism 4, and driving the link mechanism 4 to extend and contract by using the driving device 3 to complete the height adjustment of the rack 1; when the frame 1 is bounced, the connecting rod mechanism 4 is used for compressing the gas in the cylinder 2 to realize the force storage of the cylinder 2.

The above height elevation is used to adapt to the traffic demand of the rack 1: when the ground is flat, the robot can be contracted through the connecting rod mechanism 4, so that the gravity center of the robot is lowered, and the walking speed is increased; when the robot walks on a hollow ground, the rack 1 can be supported at a high position by extending the connecting rod mechanism 4, so that the rack 1 is prevented from contacting the ground in a mode of sacrificing the height of the center of gravity, and the traffic capacity of the robot is improved. The above take-off is used for the robot to cross obstacles, so that the robot has all-terrain adaptability. When the rack 1 is supported, the constraint of the driving device 3 on the extension and contraction of the link mechanism 4 is removed as required, and the rack 1 is supported only by the air cylinder 2, so that the characteristic of compressible air in the air cylinder 2 can be utilized, the support structure of the rack 1 can absorb impact, and the damping function is realized to adapt to bumpy road conditions; while the manner in which only the cylinder 2 supports the frame 1 may also be used for floor cushioning. Therefore, the damping can be realized, and the requirement on the balance capacity of the balance part carried on the robot can be reduced for a double-wheel-foot walking mode. Simultaneously, above scheme still is particularly useful for robot self to subtract heavy design demand: in the prior art, if foot-type bouncing is realized through a motor, the inertia of the motor itself needs to be considered, and if a low-inertia motor is generally adopted, the bouncing is realized in a manner that: the scheme also has the characteristics of relatively complex structure and relatively complex control strategy. And this scheme of adoption, cylinder 2 itself can regard as energy storage component and as the power component when bouncing for single part can the multipurpose on this traveling system, is convenient for realize that the robot subtracts heavy design and the design of simple structure. By adopting the scheme, after the power storage is completed, the driving device 3 and the air cylinder 2 can further apply work to the connecting rod mechanism 4, and the capability of the robot for jumping obstacles is improved through the combined action of multiple parts. Adopt this scheme simultaneously, because cylinder 2 generally has the characteristics of big inertia, low response, is different from the drive device 3 that generally is the motor, has bigger bearing capacity under the prerequisite that the volume is littleer, weight is lighter, and the type selection of motor in this field is the motor of low inertia, high response generally, so this scheme can adopt when carrying out 1 altitude mixture control of frame: remove the restraint of cylinder 2 to link mechanism 4 (remove the locking of locking piece to cylinder 2 and remove the restraint of gas circuit system to cylinder 2 piston motion), only utilize and drive the work of commentaries on classics device 3, realize the high precision of frame 1 and high efficiency and adjust, then reuse cylinder 2 to carry out auxiliary stay or change into the mode that only cylinder 2 supported frame 1 to frame 1, so not only can promote the high control accuracy of frame 1, can guarantee the bearing capacity and the reliability of robot in whole task process simultaneously.

For the design of the connecting piece 8, in a specific application, the connecting piece 8 may include a first hoop body for fixedly connecting the rack 1 and a second hoop body for fixedly connecting the cylinder 2, and the first hoop body and the second hoop body are connected through a rotating shaft. The corresponding locking piece is just required to adopt a rotating shaft locking device. Also, as a person skilled in the art, the above wheel carrier 7 may be the link mechanism 4 itself, or may be a separate component mounted on the link mechanism 4.

The specific technical scheme for utilizing the driving device 3 to take off and store power for the robot is as follows:

in the process of executing the take-off action, the air cylinder 2 and the driving motor jointly provide take-off power.

The process of the take-off action also comprises a take-off and force accumulation stage;

the jump power storage stage is as follows: through the work of the driving motor, the connecting rod mechanism 4 is utilized to compress the gas in the cylinder 2 to realize the force storage. As above, the present solution is also intended to realize the versatility of the driving device 3, so as to realize the reliable obstacle crossing of the robot with the structure as simple as possible.

Example 5:

this example is further defined on the basis of example 4:

as a technical solution that the power source of the cylinder 2 is light in weight and the compressed gas of the atmospheric pressure can be injected into the cylinder 2 in a short time, the following is adopted: during the take-off action, the source of compressed gas for the cylinder 2 is from a compressed gas cylinder or engine exhaust.

Example 6:

this example is further defined on the basis of example 1:

in order to make the second roller 52 as the front guide wheel of the robot, the technical scheme of automatic steering according to the ground condition is as follows: the second roller 52 is a universal wheel; the first roller 51 is also connected with a driving device 6 for driving the first roller to roll. In a specific application, it is preferable that the robot further includes a restraining device for restraining the traveling direction of the second roller 52, so that the second roller 52 automatically turns under ground restraint only at a required time, and in other time periods, the robot traveling route as preset can be effectively executed as required. The above restraining means may employ a clamp capable of clamping or gripping the steering shaft of the second roller 52.

The foregoing is a more detailed description of the present invention in connection with specific preferred embodiments thereof, and it is not intended that the specific embodiments of the present invention be limited to these descriptions. For those skilled in the art to which the invention pertains, other embodiments that do not depart from the gist of the invention are intended to be within the scope of the invention.