CN118891186A - Mobile device, control method and device, storage medium and mobile platform - Google Patents

Abstract

The invention discloses a movable device, which comprises a frame 01, a mechanical leg 02 on a first side and a mechanical leg 02 on a second side of the gravity center O of the device, wherein the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are configured to be capable of walking, at least one mechanical leg 02 on the first side and the mechanical leg 02 on the second side is a leg-arm fusion mechanical leg, and the tail end of the leg-arm fusion mechanical leg is connected with an end effector, and the device further comprises: a leg movement mechanism and/or a rolling type walking mechanism for enabling the base of the mechanical leg 02 to realize lifting movement and/or back and forth movement; the mechanical leg 02 comprises a first joint part (101), a thigh (102), a first joint part (103) and a shank (104) which are connected in sequence; the root of the first joint part (101) is connected with the frame (01). The mobile device of the present invention can enhance the task or obstacle surmounting capabilities.

Description

Movable device, control method and device, storage medium and mobile platform

This application claims priority to the Chinese patent application filed with the China Patent Office on January 12, 2022, with application number 2022100341176 and invention name “Removable device, control method, control device, storage medium and accessories”, the entire contents of which are incorporated by reference in this application.

Technical Field

The present invention belongs to the field of robot technology, and in particular relates to movable equipment, control methods and devices, storage media and mobile platforms.

Background Art

Honda Company of Japan has disclosed a control method for a legged mobile robot with a publication number or authorization number of CN100540237, a bipedal walking robot with a publication number or authorization number of CN1240524C, a bipedal walking robot with a publication number or authorization number of CN1234507C, a legged mobile robot and its control device and control method with a publication number or authorization number of CN100566952, a control method for a robot arm with a publication number or authorization number of CN102300680A, and authorization announcement number CN109571423A - robot control system, robot control method and user equipment for robot control system. The invention discloses a plurality of legged mobile robots with arms, a plurality of legs, a plurality of arms, a coordinated control method for the legs to make the robot walk and the arms to pick up objects, a legged mobile robot pushing, pulling or lifting an external object (i.e., an object) to make it move, a legged mobile robot moving, and a method for installing objects by hand.

The American company Boston Dynamics has disclosed in China the following technical control schemes: CN109571544A - Hybrid hydraulic and electrically actuated mobile robot, CN110035872A - Overall manipulation of a legged robot using dynamic balance, CN110073579A - Motor and controller integration for a legged robot, and CN111482960A - Boston-Robot and its operating method; it has disclosed a variety of bipedal, quadrupedal or multi-legged robots, legs, arms, joints, actuators for actuating the joints or components of the robots, a variety of technical control schemes for manipulating legs to make the robots walk (stand, walk, run, jump), manipulating arms to perform operations, and simultaneously manipulating legs and arms to keep the robots balanced.

The book "Quadruped Movement - Quadruped Robot Control Technology" written by Pablo and published with the publication number "ISBN 978-7-5170-6388-9" discloses a variety of bipedal, quadrupedal, hexapodal and octapodal robot technologies, and legged robot gait control technologies. The two legs are installed in pairs on opposite sides of the frame, and walking is achieved by alternating the support phase and swing phase of each pair of legs. Gait is a method of walking movement. Gait is defined by the time and position of each foot lifting and placing, while assisting the 6-degree-of-freedom movement of the body to make the body move. Gait refers to the sequence of leg and body movements that make the legged robot walk. Gaits are divided into discontinuous gaits and continuous gaits. Continuous gaits are further divided into wave gaits, crab gaits, etc. Wait. Wave gaits refer to at least 3 legs in the support phase at any time. D-H forward kinematics model, select the reference coordinate system associated with the joint and the connecting rod, and derive the kinematic model of the open chain mechanism. The variables of the joints can also be determined by the inverse kinematics model, that is, by the position and inverse of the foot. The support phase is the ground support. The ground support is the leg contacting the ground and supporting the frame off the ground. The frame swing phase is the swing relative to the frame and off the ground.

The current excavators have strong working capabilities, but they can only use the excavating arm to push against the ground to make the excavator move simply. Simple movement is essentially different from (real) walking with multiple legs alternately supporting the ground. Humanoid robots and quadrupedal robot dogs can walk with multiple legs alternately (real), which is fast and flexible. However, humanoid robots and quadrupedal robot dogs in the prior art lack the technical solutions and corresponding capabilities to use legs to perform (high performance, multi-scenario) specified operations, resulting in (high cost, multi-joint, strong and powerful) mechanical legs being (seriously) idle and reducing the cost performance; humanoid robots and quadrupedal robot dogs in the prior art have the problem of easily losing stable support (balance) ability, falling to the ground, and getting injured when their legs are used for operation; many wheel-leg integrated robots in the prior art have the problem of easily losing support, balance ability, and falling to the ground and getting injured because their wheels are set on the legs. Once the legs are lifted to work, the wheels are also lifted off the ground, and the whole machine is also easily lost. Balance ability, falling to the ground and getting injured; the existing wheel-crawler walking mechanism is fast and efficient, but has the problem of difficulty in crossing obstacles. Therefore, new technologies are urgently needed to solve one or more of the above problems in order to improve the performance of equipment containing mechanical legs or to share and reduce the cost of using the equipment.

Summary of the invention

To achieve the above objectives, this application provides:

Technical solution 1: A movable device, comprising: a rack (01);

Taking the direction of travel of the device along the road as a reference, a mechanical leg (02) located on a first side of the center of gravity (O) of the device and a mechanical leg (02) located on a second side of the center of gravity (O) of the device, the mechanical leg (02) on the first side and the mechanical leg (02) on the second side are both 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;

At least one of the mechanical legs (02) on the first side and the mechanical legs (02) on the second side is a mechanical leg with a fused leg and an arm, and the end of the mechanical leg with a fused leg and an arm is connected to an end effector, and the end effector is a working tool (17) or a connecting part for connecting a working tool (17);

The device also includes a rolling walking mechanism (57) connected to the frame (01), the rolling walking mechanism is used to support the frame (01) off the ground and enable the device to travel along the road; and/or, the device also includes a leg root movement mechanism for enabling the base of the mechanical leg to move up and down and/or forward and backward relative to the frame (01), one end of the leg root movement mechanism is connected to the frame (01), and the other end of the leg root movement mechanism is connected to the base of the mechanical leg. The leg-arm fused mechanical leg and the working tool (17) are configured for a specified operation. Walking is walking with multiple legs alternating. The leg-arm fused mechanical leg is a multifunctional mechanical leg, a mechanical leg with arm function, a limb mechanism with leg and arm fusion, and the four are equivalent.

Optionally, the movable device as described in technical solution 1,

Any one of the mechanical legs (02) on the first side and the mechanical legs (02) on the second side comprises: a first joint portion (101), a thigh (102), a second joint portion (103) and a calf (104) connected in sequence, the second joint portion (103) comprising a second swing joint for enabling the calf (104) to swing forward and backward relative to the thigh (102), the base of the mechanical leg refers to the base of the first joint included in the first joint portion (101), and the end of the mechanical leg is the end of the calf (104);

The first joint part (101) includes a first swing joint (1012) that enables the thigh (102) to swing forward and backward relative to the base of the mechanical leg, or the first joint part (101) includes a first rotation joint (1011) that enables the leg to rotate and a first swing joint (1012) that enables the thigh (102) to swing forward and backward relative to the base of the mechanical leg, and the first rotation joint (1011) is connected to the first swing joint (1012).

The beneficial value of the scheme is that the first swing joint (1012) enables the thigh (102) to swing forward and backward, and the second swing joint enables the calf to swing forward and backward, thereby achieving basic walking performance. The first rotation joint (1011) enables the thigh (102) to droop and swing left and right relative to the base of the mechanical leg, which is beneficial to improving walking performance.

Optionally, the movable device as described in technical solution 1,

When the mechanical leg (02) on the first side and the mechanical leg (02) on the second side are used for walking, the output axis of the first joint included in any one of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side 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 is that it is used to expand the range of motion of the mechanical leg 02 when operating in the front and rear areas of the device. From the perspective of operation, the operation in the front or rear area of the device is very important, and the most important operation direction is the front and rear area. Compared with the output shaft pointing left and right or up and down, the output shaft pointing forward and backward makes the range of operation of the device in the front or rear area wider.

The advantage of the output axis of the first rotary joint 1011 pointing to the left and right is that it is convenient for the mechanical leg to operate in the side space.

The advantage of the output shaft of the first rotary joint 1011 pointing downward is that it is convenient for the mechanical leg to operate in the space below.

The beneficial effects of this solution (and the core difference from an excavator): The rotation axis of the first joint of the excavator's excavator arm points up and down and the root of the excavator arm is located above the base of the first joint. The excavator arm can rotate around the vertical axis, front and back, left and right, so that the manned cabin must also rotate with the excavator arm, otherwise the two will interfere with each other. Furthermore, because the manned cabin needs to rotate as a whole, it cannot be firmly connected to the frame, and safety cannot be guaranteed during high-speed driving, especially it cannot pass the collision safety test, so the excavator can only move slowly, losing the ability of cars and motorcycles to carry people and travel at high speeds. This is also the core difference between an excavator and cars and motorcycles as a means of transportation. This is also the core difference between an excavator and the movable equipment in this application.

The output shaft of the first joint (1011) included in the first joint portion (101) of the mechanical leg (02) in the movable device of the present application points forward and backward or left and right, and the mechanical leg (02) will not hinder the connection between the frame and the manned cabin, and will not cause the manned cabin to rotate to avoid interference with the mechanical leg (02), so that the movable device allows high-speed travel.

Optionally, the movable device as described in technical solution 1,

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 part, and the third joint part is used to adjust the posture of the end effector;

The third joint portion includes a joint (1052) for enabling the end effector to swing relative to the calf (104); when the mechanical leg is used for walking, the joint (1052) can enable the end effector to swing upward to prevent the end effector from touching the ground; and/or, the third joint portion includes at least three joints for adjusting the posture of the end effector in three-dimensional space.

The beneficial value of this solution: Compared with the end of the mechanical leg directly connected to the end effector, the swing joint (1052) prevents the end effector from touching the ground and being stepped on when the mechanical leg is used for walking. Because real space and objects are mainly three-dimensional, at least three joints can achieve three-dimensional angle adjustment, which is beneficial to improving operation performance.

This solution is the core difference from an excavator. The excavator's digging arm has only four joints, while only a mechanical leg with six joints and six degrees of freedom can move the end effector to any position and angle within the arm span, thereby achieving truly high-performance operations.

One end of the third joint is connected to the end of the lower leg (104), and the other end of the third joint is connected to the end effector.

Furthermore, the at least three joints are a first end rotation joint (1051), a joint (1052) for swinging the end effector relative to the lower leg (104), and a second end rotation joint (1053) connected in sequence. The first end rotation joint (1051) is used to rotate the end effector around the axis of the output shaft of the joint (1051), and the second end rotation joint (1053) is used to rotate the end effector around the axis (A6) of the output shaft of the joint (1053).

The beneficial value of this solution: The three joints constitute a typical RBR joint and have better operating performance than other types.

Optionally, in the movable device as described in Technical Solution 1, the base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side in any interval between the first end of the frame (01), the middle of the frame (01) and the second end of the frame (01) are connected by a second bracket, and when the mechanical leg (02) on the first side and the mechanical leg (02) on the second side connected by the second bracket 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 can walk along the road independently of the device.

The beneficial value of this solution is that the mechanical leg (02) can walk along the road independently of the device, and one machine can be transformed into two machines to perform tasks separately, which is of great significance.

Optionally, in the movable device as described in technical solution 1, the connection part for connecting the working tool (17) is a gripping device (06), and/or the connection is gripping. The beneficial value of this solution: compared with threaded connection or fixed connection, the gripping device (06) can more conveniently replace the working tool (17) or the working object, which is convenient for operation.

Furthermore, the grasping device (06) comprises: a linear moving mechanism (06_2) for picking up objects, one end of the linear moving mechanism (06_2) is connected to the end of the mechanical leg with the leg and arm fused together, and the other end is connected to a hook (06_3) for hooking objects, and the linear moving mechanism (06_2) is used to drive the hook (06_3) to move linearly to grasp or release the object.

The beneficial value of this solution: The common grasping device (06) is a finger-articulated grasping device, which grasps objects by holding multiple fingers. Because the multifunctional mechanical leg 02 in the device in this article is not only used for walking, but also has the function of holding objects or climbing along external objects, it is particularly necessary to have a reliable grasping ability (otherwise it will be difficult to hold the working tool or it will be easy to fall when climbing). The grasping device 06 adopts a hook straight line grasping method. Compared with the clamping scheme of the articulated swinging and finger-holding grasping device in the prior art, it has greater grasping force and higher grasping reliability.

2. Optional Technical Solution 2: The movable device as described in Technical Solution 1,

The rolling walking mechanism (57) comprises a first walking mechanism (511) and a second walking mechanism (522) connected to the frame (01); when the frame (01) is in a first lying position, the first walking mechanism (511) is located before the center of gravity (O) of the movable device, and the second walking mechanism (522) is located after the center of gravity (O) of the movable device; the lower surface of the first walking mechanism (511) and the lower surface of the second walking mechanism (522) are both lower than the surface of the second area of the frame (01); the first walking mechanism (511) and the second walking mechanism (522) are used to support the frame (01) off the ground and enable the device to travel along the road surface;

and/or,

The rolling walking mechanism (57) comprises a third walking mechanism connected to the frame (01), the third walking mechanism being a crawler-type walking mechanism (07), and when the frame (01) is in a first lying position, the lower surface of the third walking mechanism is lower than the surface of the second region of the frame (01), the third walking mechanism is used to support the frame (01) off the ground and enable the device to travel along a road surface, and the third walking mechanism has a contact point in front of, behind, left and right of the center of gravity (O) of the device.

The beneficial value of this scheme: the first walking mechanism and the second walking mechanism are arranged front and rear separately, which can form a standard front and rear wheel walking mechanism. This mechanism (like the wheel scheme of a car or motorcycle) has high efficiency and high speed when traveling on a flat road.

The crawler walking mechanism can provide greater grip than the wheel mechanism on the beach and snow, and is also suitable for climbing stairs.

Optionally, the movable device as described in Technical Solution 2 includes any one or more of the first feature, the second feature, the third feature, and the fourth feature:

First feature: when the posture of the frame (01) is the first lying posture, the edge of the first end of the first walking 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; and/or,

Second feature: when the posture of the frame (01) is the first lying posture, the edge of the second end of the second walking mechanism (522) is located behind the edge of the second end of the surface of the frame (01) close to the second area; and/or,

The third feature: the device comprises a running wheel connected to the first area of the first end of the frame (01), and when the posture of the frame (01) is a first lying posture: the upper surface of the running wheel in the first area of the first end 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 running wheel in the first area of the first end is located in front of the edge of the first end of the frame (01) close to the surface of the first area;

and/or,

Fourth feature: the device comprises a running wheel 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 running wheel 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/or the edge of the second end of the running wheel in the first area of the second end is located behind the edge of the second end of the frame (01) close to the surface of the first area.

The beneficial effects of the first feature are:

When the frame (01) is in a second standing posture, the first walking mechanism (511) can support the edge of the first end of the surface of the frame (01) close to the second area off the ground, and the second standing posture is that the first end of the frame (01) faces the ground and the second end of the frame (01) faces upward;

The beneficial effect of the second feature is that when the frame (01) is in a first standing posture, the second walking mechanism (522) can support the edge of the second end of the frame (01) close to the surface of the second area off the ground, and the first standing posture is that the second end of the frame (01) is facing the ground and the first end of the frame (01) is facing upward.

Beneficial effects of the third feature:

When the posture of the frame (01) is a first lying posture, the edge of the first end of the running 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. The beneficial value of this feature is that when the posture of the frame (01) is a second standing posture, the running wheel in the first area of the first end can support the edge of the first end of the surface of the frame (01) close to the first area off the ground.

When the posture of the frame (01) is the first lying posture, the upper surface of the running wheels in the first area of the first end is higher than the surface of the first area of the first end of the frame (01). The upper surface feature of the running wheels in the first area of the first end has the beneficial value of: when the posture of the frame (01) is the second lying posture, the running wheels in the first area of the first end can support the surface of the first area of the first end of the frame (01) off the ground.

Beneficial effects of the fourth feature:

When the posture of the frame (01) is a first lying posture, the edge of the second end of the running wheel in the first area of the second end is located behind 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 that when the posture of the frame (01) is a first standing posture, the running wheel 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 off the ground.

When the posture of the frame (01) is the first lying posture, the upper surface of the running wheels 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). The upper surface feature of the running wheels in the first area of the second end has the beneficial value of: when the posture of the frame (01) is the second lying posture, the running wheels in the first area of the second end can support the surface of the first area of the second end of the frame (01) off the ground.

The first feature + the third feature has the beneficial effect that the edge of the first end of the running 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: when the posture of the frame (01) is the second standing posture, the first running mechanism (511) and the running wheel in the first area of the first end can support the edge of the first end of the frame (01) off the ground.

The beneficial effect of the second feature + the fourth feature that the edge of the second end of the walking wheel in the first area of the second end is located behind the edge of the second end of the surface of the frame (01) close to the first area is: when the posture of the frame (01) is the first standing posture, the second walking mechanism (522) and the walking wheel in the first area of the second end can support the edge of the second end of the frame (01) off the ground.

The third feature that the upper surface of the running wheels in the first area of the first end is higher than the surface of the first area of the first end of the frame (01) + the fourth feature that the upper surface of the running wheels 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) have the beneficial effect that when the posture of the frame (01) is the second lying posture, the running wheels in the first area of the first end and the running wheels in the first area of the second end can support the surface of the first area of the frame (01) off the ground.

In any of the first lying position, the second lying position, the first standing position and the second standing position, if one end of the edge facing the ground is provided with wheels for supporting the end off the ground, the resistance of the frame (01) sliding along the ground in this position can be reduced, which has a good effect. If both ends of the edge facing the ground are provided with wheels for supporting the edge facing the ground off the ground, the resistance of the frame (01) sliding along the ground in this position can be further reduced. Reducing the resistance of the frame (01) sliding along the ground in this position makes it easier for the frame (01) to move along the ground in this position, and makes it easier for the mechanical leg with the leg and arm fusion to adjust the front, back, left and right positions of the frame (01) according to the needs of the operation when performing a specified operation, which can improve the operation performance.

3. Optional Technical Solution 3: The movable device as described in Technical Solution 2,

The device further comprises a first lifting mechanism (211) and a second lifting mechanism (222), one end of each of the first lifting mechanism (211) and the second lifting mechanism (222) being connected to the frame (01), the other end of the first lifting mechanism (211) being connected to the first walking mechanism (511), the first lifting mechanism (211) being used to enable the first walking mechanism (511) to be lifted and lowered relative to the frame (01), the other end of the second lifting mechanism (222) being connected to the second walking mechanism (522), the second lifting mechanism (222) being used to enable the second walking mechanism (522) to be lifted and lowered relative to the frame (01); and/or the device further comprises a third lifting mechanism, one end of the third lifting mechanism being connected to the frame (01), the other end of the third lifting mechanism being connected to the third walking mechanism, the third lifting mechanism being used to enable the third walking mechanism to be lifted and lowered relative to the frame (01).

The existing robot still has the problem that when the mechanical legs are used for operation off the ground, the whole machine is not easy to adjust the posture and/or height above the ground. The lifting mechanism can not only improve the obstacle-crossing ability of the equipment (for example, lifting the frame to cross the obstacle, for example, lifting the rolling walking mechanism to cross the obstacle above the ground to cross the obstacle), but also adjust the posture and/or height above the ground of the equipment when the mechanical legs are used for operation, which is beneficial to improve the operation quality.

And if the rolling walking mechanism and the rolling lifting mechanism are configured as a rolling walking mechanism group that can be lifted in sections, the equipment will have a unique obstacle-crossing capability, which can greatly reduce the frequency of use of the mechanical legs 02 for walking and obstacle-crossing; because walking and supporting the ground with the mechanical legs requires the entire equipment to be lifted to bear a large load, this solution can reduce the probability of damage to the mechanical legs, extend their lifespan, and reduce the demand for the load capacity of the mechanical legs. Because the mechanical legs are multi-link swing mechanisms, they are highly flexible but expensive, and reducing the demand for load capacity can greatly reduce the manufacturing and use costs of the mechanical legs and equipment.

Optionally, the movable device as described in Technical Solution 2 is characterized in that:

The first walking mechanism (511) is a first walking wheel or a first distributed crawler mechanism; and/or,

The second walking mechanism (522) is a second walking wheel or a second distributed crawler mechanism; and/or,

The first walking mechanism (511) includes a first walking mechanism (051) arranged on a first side of the center of gravity (O) of the device and a first walking mechanism (053) arranged on a second side of the center of gravity (O), and/or the second walking mechanism (522) includes a second walking mechanism (052) arranged on a first side of the center of gravity (O) of the device and a second walking mechanism (054) arranged on a second side of the center of gravity (O); and/or,

When the rolling travel mechanism composed of the first travel mechanism (511) and the second travel mechanism (522) is disconnected from the frame (01), the rolling travel mechanism can travel along the road surface independently of the device; and/or,

When the crawler-type walking mechanism (07) is disconnected from the frame (01), the crawler-type walking mechanism (07) can travel along the road surface independently of the equipment.

The beneficial value of this solution: the first walking mechanism is the first walking wheel, and the second walking mechanism is the second walking wheel. The walking wheel has low cost, high speed on flat roads, and high efficiency. Distributed crawler mechanisms are more anti-skid than wheels. The first walking mechanism includes a left-right walking mechanism, or the second walking mechanism includes a left-right walking mechanism, which is similar to the walking mechanism becoming a tricycle or a four-wheel vehicle, and can improve static stability when the supporting frame is off the ground. The walking mechanism can travel along the road independently of the equipment, and one machine becomes two machines, which can perform different tasks respectively.

4. Optional Technical Solution 4: The movable device as described in Technical Solution 1,

The leg root motion mechanism comprises a first linear motion mechanism (184) connected to a bracket, the first linear motion mechanism (184) being arranged below or on a first side or a second side of the frame (01), the base of the first linear motion mechanism (184) being connected to the frame (01), the output member of the first linear motion mechanism (184) being connected to the bracket, the component on the first side of the bracket being connected to the base of the mechanical leg of the leg-arm fusion on the first side, the component on the second side of the bracket being connected to the base of the mechanical leg of the leg-arm fusion on the second side, the first linear motion mechanism being used to: drive the base of the mechanical leg on the first side and 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 the middle of the frame (01) or between the middle of the frame (01) and the second end of the frame (01); or,

The leg root motion mechanism comprises a first linear motion mechanism (184L) arranged on a first side of the frame (01); a base of the first linear motion mechanism (184L) on the first side is connected to the frame (01); an output member of the first linear motion mechanism (184L) on the first side is connected to a base of the leg-arm fused mechanical leg on the first side; 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 a first end of the frame (01) and a second end of the frame (01) or between the first end of the frame (01) and a middle part of the frame (01) or between the middle part of the frame (01) and the second end of the frame (01); and/or,

The leg root motion mechanism comprises a first linear motion mechanism (184R) disposed on the second side of the frame (01); the base of the first linear motion 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 leg-arm fused mechanical leg on the second side; 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), or between the first end of the frame (01) and the middle of the frame (01), or between the middle of the frame (01) and the second end of the frame (01). Or,

The leg root movement mechanism comprises a first leg root swing mechanism (19L) arranged on the first side of the frame (01); the base of the first leg root swing mechanism (19L) on the first side is connected to the frame (01), and the rotation axis of the first leg root swing mechanism (19L) on the first side points to the left and right; the output member of the first leg root swing mechanism (19L) on the first side is connected to the base of the leg-arm fused mechanical leg 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 to swing between any two positions of the first end of the first side of the frame (01), 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 root movement mechanism comprises a first leg root swing mechanism (19R) arranged on the second side of the frame (01); the base of the first leg root swing mechanism (19R) on the second side is connected to the frame (01), and the rotation axis of the first leg root swing mechanism (19R) on the second side points to the left and right; the output member of the first leg root swing mechanism (19R) on the second side is connected to the base of the leg-arm fused mechanical leg on the second side; 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 to swing between any two positions of the first end of the second side of the frame (01), the middle of the second side of the frame (01) and the second end of the second side of the frame (01).

The beneficial effects of this solution are as follows: the leg root motion mechanism can realize the forward and backward movement of the legs, and the first linear motion mechanism and the first leg root swing mechanism are lower in cost than mechanical legs, so that the two legs can play a greater value.

5. Optional Technical Solution 5: The movable device as described in Technical Solution 1, wherein the leg root movement mechanism comprises

A second linear motion mechanism (121L) disposed at the first end of the first side of the frame (01) and/or a second linear motion mechanism (121R) disposed at the first end of the second side of the frame (01) and/or a second linear motion mechanism (122L) disposed at the second end of the first side of the frame (01) and/or a second linear motion mechanism (122R) disposed at the second end of the second side of the frame (01); the mechanical leg (02) on 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) on the second side includes a mechanical leg (021R) at the first end of the second side and a mechanical leg (022R) at the second end of the second side;

The two ends of the base of the second linear motion mechanism in any direction, namely, 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, respectively point 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 output member of the second linear motion mechanism is connected to the base of the mechanical leg in any direction; the second linear motion mechanism can drive the base of the mechanical leg to move to the first area so that the mechanical leg can perform designated operations or climb in the first area, 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 perform designated operations or walk in the second area (lower part).

The beneficial effects of this solution are as follows: the second linear motion mechanism can realize the lifting and lowering of the leg roots, and the second linear motion mechanism is lower in cost than mechanical legs, so that the legs can play a greater role.

6. Optionally, the movable equipment as described in technical solution 1 is characterized in that the designated operation includes carrying a person by holding the person from below the person, driving the working tool (17) connected to the end of the mechanical leg (02) to grab a flexible object connected to the person to carry the person, cutting objects, digging, shoveling, digging or shoveling, picking objects, farming, painting objects, taking bricks to build walls, welding objects, rotating fasteners to install or remove objects, and spraying objects.

The beneficial effects of this solution are: improving the working ability of (multi-joint, thick, high-cost) legs and reducing resource waste.

7. Optionally, when the movable device is in operation, the posture of the frame (01) can be either a first lying posture or a standing posture, and the standing posture can be a first standing posture or a second standing posture.

The beneficial effects of the scheme are as follows: the posture of the frame (01) is a first lying posture, at which time the length of the frame (01) is greater than the height, and the device is equivalent to a tiger robot, which is suitable for ground operation, front operation, or side operation; the posture of the frame (01) is a standing posture, at which time the height of the frame (01) is greater than the length in the front-to-back direction, and the device is equivalent to a humanoid robot, which is conducive to operating or climbing in a space higher than the first lying posture.

Optionally, the end of the mechanical leg (02) is provided with a sole (106A) for supporting the ground.

The beneficial effect of this solution is that the sole (106A) can improve the ground contact integral force relative to the end of the calf (104).

The end of the mechanical leg (02) is provided with a roller for rolling along the road surface.

The beneficial effect of this solution is that on a flat road, the equipment can slide more energy-efficiently when the roller rolls along the road surface.

Optionally, 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 a power source provided on the frame (01), and one end of the power supply component is used to connect to the working tool.

Beneficial effects of this solution: The multifunctional mechanical leg 02 is provided with the power supply component, which not only enables the working tool to obtain power supply (1+1=2), but more importantly reduces the end load of the mechanical leg 02 and is conducive to energy saving (additional benefit 1). This solution also optimizes the mechanical properties of the entire movable equipment.

Optionally, the top (115) of the device is connected to the frame (01) via a fifth lifting mechanism (1315) so that the top (115) can be lifted or lowered relative to the frame (01) and/or the top (115) is provided with rollers.

Beneficial effect: This solution facilitates pipeline operations. If necessary, a roller 106 or a fifth lifting mechanism (1315) is provided at the end of the mechanical leg 02 so that the top can abut against the inner wall of the pipeline to prevent the equipment from slipping. The roller provided at the top (115) can also reduce the friction when passing through the pipeline.

Optionally, the movable device is configured to carry an adult, and/or the device further comprises a manned cabin (11). Beneficial effect: Man is the master of the earth, and the movable device is configured as a vehicle for adults and can carry people, which is more economically meaningful than designing the device as a non-manned tool or a toy.

Optionally, the movable device is a vehicle.

Beneficial effects: Cars are the most important tool in human society. Compared with walking, cars have high driving efficiency with rolling walking mechanisms. The combination of cars and mechanical legs that integrate legs and arms makes the equipment have half-car and half-tiger capabilities, improving its comprehensive capabilities.

Optionally, the movable device further comprises 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 the water; and/or the buoyancy generated by the movable device in the water is not less than the gravity of the movable device or the movable device is a ship.

Beneficial effect: The device containing the underwater propulsion device (09) and capable of generating sufficient buoyancy is a ship. The ship is the most important tool in human society. The combination of the ship and the mechanical legs integrated with the legs and arms makes the device have the capabilities of half ship and half tiger, thereby improving the comprehensive capabilities.

8. A control method for a movable device as described in Technical Solution 1 or any optional technical solution based on Technical Solution 1, the control method comprising the steps of:

Get the type information of the job:

If the type of operation is to carry a person by holding the person from below, then step S1 is executed.

If the type of operation is to move a person by grabbing a flexible object connected to the person, then step S2 is executed.

If the type of operation is cutting objects, then execute step S3.

If the type of operation is digging or shoveling, then execute step S4.

If the type of operation is picking items, then execute step S5.

If the type of operation is farming, then execute step S6.

If the type of operation is painting an object, then execute step S7.

If the operation type is to take bricks to build a wall, then execute step S8.

If the type of work is welding objects, then execute step S8.

If the type of operation is rotating a fastener to install or remove an object, then step S9 is executed.

If the type of operation is to spray an object, then step S10 is executed.

If the type of operation is to climb along an external object by the leg-arm fused mechanical leg, step S11 is executed.

If the type of operation is walking, execute step S12;

If the type of operation is to travel by means of a leg-assisted crawler-type walking mechanism (07), then step S13 is executed;

S1: firstly place the movable part of the mechanical leg with integrated legs and arms under the person to be transported to hold the person and then lift and/or translate the person, wherein the movable part refers to the thigh (102) and/or shank (104) of the mechanical leg with integrated legs and arms and/or the joint at the end of the shank (104) and/or the tool connected to the end of the mechanical leg with integrated legs and arms;

S2: Control the leg-arm fused mechanical leg to drive the end effector connected to the end of the mechanical leg to carry the person by grabbing the flexible object connected to the person, and the end effector is a grabbing device (06);

S3: Control the leg-arm fused mechanical leg to drive a working tool connected to the end of the mechanical leg to cut an object, wherein the working tool is a knife, a saw or a cutting machine;

S4: Control the mechanical leg with the leg and arm fused therein to drive the working tool connected to the end of the mechanical leg to dig or shovel, wherein the working tool is a shovel;

S5: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg to pick objects, the picked objects are vegetables, fruits, cotton, plants or weeds, the plants are any one or any combination of vegetable plants, tree plants, rice seedlings, and Chinese medicinal plants, and the working tool is a picker;

S6: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg to cultivate, wherein the cultivating refers to hoeing or transplanting seedlings, wherein the working tool for hoeing is a hoe, and the working tool for transplanting seedlings is a seedling transplanter;

S7: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg to apply the working material carried by the working tool to the working object, where the working tool is a painting tool, the working material is paint or pigment or powder or paste, and the working object refers to the wall or ground or equipment surface to be painted;

S8: Control the leg-arm fused mechanical leg to drive a working tool connected to the end of the mechanical leg to take bricks and build a wall, wherein the working tool is a grabbing component;

S9: controlling the leg-arm fused mechanical leg to drive a working tool connected to the end of the mechanical leg to weld an object, wherein the working tool is a welding tool;

S9: Control the mechanical leg with the leg and arm fused therein to drive the working tool connected to the end of the mechanical leg to rotate the fastener to install or remove the object, wherein the working tool is a grasping component or a wrench or a screwdriver for sleeve-engaging the fastener;

S10: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg to spray an object, the object being medicine, paint, powder, slurry or fire extinguishing material, and the working tool being a sprayer;

S11: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the leg-arm fused mechanical leg to grab an external object higher than the frame (01) so that the device climbs along the external object.

S12: Controlling the leg-arm fused mechanical leg to make the movable device walk along the road surface;

S13: when the movable equipment is moving from a flat road to a downhill section through the crawler-type walking mechanism (07), the mechanical leg (02) located at the second end of the frame (01) is controlled to make the mechanical leg (02) touch the ground on the flat road, so that the rear part of the crawler-type walking mechanism (07) is raised; and/or,

When the movable equipment enters a flat road from an inclined section via the crawler-type walking mechanism (07) and the crawler 07 in the crawler-type walking mechanism is still in a backward tilted state, the mechanical leg (02) located at the second end of the frame (01) is controlled so that the mechanical leg (02) touches the ground in the inclined section, thereby reducing the tilt angle of the crawler-type walking mechanism (07).

Specifically, the step S12 includes: controlling the first rotating joint (1011) included in the leg-arm fusion mechanical leg to make the thigh (102) in a drooping posture and to make the thigh (102) swing left and right relative to the base of the mechanical leg, controlling the first swinging joint (1012) to make the thigh (102) swing forward and backward relative to the base of the mechanical leg, and controlling the second swinging joint to make the calf (104) swing forward and backward relative to the thigh (102). The three-dimensional swinging action enables multiple mechanical legs to produce (standard, perfect two-legged or four-legged or more-legged) multi-leg alternating walking actions.

The beneficial effects of this scheme: The S1-S10 schemes improve the working capacity of the (multi-joint, strong and powerful, high-cost) legs and reduce resource waste. The S11 scheme enables the mechanical legs with fused legs and arms to be used to enable the equipment to climb along the external object. The beneficial effects of the S13 scheme: The track mechanism has outstanding advantages over the wheel or leg mechanism in climbing stairs and passing through soft areas (beach, mud); but when entering a downward slope from a flat road or entering a flat road from an upward slope, there is a serious safety problem of the front end hanging in the air and hitting the ground; the inertial thinking of the industry usually tries to keep the frame upright and reduce the inclination angle to prevent falling; the S13 scheme controls the legs or the liftable walking mechanism of the second end (i.e. the rear) to support the ground at the rear, so that the hips of the equipment are tilted up. Experiments have shown that this can reduce the adverse impact of the first end (i.e. the front) of the equipment hitting the ground due to being suspended in the air.

Steps S3 and S4 can be combined and superimposed to achieve better results. Cut the object first and then dig or shovel it.

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

Using cutting tools to cut objects first and then dig or shovel objects can greatly reduce the impact force and load compared to (in existing excavator technology) using brute force to directly impact and crush objects, making the structure of the multifunctional mechanical leg 02 more compact and non-bulky, reducing weight, reducing energy consumption during movement of the multifunctional mechanical leg 02, avoiding damage to the multifunctional mechanical leg 02, and extending service life. The knife is a water knife or a laser knife. The cutting machine is an electric grinding wheel cutting machine.

Optionally, steps S7 and S8 are combined, and the specified operation is to first apply mortar and then take bricks to build the wall. This solution can improve the comprehensive operation effect.

Furthermore, the control method 1 includes step Z1, step Z10 or step Z20 before performing the specified operation:

Z1: obtain the position information of the work object or the orientation information of the target space;

Z10: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg, so that the working tool moves from the current posture of the working tool to the working posture;

Z20: Control the movement of the leg-arm fused robotic leg and/or control the movement of the working tool connected to the end of the leg-arm fused robotic leg to load or grab the working materials.

The beneficial effects of this program: further improving the (multi-joint, strong and powerful, high-cost) leg working ability.

9. A control method 2 for a movable device such as technical solution 1 or any optional technical solution based on technical solution 1 comprises the steps of: controlling the mechanical leg (02) on the first side and controlling the mechanical leg (02) on the second side so that the posture of the frame (01) switches between a first lying position and a standing position; the standing position is a first standing position or a second standing position.

The beneficial effect of this solution is that posture switching is performed by mechanical legs, saving the cost of a dedicated posture adjustment mechanism.

10. A control method 3 for a movable device as described in technical solution 3 comprises the steps of:

When the movable equipment is moving from a flat road to a downhill section via the crawler-type walking mechanism (07), the second lifting mechanism (222) is controlled to make the second walking mechanism (522) touch the ground on the flat road, so that the rear part of the crawler-type walking mechanism (07) is raised; and/or,

When the movable equipment enters a flat road from an inclined section via the crawler-type walking mechanism (07) and the crawler 07 in the crawler-type walking mechanism is still in a backward tilted state, the second lifting mechanism (222) is controlled to make the second walking mechanism (522) contact the ground at the inclined section to reduce the tilt angle of the crawler-type walking mechanism (07); and/or,

Controlling the first lifting mechanism (211) and the second lifting mechanism (222), and/or controlling the third lifting mechanism, is used to: adjust the height of the frame (01) relative to the road surface or adjust the posture of the frame (01) when the leg-arm fused mechanical leg is off the ground to perform a specified operation; or switch the device between the first mode and the second mode;

The first mode is: the lower surface of the first walking mechanism (511) and/or the lower surface of the second walking mechanism (522) is not lower than the lower surface of the third walking mechanism, the third walking mechanism supports the frame (01) off the ground and enables the movable device to travel along the road surface, or one of the first walking mechanism (511) and the second walking mechanism (522) and the third walking mechanism support the frame (01) off the ground and enables the movable device to travel along the road surface;

The second mode is as follows: the lower surface of the first walking mechanism (511) and the lower surface of the second walking mechanism (522) are both lower than the lower surface of the third walking mechanism, and the first walking mechanism (511) and the second walking mechanism (522) support the frame (01) off the ground and enable the movable device to travel along the road surface.

The beneficial effects of the first two schemes of this scheme related to the travel of the crawler walking mechanism are the same as those of S13.

A scheme for controlling the lifting mechanism to adjust the height of the frame (01) relative to the road surface or to adjust the posture of the frame (01) is beneficial to improving the operating performance.

A scheme for controlling a lifting mechanism to switch the posture of the device between a first mode and a second mode, wherein the first mode is used to enable a first walking mechanism (511) and a second walking mechanism (522) whose lower surface is not lower than the lower surface of a third walking mechanism to lift off the ground and overcome obstacles. The second mode is used to enable the third walking mechanism to lift off the ground and overcome obstacles. The scheme improves the obstacle-overcoming capability of the device.

11. A control method 4 for a movable device as described in technical solution 4 comprises any one or any combination of steps S4.1, S4.2, S4.3 and S4.4;

S4.1: 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 one end of the frame (01); control the mechanical leg (02) on the first side so that the mechanical leg (02) on the first side supports the ground and/or control the mechanical leg (02) on the second side so that the mechanical leg (02) on the second side supports the ground, or control the mechanical leg (02) on the first side and the mechanical leg (02) on the second side to walk, so that the device travels along the road and/or one end of the frame (01) and the mechanical leg located at the certain The rolling walking mechanism at one end leaves the ground to overcome obstacles; the one end is the first end and the other end is the second end, or the one end is the second end and the other end is the first end; the one leg root motion mechanism is the first linear motion mechanism (184) of the connecting bracket, or the one leg root motion mechanism is the first linear motion mechanism (184L) of the first side and the first linear motion mechanism (184R) of the second side, or the one leg root motion mechanism is the first leg root swing mechanism (19L) of the first side and the first leg root swing mechanism (19R) of the second side; and/or,

S4.2: Control the first linear motion mechanism (184) of the connecting bracket or control the first linear motion mechanism (184L) of the first side and the first linear motion mechanism (184R) of the second side, so that the base of the mechanical leg (02) of the first side and the base of the mechanical leg (02) of the second side are located in the middle of the frame (01), or control the first leg root swing mechanism (19L) of the first side and the first leg root swing mechanism (19R) of the second side, so that the base of the mechanical leg (02) of the first side and the base of the mechanical leg (02) of the second side are located in the middle and lower part of the frame (01); control the mechanical leg (02) of the first side and the mechanical leg (02) of the second side to walk; and/or,

S4.3: Controlling the first leg root swing mechanism on one side so that the base of the mechanical leg (02) on the one side is located in the middle and upper part of the frame (01), and controlling the mechanical leg (02) to perform a specified operation or climbing, wherein the climbing refers to grasping an external object higher than the frame (01) through an end effector connected to the end of the mechanical leg so that the device crawls along the external object, the end effector is a grasping device (06) or a working tool for climbing, and the one side is the first side or the second side; and/or,

S4.4: Control a certain leg root motion mechanism so that the base of the mechanical leg connected to the output member of the leg root motion mechanism is located at any position among the first end of the frame (01), the middle of the frame (01) and the second end of the frame (01), and control the mechanical leg to perform a specified operation. The certain leg root motion mechanism is any one of the first linear motion mechanism (184) of the connecting bracket, the first linear motion mechanism (184L) of the first side, the first linear motion mechanism (184R) of the second side, the first leg root swing mechanism (19L) of the first side and the first leg root swing mechanism (19R) of the second side.

The problem that the equipment whose walking mechanism is entirely legs has low speed and efficiency on a flat road compared with a rolling walking mechanism is solved by setting a rolling walking mechanism.

Step S4.1, using the leg root motion mechanism to enable the (multi-joint, thick, high-cost) mechanical leg to move forward and backward;

When the mechanical leg can reach the first end (i.e. the front end), the device forms a robot-pulling-cart mode (the front end is supported by the legs and the rear end is supported by the rolling walking mechanism). The robot-pulling-cart mode can not only make the device travel along the road, but also more cleverly make the rolling walking mechanism at the first end (i.e. the front end) leave the ground to overcome obstacles;

When the mechanical leg can reach the second end (i.e. the rear end), the device forms a robot cart mode (the front end supports the ground through a rolling walking mechanism, and the rear end is supported by the legs). The robot cart mode can not only enable the device to travel along the road, but also, more cleverly, enable the rolling walking mechanism at the second end (i.e. the rear end) to leave the ground to overcome obstacles.

Another benefit is that when a mechanical leg 02 at a certain position becomes disabled, a mechanical leg can be transferred through the other end of the leg root motion mechanism to replace the disabled mechanical leg 02, thereby increasing the fault adaptability of the equipment.

Step S4.2, through the leg root movement mechanism, the (multi-joint, strong and powerful, high cost) mechanical leg can move forward and backward to the middle of the frame (01). Since the center of gravity of the frame is in the middle, it is convenient for the mechanical leg (02) to walk.

Step S4.3, the base of the mechanical leg (02) can reach the middle and upper part of the frame 01 through the first leg root swing mechanism, which is convenient for climbing.

Step S4.4, through the leg root movement mechanism, the (multi-joint, strong and powerful, high cost) mechanical leg can be moved forward and backward to reach any position of the first end (i.e., the front end) of the frame (01), the middle part of the frame (01) and the second end (i.e., the rear section) of the frame (01), and the designated operation can be performed as needed, which is very helpful to improve the operation efficiency. For example, when the operation area is located at the first end (i.e., the front end), the mechanical leg (multi-joint, strong and powerful, high cost) of the second end (i.e., the rear section) can be called to operate; if the first end (i.e., the front end) originally has two legs, then the mechanical leg is changed to 4 (multi-joint, strong and powerful, high cost) for operation. When the operation area is located at the second end (i.e., the rear end), the mechanical leg (multi-joint, strong and powerful, high cost) of the first end (i.e., the front end) can be called to operate; if the second end (i.e., the rear end) originally has two legs, then the mechanical leg is changed to 4 (multi-joint, strong and powerful, high cost) for operation.

The forward and backward movement of the mechanical legs is achieved through the leg root motion mechanism, so that the cost of two legs can reach the effect of four legs. It not only saves the direct cost of two legs, but more importantly, it saves the energy consumption and weight brought by two legs.

12. A control method 5 for a movable device as described in technical solution 5, comprising any one or more of steps S5.1, S5.2, and S5.3:

S5.1: Control the second linear motion mechanism in any direction to drive the base of the mechanical leg in any direction to move to the first area, and control the mechanical leg to perform a specified operation or climb, wherein the climbing refers to grasping an external object higher than the frame (01) through an end effector connected to the end of the mechanical leg so that the device crawls along the external object, and the end effector is a grasping device (06) or a working tool for climbing; and/or,

S5.2: Control the second linear motion mechanism in any direction to drive the base of the mechanical leg in any direction to move to the second area (lower part), and control the mechanical leg to perform a specified operation; and/or,

S5.3: Control the second linear motion mechanism on the first side and the second linear motion mechanism on the second side of the same part (left front) to move the base of the mechanical leg on the first side and the base of the mechanical leg on the second side of the same part (left front) to the second area (lower part), and control the mechanical leg on the first side and the mechanical leg on the second side to walk, and the same part is the first end and/or the second end.

Step S5.1 enables the base of the thigh 102 of the robotic leg to move upward (to the top of the head), reversing the industry's biased thinking (the legs need to be firmly fixed to the hips), and greatly improving the operation and climbing performance of the multifunctional robotic leg 02).

13. A computer-readable storage medium, characterized in that computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, any of the control methods described above is implemented.

A control device for a movable device, characterized in that the control device comprises a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, any of the control methods described above is implemented.

A mobile platform, which is a movable device as described in Technical Solution 1 or any optional technical solution based on Technical Solution 1, or the mobile platform includes a walking mechanism for making the mobile platform travel along a road surface, 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, it implements any one of claims 1-6.

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

Branch scheme 1 of the present invention: a mechanical leg with fused legs and arms, at 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, which helps to solve the problems of insufficient leg working ability and waste of resources in humanoid robots and quadruped robot dogs (multi-joint, strong and powerful, high-cost) in the prior art.

Branch scheme 2 of the present invention: The device includes a leg root movement mechanism that enables the base of the mechanical leg 02 to achieve lifting and lowering movement and/or forward and backward movement relative to the frame 01, so that the root of the thigh 102 can move upward (to the top of the head) or forward and backward, reversing the industry's biased thinking (the legs need to be firmly fixed to the buttocks).

Please refer to Figures 6, 7, 8, 9, 16, 17, and 18; the leg root movement mechanism drives the mechanical legs to move so that the equipment can form a variety of unique working modes ("mechanical legs walking in front + wheel-track mechanism rolling in the back" robot pulling cart driving mode, "wheel-track mechanism rolling in front + mechanical legs walking in the back" robot pushing cart driving mode, "porter-style" walking mode with both legs protruding outward at both ends of the middle frame to increase load-bearing stability, "leg-on-head" operation mode in which the roots of the mechanical legs (rather than the toes) rise to the top of the frame (that is, the head), and can cleverly assist the rolling walking mechanism with high driving efficiency, energy saving, large load-bearing capacity but poor obstacle-crossing ability to leave the ground and cross obstacles), breaking through the inertia of thinking and having a variety of unexpected effects.

Realizing the forward and backward movement of the mechanical legs through the leg root motion mechanism is beneficial to enhancing the working ability of the mechanical legs without increasing the number of mechanical legs. It not only saves the direct purchase cost of the mechanical legs, but more importantly, it is beneficial to save and control the energy consumption and weight problems brought about by more mechanical legs. Nature has also proved that the more legs an animal has, the greater its energy consumption, which in turn restricts its own performance. For example, the carrying capacity of multi-legged reptiles (spiders, centipedes, and crabs) is significantly lower than that of quadrupeds (such as lions, tigers, leopards, and elephants), and the IQ of four-legged animals is generally lower than that of two-legged animals (such as gorillas, monkeys, and apes).

Branch solution 3 of the present invention: the rolling walking mechanism and the legs are independently connected to the frame 01, each of which performs its own duties, and the functional planning is reasonable and clear; when the mechanical legs are off the ground, the rolling walking mechanism can (stably and reliably) support the frame 01 and make the equipment travel; it solves the problem in the prior art that humanoid robots and four-legged robot dogs are prone to falling and landing on their bellies when their legs are off the ground.

Even compared with six-legged or eight-legged robot solutions, the rolling walking mechanism is cheaper than multi-joint legs, which is convenient for reducing the manufacturing cost and use cost of the robot. In addition, the load capacity, driving speed or efficiency, and support stability of the rolling walking mechanism are higher than those of the legs, which is beneficial to the stability and quality of the robot's operation.

Although the mechanical legs (multi-joint, strong and powerful, high cost) have outstanding obstacle-crossing capabilities, they are expensive. For example, the price of a mechanical leg or arm that rotates around a joint and carries 50KG at the end is tens of thousands of RMB, while the price of a wheeled walking mechanism, a crawler walking mechanism or a leg root movement mechanism can be as low as a few hundred RMB, which has a significant cost advantage and is strong and rigid.

In general, in the fields defined by the present invention, such as (fire, flood, earthquake, anti-terrorism and anti-riot, battlefield rescue), emergency rescue, construction, agriculture, forestry, Chinese medicine planting, and mineral mining, the scene is not as flat as the floor in the office or shopping mall. The terrain is complex, rugged, and steep; usually, it is necessary to equip (multi-joint, strong and powerful) mechanical legs to overcome obstacles. In the prior art, based on years of industry inertia thinking, (strong and powerful, high cost) mechanical legs are mainly used for walking, and operations require the installation of separate mechanical arms, which increases the cost of purchase and use.

First point: The present invention overcomes the mainstream industry prejudice in this field: instead of using conventional robotic arms to perform operations, a robotic leg with fused legs and arms is used to perform designated operations; the high cost, high weight, high energy consumption, and control complexity brought by expensive robotic arms are saved; and the robotic arm is usually installed on the upper part of the body, which is not convenient for low-position operations; using a robotic leg with fused legs and arms to perform designated operations saves the cost of joints used for bending, the bending control system, and the technical complexity.

Second point: More importantly, the present invention overcomes the industry prejudice that the mechanical legs are mainly used for walking. Instead of controlling the legs to perform simple operations such as kicking objects or moving them, the legs are used to operate tools to perform specified operations. The ingenious use of tools is the main difference between animals and humans, and is also the core difference between ordinary machines and advanced robotics. This is also the core value of the present invention.

Carrying people is a very important core task in firefighting, medical emergency rescue, and personnel care. In the prior art, half of the people are carried by hand, and it is difficult to think of using legs to carry people; even if you think of using legs to carry people, it is easy to refer to the way of grabbing objects with mechanical arms in the prior art due to industry prejudice, which can easily lead to two adverse consequences: the soft mechanical arm with multiple fingers is unable to reliably grab and carry people, or the mechanical arm is hard and powerful and can easily hurt people. In the present invention, the mechanical leg with fused legs and arms can carry people from under the people, so that people can be carried safely. It breaks the industry prejudice and has unexpected effects. Using the robot's mechanical legs to safely carry people and avoid the police or rescue workers from going to the dangerous scene in person has important economic and social value.

Using mechanical legs with integrated legs and arms to hold working tools to cut (such as branches, damaged buildings), dig or shovel objects (clear obstacles), and safely carry people is an important task in emergency rescue (fire, flood, earthquake). It has important economic and social value.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or exemplary technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a perspective schematic diagram of a movable device having mechanical legs;

FIG2 is a schematic diagram of a movable device with mechanical legs, viewed from above;

FIG3 is a schematic diagram of a side view of a movable device having mechanical legs;

FIG4 is a simplified schematic diagram of a side view of a movable device having mechanical legs;

FIG5 is a schematic diagram of a side view of a movable device with a leg-arm fusion mechanical leg in a walking state;

FIG6 is a schematic diagram of a side view of a movable device including a mechanical leg;

FIG7 is a schematic diagram of a side view of a movable device including a mechanical leg;

FIG8 is a schematic diagram of a side view of a movable device pulled by mechanical legs;

FIG9 is a schematic diagram of a side view of a movable device driven by mechanical legs on a cart;

FIG10 is a perspective schematic diagram of a mechanical leg;

FIG11 is a schematic diagram of a side view of a mechanical leg;

FIG12 is a schematic diagram of an electric push rod;

FIG13 is a schematic diagram of a guide rail type motion mechanism;

FIG14 is a schematic diagram of a guide mechanism;

FIG15 is a schematic diagram of a crawler-type walking mechanism;

FIG16 is a schematic diagram of a side view of a movable device with a frame in a standing mode and mechanical legs located on the upper portion of the frame;

FIG17 is a schematic side view of a movable device in a standing mode with a mechanical leg located at the bottom of the frame for walking;

18 is a schematic side view of a movable device with the frame in a supine mode and the mechanical legs located in the middle of the frame for walking.

FIG. 19 is a schematic diagram of another crawler-type walking mechanism.

Reference numerals:

01, rack; 02-legs; 02L-legs on the first side; 02R-legs on the second side;

021 - leg at the first end; 021L - leg at the first end of the first side; 021R - leg at the first end of the second side;

022-leg at the second end; 022L-leg at the second end of the first side; 022R-leg at the second end of the second side;

023 - third leg; 023L - third leg on first side; 023R - third leg on second side;

06-gripping device; 062L-gripping device at the end of the leg at the second end of the first side; 171-chain saw; 172-shovel; 173-scissors;

115, top; 1151-top wheel; 12-second linear motion mechanism; 121-second linear motion mechanism at the first end; 121L-second linear motion mechanism at the first end of the first side; 121R-second linear motion mechanism at the first end of the second side; 122-second linear motion mechanism at the second end; 122L-second linear motion mechanism at the second end of the first side; 122R-second linear motion mechanism at the second end of the second side; 1315-top lifting mechanism;

181-first front-to-back motion mechanism; 181L-first front-to-back motion mechanism of the first side; 181R-first front-to-back motion mechanism of the second side;

182-second front-to-back movement mechanism; 182L-second front-to-back movement mechanism on the first side; 182R-second front-to-back movement mechanism on the second side;

184 - first linear motion mechanism; 184L - first linear motion mechanism on the first side; 184R - first linear motion mechanism on the second side;

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

212, the third lifting mechanism at the first end; 212L-the third lifting mechanism at the first end and the first side; 212R-the third lifting mechanism at the first end and the second side; 221, the third lifting mechanism at the second end; 221L-the third lifting mechanism at the second end and the first side; 221R-the third lifting mechanism at the second end and the second side;

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

511-first walking mechanism; 051-first walking mechanism on the first side; 053-first walking mechanism on the second side;

522-second walking mechanism; 052-second walking mechanism on the first side; 054-second walking mechanism on the second side; 502-walking wheels in the first area; 07, crawler walking mechanism; 070, crawler; 10000-ground; 10005-obstacle V; O-center of gravity of the equipment.

Optionally, when there are multiple parts horizontally placed in the direction of travel, their numbers will be marked with L and R at the end, where L means it is located on the left side of the frame in the direction of travel, and R means it is located on the right side of the frame in the direction of travel. For example, there are two first lifting mechanisms 211, one of which is marked as 211L and the other is marked as 211R, then the first lifting mechanism 211L is located on the left side of the frame in the direction of travel, and the first lifting mechanism 211R is located on the right side of the frame in the direction of travel. For example, there are two second lifting mechanisms 222, one of which is marked as 222L and the other is marked as 222R, then the second lifting mechanism 222L is located on the left side of the frame in the direction of travel, and the second lifting mechanism 222R is located on the right side of the frame in the direction of travel. Others, and so on. Optionally, the number of the crawler walking mechanism can also be 07M. 171, 172 and 173 are all working tools.

DETAILED DESCRIPTION

Because the mechanical legs have multiple joints, are expensive, strong and powerful, are close to the way humans walk, and are extremely flexible, the core of this article is to break through the industry's thinking inertia, cleverly combine the mechanical legs, working tools, wheel-track walking mechanisms and leg root motion mechanisms, and enhance the capabilities of the mechanical legs or reduce their costs in unexpected ways. The adoption of this article's scheme has a variety of special effects, such as: realizing the robot pulling car driving mode of "mechanical legs walking in front + wheel-track mechanism rolling in the back", the robot cart driving mode of "wheel-track mechanism rolling in front + mechanical legs walking in the back", the "porter-style" walking mode with both legs protruding outward at both ends of the middle frame to increase the stability of heavy-load walking, the "leg-on-head" working mode in which the root of the mechanical leg (not the toe) rises to the top of the frame (that is, the head), and the working tools are operated by the legs (not 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 also cooperate with each other to multiply the effect. For example, branch scheme 1 is combined with branch scheme 3: branch scheme 2 can not only greatly expand the operation range in branch scheme 1, but also improve the operation quality and efficiency (for example, when cutting tree roots with a knife, the leg-arm fused mechanical leg is first lowered to a low position through the leg root motion mechanism, which is more suitable for exerting force and making the operation quality or operation efficiency better; for example, when pruning high branches with a knife, the leg-arm fused mechanical leg is first raised to a high position through the leg root motion mechanism, so that the operation quality or operation efficiency is better. Similarly, branch scheme 2 and branch scheme 3 can also play a similar role. For example, some operations require front operations (such as digging), and some operations require rear operations, such as transplanting and planting trees. The equipment needs to go backwards or use the tail operation tool to operate without damaging the planted plants. The leg root motion mechanism can move the mechanical leg to different positions according to different operation requirements, which is beneficial to improving the efficiency or quality of the front operation; the leg-arm fused mechanical leg is first moved to the rear through the fourth motion mechanism, which can improve the efficiency or quality of the rear operation.

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

It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it may be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of description, and do not indicate or imply that the device or element referred to must have a specified position, be constructed and operated in a specified position, and therefore cannot be understood as a limitation on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances. The terms "first" and "second" are only used for the purpose of convenience of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

Description of the posture of the equipment and the frame: In this article, the driving direction is the driving direction of the rolling walking mechanism or the legs moving forward without turning. The driving direction is front, 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 equipment. When there is no limiting description: the road surface refers to a flat road; the movable equipment is placed flat on the horizontal road surface; the frame is parallel to the flat road. Specifically, the direction indicated by X in the attached figure is the driving direction. The movable equipment moves along the predetermined direction X1. When the equipment is traveling on a horizontal road surface, the predetermined direction X1 is the horizontal direction. When the equipment is traveling on a road surface that has a certain angle with the horizontal direction, the predetermined direction X1 also has a certain angle with the horizontal direction. When there is no limiting description, the posture of the frame 01 of the movable equipment is the first lying posture. The first lying posture is the posture of the equipment shown in Figures 1 to 7. The first standing posture is that the head end of the frame 01 is facing up and the tail end of the frame 01 is facing down. The first standing posture is standing upright. When the posture of the rack 01 is the first lying posture: the rack 01 is placed flat on the road surface, and the length of the rack 01 along the driving direction is greater than the height of the rack 01, and the running mechanism of the equipment can support the rack 01 off the ground and drive the equipment to travel along the road surface. The height refers to the distance between the upper surface and the lower surface of the rack 01 in the up-down direction. The length refers to the distance between the front surface and the rear surface of the rack 01 along the driving direction. The first lying posture is a normal and stable state. The first lying posture means that the abdomen of the rack 01 is facing down and the back of the rack 01 is facing up. The first lying posture is prone. The standing posture means that one end of the rack 01 is facing up and the other end is facing down, and at this time the height of the rack 01 is greater than the length of the rack 01. When the posture of the rack 01 of the equipment is the first lying posture: the first end of the rack 01 is located before the center of gravity of the equipment, the second end of the rack 01 is located after the center of gravity of the equipment, and the surface of the second area is facing down. Like a tiger, the body is placed flat and the four limbs are on the ground to walk. At this time, the posture of the tiger is the first lying posture. The posture of a person standing up is the standing posture. The prone position of a person is the first lying position.

1. Please refer to Figures 1 to 9 and Figures 16, 17 and 18: Embodiment 1 of a movable device; the device comprises:

Rack 01;

Taking the driving direction of the device along the road as a reference, 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 on the first side and the mechanical leg 02 on the second side are both 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 of the mechanical legs 02 on the first side and the mechanical legs 02 on the second side are mechanical legs with legs and arms fused together, and the ends of the mechanical legs with legs and arms fused together are connected to end effectors, and the end effectors are working tools 17 or connecting parts for connecting working tools 17;

The device also includes a rolling walking mechanism 57 connected to the frame 01, the rolling walking mechanism is used to support the frame 01 off the ground and enable the device to travel along the road; the device also includes a leg root movement mechanism for enabling the base of the mechanical leg to move up and down and/or forward and backward relative to the frame 01, one end of the leg root movement mechanism is connected to the frame 01, and the other end of the leg root movement mechanism is connected to the base of the mechanical leg. The leg-arm fused mechanical leg and the working tool 17 are configured for a specified operation.

Optionally, all the mechanical legs are leg-arm fusion mechanical legs and can be replaced by: the mechanical legs at the first end or the second end are leg-arm fusion mechanical legs. In this article, any walking is multi-leg alternating walking.

2. Please refer to Figures 1 to 5. Figures 1 to 5 show the same type of equipment. Figure 1 is a three-dimensional structural diagram of the equipment; Figure 2 is a top view, and Figures 3, 4 and 5 are all side views. Example 2 based on Example 1: Based on the equipment shown in Example 1,

The device includes four mechanical legs 02, and the four mechanical legs 02 are respectively: a leg 021L arranged at a first end of the first side, a leg 021R arranged at a first end of the second side, a leg 022L arranged at a second end of the first side, and a leg 022R arranged at a second end of the second side;

The end of the left front leg 021L is connected to a chain saw 171; the end of the right front leg 021R is connected to a shovel 172; the end of the left rear leg 022R is connected to a picking device 062L; the end of the right rear leg 022R is connected to a scissors 173;

The rolling walking mechanism 57 includes a first walking mechanism 511 and a second walking mechanism 522 connected to the frame 01. When the frame 01 is in a first lying position, the first walking mechanism 511 is located before the center of gravity O of the movable device, and the second walking mechanism 522 is located after the center of gravity O of the movable device. The lower surface of the first walking mechanism 511 and the lower surface of the second walking mechanism 522 are both lower than the surface of the second area of the frame 01. The first walking mechanism 511 and the second walking mechanism 522 are used to support the frame 01 off the ground and enable the device to travel along the road surface.

The first walking mechanism 511 is a first walking wheel and the second walking mechanism 522 is a second walking wheel;

The first walking mechanism 511 includes a first walking mechanism 051 disposed on a first side of the center of gravity O of the device and a first walking mechanism 053 disposed on a second side of the center of gravity O; the second walking mechanism 522 includes a second walking mechanism 052 disposed on a first side of the center of gravity O of the device and a second walking mechanism 054 disposed on a second side of the center of gravity O;

The rolling walking mechanism 57 includes a third walking mechanism connected to the frame 01, and the third walking mechanism is a crawler walking mechanism 07. When the frame 01 is in the first lying position, the lower surface of the third walking mechanism is lower than the surface of the second area of the frame 01. The third walking mechanism is used to support the frame 01 off the ground and enable the device to travel along the road surface. The third walking mechanism has a landing point in front of, behind, left and right of the center of gravity O of the device. The third walking mechanism is located between the first walking mechanism 511 and the second walking mechanism 522.

The device 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 both connected to the frame 01. The other end of the first lifting mechanism 211 is connected to the first walking mechanism 511. The first lifting mechanism 211 is used to make the first walking mechanism 511 rise and fall 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 is used to make the second walking mechanism 522 rise and fall relative to the frame 01.

The device also includes a third lifting mechanism, one end of which is connected to the frame 01, and the other end of which is connected to a third walking mechanism, and the third lifting mechanism is used to lift the third walking mechanism relative to the frame 01;

The top 115 of the device is connected to the frame 01 via a top lifting mechanism 1315, and the top 115 can be lifted and lowered relative to the frame 01; the top 115 is provided with rollers 1151; the top 115 is a top plate, and the rollers 1151 of the top 115 are provided on both sides of the top plate.

The leg root motion mechanism includes: a second linear motion mechanism 121L disposed at a first end of a first side of the frame 01, a second linear motion mechanism 121R disposed at a first end of a second side of the frame 01, a second linear motion mechanism 122L disposed at a second end of the first side of the frame 01, and a second linear motion mechanism 122R disposed at a 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 two ends of the base of the second linear motion mechanism in any of the above directions respectively point to the surface of the first area of the frame 01 and the surface of the second area of the frame 01, and the base of the second linear motion mechanism is connected to the frame 01;

The second linear motion mechanism in any of the above-mentioned directions can drive the base of the mechanical leg in any of the directions to move to the first area, so that the mechanical leg can perform designated operations or climb in the first area. The second linear motion mechanism can also drive the base of the mechanical leg to move to the second area to perform designated operations or walk.

When the frame 01 is in a lying position: the second linear motion mechanism 12 is connected to the frame 01 in a vertical direction. The center of gravity O of the device is located between the first walking mechanism and the second walking mechanism. The third walking mechanism is located between the first walking mechanism and the second walking mechanism.

Specifically, please refer to the device shown in Figure 1, Figure 3 or Figure 4. Each second linear motion mechanism 12 drives the base of the mechanical leg 02 connected to the output member of the mechanism to move to the upper part so that the mechanical leg can perform designated operations or climb on the upper part.

Specifically, please refer to the device shown in FIG. 5 , each second linear motion mechanism 12 drives the base of the mechanical leg 02 connected to the output member of the mechanism to move to the lower part, so that the mechanical leg can perform designated operations or walk at the lower part.

The above-mentioned embodiment 2 is a typical embodiment of the present application and has many features.

Please refer to Figures 1 to 5: Optional implementation scheme 1, such as the device described in Example 1 or Example 2, the device also includes a first front-to-back movement mechanism 181, the two ends of the first front-to-back movement mechanism 181 are respectively connected to the first lifting mechanism 211 and the frame 01, and are used to move the first walking mechanism forward and backward along the driving direction.

The first front-rear movement mechanism 181L on the first side and the first front-rear movement mechanism 181R on the second side are arranged with a spacing relative to the longitudinal axis.

The first front-rear motion mechanism 181L on the first side is connected to the first side of the frame 01 along the travel direction.

The first front-rear motion mechanism 181R on the second side is connected to the second side of the frame 01 along the travel direction.

The output member of the first front-to-back motion mechanism 181L on the first side can drive the first walking mechanism 051 at the first end (left front) of the first side to move forward and backward, and can also drive the second linear motion mechanism 121L and the mechanical leg 021L arranged on the side and the part to move forward and backward;

The output member of the first front-to-back motion mechanism 181R on the second side can drive the first walking mechanism 053 at the first end (right front) of the second side to move forward and backward, and can also drive the second linear motion mechanism 121R and the mechanical leg 021R arranged on the side and the part to move forward and backward;

Optionally, the device further includes a second front-rear motion mechanism 182, the two ends of which are respectively connected to the second walking mechanism and the frame 01, and are used to move the second walking mechanism forward and backward along the driving direction.

The second front-to-back movement mechanism 182L on the first side and the second front-to-back movement mechanism 182R on the second side are arranged with a spacing relative to the longitudinal axis.

The second front-rear motion mechanism 182L on the first side is connected to the first side of the frame 01 along the travel direction.

The second front-rear motion mechanism 182R on the second side is connected to the second side of the frame 01 along the travel direction.

The output member of the second front-to-back motion mechanism 182L on the first side can drive the second walking mechanism 052 at the second end (left rear) of the first side to move forward and backward, and can also drive the second linear motion mechanism 122L and the mechanical leg 022L arranged on the side and the part to move forward and backward;

The output member of the second front-to-back motion mechanism 182R on the second side can drive the second walking mechanism 054 at the second end (right rear) of the second side to move forward and backward, and can also drive the second linear motion mechanism 122R and the mechanical leg 022R arranged on the side and the part to move forward and backward.

Please refer to Figures 6, 7, 16, 17 and 18; Figures 6 and 7 are schematic diagrams of the same device; Figures 6 and 7 are both side views; Figures 16, 17 and 18 are schematic diagrams of the same device;

3. Example 3 based on Example 1: Based on the device shown in Example 1,

The device comprises 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 root motion mechanism includes a first linear motion mechanism 184L disposed on a first side of the frame 01 and a first linear motion mechanism 184R disposed on a 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 leg-arm fused mechanical leg on the first side; 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 leg-arm fused mechanical leg on the second side; 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 walking mechanism 57 includes a first walking mechanism 511 and a second walking mechanism 522 connected to the frame 01. When the frame 01 is in a first lying position, the first walking mechanism 511 is located before the center of gravity O of the movable device, and the second walking mechanism 522 is located after the center of gravity O of the movable device. The lower surface of the first walking mechanism 511 and the lower surface of the second walking mechanism 522 are both lower than the surface of the second area of the frame 01. The first walking mechanism 511 and the second walking mechanism 522 are used to support the frame 01 off the ground and enable the device to 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.

In the equipment shown in Figures 16, 17 and 18, the rolling walking mechanism 57 includes a third walking mechanism connected to the frame 01.

Herein, the basic structures of the top views of Figures 6, 7, 8, 9, 16, 17 and 18 are similar to those of Figure 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 four legs, the four legs are respectively arranged on the left front, right front, left rear and right rear of the center of gravity O of the device.

4. Please refer to Figures 8 and 9, Example 4 based on Example 1:

The movable device as described in Example 1 includes two mechanical legs 02, the number of legs 02L on the first side is one, and the number of legs 02R on the second side is also one; the leg root motion mechanism includes a first linear motion mechanism 184 connected to the bracket, 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 output member of the first linear motion mechanism 184 is connected to the bracket, the component on the first side of the bracket is connected to the base of the mechanical leg with the leg and arm fused on the first side, and the component on the second side of the bracket is connected to the base of the mechanical leg with the leg and arm fused on the second side.

Optionally, 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 move between the first end of the frame 01 and the second end of the frame 01 .

Optionally, 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 move between the first end of the frame 01 and the middle of the frame 01 or between the middle of the frame 01 and the second end of the frame 01.

The same type of device is shown in Figures 6 and 7. The same type of device is shown in Figures 8 and 9.

Specifically, please refer to the equipment shown in Figures 6 and 8. The output member 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 unique driving mode of "the mechanical leg pulling the vehicle in front", and the mechanical leg supporting the ground helps the first walking wheel 511 to leave the ground and overcome obstacles, thereby solving the pain point that the wheeled mechanism has high efficiency and large load capacity but poor obstacle-overcoming ability.

Specifically, please refer to the equipment shown in Figures 7 and 9. The output member 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 unique driving mode of "the mechanical leg is driving the vehicle backward", and the mechanical leg supporting the ground helps the second walking wheel 522 to leave the ground and overcome obstacles, solving the pain point that the wheeled mechanism has high efficiency and large load capacity but poor obstacle-overcoming ability.

As shown in FIG16 , the frame 01 of the equipment is in the first standing position. Driven by the first linear motion mechanism, the base of the mechanical leg reaches the first end of the frame 01, that is, the top of the frame (equivalent to the top of the head), which is very conducive to high-position operations and climbing.

In the device shown in FIG17 , driven by the first linear motion mechanism, the base of the mechanical leg reaches the second end of the frame 01; at this time, the frame 01 of the device is in the first standing position; that is, the base of the mechanical leg reaches the bottom of the frame (equivalent to the tail position), forming a standard human-type walking mode with the body upright and both legs on the ground, which is very conducive to low-position operations.

In the device shown in FIG18 , the frame 01 of the device is in a supine position, that is, the second supine position. Driven by the first linear motion mechanism, the base of the mechanical leg reaches the middle of the frame 01. Because the loads at both ends of the device are relatively balanced, a unique "porter-style" walking mode is formed at this time. When a porter carries goods, he stands in the middle and the goods are on both sides (good balance, so he can carry heavier loads). This is very conducive to working in the central area and improving walking stability.

Optionally, in Embodiment 4, the first linear motion mechanism 184 being disposed below the frame 01 is replaced by: the first linear motion mechanism 184 being disposed on the first side or the second side of the frame 01 .

When the frame 01 is in a lying position: the base of the first linear motion mechanism is connected to the frame 01 in the front-to-back direction, and moves between the first end of the frame 01 and the second end of the frame 01, i.e., moves forward and backward. The output member of the first linear motion mechanism is connected to the base of the mechanical leg 02. When the frame 01 is in a standing position, it moves between the first end of the frame 01 and the second end of the frame 01, i.e., moves up and down, i.e., lifts and lowers.

5. Example 5 based on Example 1: The movable device as described in Example 1, the leg root movement mechanism includes a first leg root swing mechanism 19L arranged on the first side of the frame 01, the base of the first leg root swing mechanism 19L on the first side is connected to the frame 01, and the rotation axis of the first leg root swing mechanism 19L on the first side points to the left and right, and the output member of the first leg root swing mechanism 19L on the first side is connected to the base of the leg-arm fused mechanical leg 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 to swing between the first end of the first side of the frame 01, the middle of the first side of the frame 01 and the second end of the first side of the frame 01;

The leg root motion mechanism includes a first leg root swing mechanism 19R disposed on the second side of the frame 01, the base of the first leg root swing mechanism 19R on the second side is connected to the frame 01, and the rotation axis of the first leg root swing mechanism 19R on the second side points to the left and right, and the output member of the first leg root swing mechanism 19R on the second side is connected to the base of the leg-arm fused mechanical leg on the second side;

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 to swing between the first end of the second side of the frame 01, the middle of the second side of the frame 01 and the second end of the second side of the frame 01.

Optionally, in Implementation Option 6, the purpose of the first leg root swing mechanism 19L on the first side is replaced by: being used to drive the base of the mechanical leg on the first side to swing between any two positions of the first end of the first side of the frame 01, the middle of the first side of the frame 01, and the second end of the first side of the frame 01.

Optionally, in Implementation Option 6, the purpose of the first leg root swing mechanism 19R on the second side is replaced by: being used to drive the base of the mechanical leg on the second side to swing between any two positions of the first end of the second side of the frame 01, the middle of the second side of the frame 01, and the second end of the second side of the frame 01.

Optionally, the rotation mechanism of the first leg root swing mechanism can adopt a gear set mechanism or a worm gear mechanism. In this embodiment 1, the first leg root swing mechanism adopts a worm gear mechanism which can self-lock.

Optionally, locking mechanisms are provided at the first ends of both sides of the frame 01, the middle of the frame 01 and the second end of the frame 01. When the movable end of the first leg root swinging mechanism swings to the position of the locking mechanism, the locking mechanism can lock the movable end so that the movable end is firmly fixed at the position of the locking mechanism.

Optionally, 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 member is connected to the base of the mechanical leg 02 .

A specific embodiment: the base of the first leg root swing mechanism 19L on the first side is installed at the outer edge of the middle part of the first side of the frame; the base of the first leg root swing mechanism 19R on the second side is installed at the outer edge of the middle part of the first side of the frame; and the rotation axis of the base is directed to the left and right, so that the swing arm of the first leg root swing mechanism can swing forward and backward up and down relative to the frame 01. Preferably, 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. Optionally, the closeness can be equal. For example, as shown in Figure 6 or Figure 7, the first linear motion mechanism 184 on the first side is cancelled, and the base of the first leg root swing mechanism 19L on the first side is installed at the position of the outer edge of the frame on the first side, that is, the center of gravity O. For example, as shown in Figure 18, the first linear motion mechanism 184 on the first side is cancelled, and the base point of the first leg root swing mechanism 19L on the first side is set at the intersection of leg 02L and leg 02R in the up and down front and back positions. The base of the first leg root swing mechanism 19L is mounted on the edge of the first side of the frame at the intersection.

When the swing arm of the first leg root swing mechanism swings forward and is parallel to the frame 01, the end of the swing arm is just located at the edge of the first end (i.e., the front end) of the frame 01, which is very suitable for front-end operation and front-end walking; when the swing arm of the first leg root swing mechanism swings backward and is parallel to the frame 01, the end of the swing arm is just located at the edge of the second end (i.e., the rear section) of the frame 01, which is very suitable for rear-end operation and rear-end walking; when the swing arm of the first leg root swing mechanism swings upward and is vertical, the end of the swing arm is just located at the middle and upper part of the frame 01, which is very conducive to high-position operation and climbing.

6. Further, optional implementation scheme 2: the device as described in Example 1, Example 2 or Example 3,

The base of the mechanical leg 02 on the first side and the base of the mechanical leg 02 on the second side at the first end of the rack 01 are connected via a second bracket, and when the mechanical leg 02 on the first side and the mechanical leg 02 on the second side connected via the second bracket are disconnected from the mechanical connection with the rack 01, the mechanical leg 02 on the first side and the mechanical leg 02 on the second side connected via the second bracket can walk along the road independently of the device. Disconnecting the mechanical connection means detaching or separating.

Optionally, the first end of the rack 01 may 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 connected by the second bracket are paired mechanical legs 02. The number of paired 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 paired mechanical legs at the first end of the rack 01 of the device and paired mechanical legs at the second end of the rack 01 of the device. In the two pairs of paired mechanical legs, 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 leg battery 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, and the walking control device is used to control the pair of mechanical legs to walk along the road. And the walking control device has a second communication module, and the control device of the device 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.

Further, please refer to Figures 1 to 7, optional implementation scheme 3: the device described in Example 1, Example 2 or Example 3,

The first walking mechanism 511 is a first walking wheel and the second walking mechanism 522 is a second walking wheel. When the wheeled walking mechanism composed of the first walking wheel and the second walking wheel is disconnected from the frame 01, the wheeled walking mechanism can travel along the road independently of the device. The wheeled walking mechanism 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 walking mechanism, and the second control device is used to control the rolling walking mechanism to walk along the road. And the second control device has a third communication module, and the control device of the device has a first communication module. The third communication module and the first communication module can communicate with each other. The control device of the device can control the second control device through the communication module, that is, the control device of the device can control the wheeled walking mechanism through the communication module.

7. Further, optional embodiment 4: the device as described in embodiment 1, embodiment 2 or embodiment 3,

When the posture of the frame 01 is the first lying posture, the edge of the first end of the first walking 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;

When the posture of the frame 01 is the first lying posture, the edge of the second end of the second walking mechanism 522 is located behind the edge of the second end of the surface of the frame 01 close to the second area.

Optionally, the movable device as described in Embodiment 4 includes running wheels connected to the first area of the first end of the frame 01, and when the posture of the frame 01 is the first lying posture: the upper surface of the running wheels in the first area of the first 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 running wheels in the first area of the first end is located in front of the edge of the first end of the frame 01 close to the surface of the first area.

Please refer to Figure 16. Optionally, the movable equipment as described in Implementation Option 4 includes a walking wheel 502 connected to the first area of the second end of the frame 01. When the posture of the frame 01 is a first lying posture: the upper surface of the walking wheel 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 walking wheel 502 in the first area of the second end is located behind the edge of the second end of the frame 01 close to the surface of the first area.

As shown in FIG16 , in the lying position: the edge of the second end of the second walking mechanism 522 is located behind the edge of the second end of the surface of the frame 01 close to the second area, and the edge of the second end of the walking wheel 502 of the first area of the second end is located behind the edge of the second end of the surface of the frame 01 close to the first area;

When the frame 01 of the equipment is in the first standing position (that is, the first end is facing upward and the second end is facing downward): the second walking mechanism 522 can support the edge of the second end of the frame 01 close to the surface of the second area off the ground, and the walking wheel 502 in the first area of the second end can support the edge of the second end of the frame 01 close to the surface of the first area off the ground, so that the equipment can be flexibly driven and the working position can be adjusted even when it is in the first standing position, which is very beneficial to improving working efficiency and working performance.

Although the walking wheel 501 of the first area of the first end is not drawn in the accompanying drawings, the same logic is used to set the first walking mechanism 511 and the walking wheel 501 of the first area of the first end with reference to Implementation Example 3 and Implementation Example 4. When the frame 01 of the equipment is in the second standing position (that is, the first end is facing downward and the second end is facing upward): the first walking mechanism 511 can support the edge of the first end of the frame 01 close to the surface of the second area off the ground, and the walking wheel 501 of the first area of the first end can support the edge of the first end of the frame 01 close to the surface of the first area off the ground, so that the equipment can be flexibly driven and the working position can be adjusted even when it is in the second standing position, which is very beneficial to improving working efficiency and working performance.

Optionally, the first walking mechanism 511 and the second walking mechanism 522 are both connected to a driver (powered wheels), and the walking wheel 501 in the first area of the first end and the walking wheel 502 in the first area of the second end have no driver (but can slide). In this case, the comprehensive cost performance is the best.

8. Further, optional embodiment 5: In the device described in embodiment 1, embodiment 2 or embodiment 3, the first running wheel and the second running wheel are wheel hub motors. Wheel hub motors refer to a motor for driving the running wheel to rotate and a brake for braking the running wheel contained in the housing of the running wheel. Wheel hub motors can make the running wheel and the driver small in size, light in weight and simplified in structure.

Further, referring to FIG. 1 to FIG. 5 , optional implementation scheme 6: the movable device as described in Example 1 and Example 2,

When the crawler-type walking mechanism 07 is disconnected from the frame 01, the crawler-type walking mechanism 07 can travel along the road independently of the device. The crawler-type walking mechanism 07 has a third battery and a third control device that can be independent of the device. The third battery is used to provide power for the rolling walking mechanism, and the third control device is used to control the crawler-type walking mechanism 07 to walk along the road. And the third control device has a fourth communication module, and 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 device can control the third control device through the communication module, that is, the control device of the device can control the crawler-type walking mechanism 07 through the communication module. Linear motion mechanisms or linear moving mechanisms are both linear drive mechanisms.

9. Optionally, in the device described in Example 1, Example 2 or Example 3, the first walking mechanism 511 is a first distributed crawler mechanism. Optionally, the second walking mechanism 522 is a second distributed crawler mechanism.

Optionally, as in the equipment shown in Example 1, Example 2, and Example 3, the rolling walking mechanism 57 only includes the first walking mechanism 511 and the second walking mechanism 522 connected to the frame 01. Optionally, as in the equipment shown in Example 1, Example 2, and Example 3, there is no rolling walking mechanism 57, and the equipment only includes the leg root movement mechanism. Optionally, as in the equipment shown in Example 1, Example 2, and Example 3, the rolling walking mechanism 57 only includes the third walking mechanism connected to the frame 01, and the third walking mechanism is a crawler walking mechanism 07.

Optionally, 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.

In Embodiment 1 and Embodiment 2, the linear motion mechanism is an electric push rod. Optionally, the linear motion mechanism is a telescopic hydraulic cylinder or a telescopic air cylinder.

In Embodiment 1 and Embodiment 2, the second linear motion mechanism 12 is a guide rail type motion mechanism.

Optionally, the first front-to-back motion mechanism and the second front-to-back motion mechanism are electric push rods. Optionally, the front-to-back motion mechanism is a telescopic hydraulic cylinder or a telescopic air cylinder.

In the first embodiment and the third embodiment, 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.

10. Please refer to Figures 19 and 15: The crawler walking mechanism 07 includes a base, a first crawler wheel 0721 connected to the base, a second crawler wheel 0722, and a crawler 070, wherein the crawler 070 is sleeved with the first crawler wheel 0721 and the second crawler wheel 0722. The base is a bracket. With the center of gravity O of the device as a reference, the crawler walking mechanism 07 includes a crawler walking mechanism on the first side and a crawler walking mechanism on the second side. The area formed by connecting the four outer corners of the crawler 0701 contained in the crawler walking mechanism on the first side and the crawler 0702 contained in the crawler walking mechanism on the second side in the top view direction includes the center of gravity O of the device. The contact points of the crawler walking mechanism are the four corners of the crawler 0701 on the first side and the crawler 0702 on the second side. The crawler 0701 on the first side is sleeved with the first crawler wheel 0721 on the first side and the second crawler wheel 0722 on the first side. The crawler track 0702 on the second side is sleeved with the first crawler wheel 0721 on the second side and the second crawler wheel 0722 on the second side.

If the crawler-type walking mechanism is arranged at the front and rear parts of the device and there is no other rolling walking mechanism in the device, the lifting mechanism corresponding to the crawler-type walking 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 walking 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 walking 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 walking 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 walking mechanism at the second end of the second side.

Other connection methods may also be used: for example, the base of the crawler-type walking 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 walking mechanism on the second side is only connected to the output member of the second lifting mechanism 222R on the right.

In Example 1 and Example 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 lifting mechanism 221L at the second end and the first side, and the third lifting mechanism 221R at the second end and the second side, which can be respectively connected to the bases located at the left front, left rear, right front and right rear corners of the rolling walking mechanism.

In the present embodiment 1 and embodiment 2, the equipment includes a first walking mechanism 511 and a second walking mechanism 522. The crawler walking mechanism 07m is arranged in the middle of the equipment, and the base of the crawler walking mechanism 07 is connected to the output members of four third lifting mechanisms. One end of each of the third lifting mechanisms 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 walking mechanism 07m located at the left front, left rear, right front and right rear corners; the third lifting mechanism is used to lift the crawler walking mechanism 07 relative to the frame 01.

The connection method between the third lifting mechanism and the crawler-type walking mechanism 07 shown in the present embodiment 1 and embodiment 2 is as follows:

The output member of the third lifting mechanism 212L at the first end and the first side is connected to the base of the crawler-type walking mechanism at 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 walking mechanism at the second side of the first end;

The output member of the third lifting mechanism 221L at the second end and the first side is connected to the base of the crawler-type walking mechanism at the first side of the second end;

The output member of the third lifting mechanism 221R at the second end and the second side is connected to the base of the crawler-type walking mechanism at the second side of the second end.

The connection scheme of any rolling travel mechanism and rolling element lifting mechanism can be deduced by analogy to obtain an accurate connection scheme.

11. 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 walking mechanism 57 is the first walking mechanism 511 and/or the second walking mechanism 522 and/or the third walking mechanism. The rolling walking mechanism refers to a wheeled walking mechanism and/or a crawler walking mechanism. The rolling walking mechanism is arranged in the middle and lower part of the equipment. The rolling walking mechanism can support the frame 01 and can drive the movable equipment to travel along the road surface. Supporting the frame 01 refers in particular to supporting the frame 01 off the ground. The rolling walking mechanism refers to rolling the rolling element along the road surface to make the movable equipment travel along the road surface. The rolling element is a walking wheel and/or a crawler track. The lower surface of the rolling walking mechanism when supporting the frame 01 off the ground is located below the frame 01. The walking wheel is a wheel mechanism. In this article, any of the connecting wheels refers to the shaft of the connecting wheel.

A plurality of first walking mechanisms 511 can be connected to a first lifting mechanism 211, or each of the plurality of first walking wheels 511 is correspondingly connected to a first lifting mechanism 211; each of the plurality of second walking mechanisms 522 can be connected to a second lifting mechanism 222, or a plurality of second walking wheels 522 is correspondingly connected to a second lifting mechanism 222. Corresponding connection refers to respective connection or respective corresponding connection. Any lifting mechanism connected to any walking wheel refers to the shaft of the lifting mechanism connected to the walking wheel. The walking wheel is rotatably connected to the output member of the lifting mechanism. Any scheme of connecting the rolling walking mechanism to the lifting mechanism is: the walking mechanism can walk normally after connection. Any walking wheel is rotatably connected to the lifting mechanism.

In the present embodiments 1 and 2: the axis of the running wheel 051 at the first end (left front) of the first side is connected to the first lifting mechanism 211L at that position, the axis of the running wheel 053 at the first end (right front) of the second side is connected to the first lifting mechanism 211R on the right, the axis of the running wheel 052 at the second end (left rear) of the first side is connected to the second lifting mechanism 222L on the left, and the axis of the running wheel 054 at the second end (right rear) of the second side is connected to the second lifting mechanism 222R on the right.

More specifically, for example, the first lifting mechanism 211 is connected to the frame 01 in the vertical direction, and the first walking mechanism is located below the frame 01 and connected to the first lifting mechanism 211, so that the output member of the first lifting mechanism 211 is extended or lifted in the vertical direction 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 walking mechanism close to the frame 01 by a predetermined distance, so that the first walking mechanism is off the ground, so that the first walking mechanism can pass over the obstacle from above the obstacle. That is, the height of the lower surface of the first walking mechanism is not less than the height of the upper surface of the obstacle; or the first lifting mechanism 211 can make the first walking mechanism away from the frame 01 by a predetermined distance, so that the first walking mechanism abuts against the ground. The connection of other lifting mechanisms and corresponding walking mechanisms in this article can be carried out in sequence.

To raise the traveling mechanism to overcome an obstacle means to raise 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 the obstacle. To raise the traveling mechanism to overcome an obstacle means to place the traveling mechanism above the obstacle or to pass over the obstacle. Overcoming the obstacle is the goal. Raising the traveling mechanism is the means to overcome the obstacle. Raising the traveling mechanism does not mean to raise all the traveling mechanisms in the equipment, but to raise or lower (one or two) traveling mechanisms close to the obstacle.

The traveling mechanism included in the rolling traveling mechanism group that can be raised and lowered in sections is called a lifting traveling mechanism. The first traveling mechanism, the second traveling mechanism and the third traveling mechanism are all lifting traveling mechanisms. Similarly, in this article, although a variety of optional schemes are included, all components are configured not to interfere with each other. The lower surface of any traveling mechanism can be lower than the lower surface of the frame 01.

12. Please refer to the equipment shown in Figures 1 to 9, 16, 17 and 18, and in particular, the mechanical legs shown in Figures 10 and 11:

As the movable device described in Example 1, Example 2, and Example 3, any one of the mechanical legs 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 a calf 104 connected in sequence, 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 base of the first joint included in the first joint part 101, and the end of the mechanical leg is the end of the calf 104.

The first joint portion 101 includes a first swing joint 1012 that enables the thigh 102 to swing forward and backward relative to the base of the mechanical leg.

Optionally, the first joint portion 101 further includes a first rotating joint 1011 for rotating the leg, and the first rotating joint 1011 is connected to the first swinging joint 1012 .

The first rotating joint 1011 and the first swinging joint 1012 both belong to the first joint part 101. Since the second joint part 103 only contains the second swinging joint, the second joint part 103 is the second swinging joint. The connection of the first joint part 101 to the frame 01 means that the base of the first rotating joint 1011 is connected to the frame 01. The connection surface between the mechanical leg 02 and the frame 01 can be F of the first rotating joint 1011, and the connection surface of the leg 021 at the first end (for example, the first end (front)) is connected to the front surface of the frame 01. The connection surface of the leg 022 at the second end (for example, the rear) is connected to the rear surface of the frame 01. The base of the mechanical leg 02 is the base of the first rotating joint 1011.

The axis A1 of the output of the first rotating joint 1011 is the rotation axis of the joint. The first swing joint 1012 is used to adjust the 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 axis 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 angle ag3 of the calf 104 relative to the thigh 102. The axis A4 of the calf 104 is perpendicular to the output axis A3 of the second swing joint 103. The arrangement of this series of joints enables both the thigh 102 and the calf 104 to swing back and forth.

Please refer to FIG. 5 , FIG. 6 , FIG. 10 and FIG. 11 : Further, the end of the mechanical leg is connected to the end effector via a third joint portion 105 , and the third joint portion 105 is used to adjust the posture of the end effector.

Further, the third joint part 105 includes a joint 1052 for swinging the end effector relative to the calf 104. When the mechanical leg is used for walking, the joint 1052 can swing the end effector upward to prevent the end effector from touching the ground. The third joint part includes three joints connected in sequence for adjusting the posture of the end effector in three-dimensional space. When the mechanical leg is constructed as follows: when the mechanical leg is used for walking, the lower surface of the part of the mechanical leg used for supporting the ground is lower than the lower surface of the output part of the joint 1052, and the joint 1052 can swing the end effector upward. The part used for supporting the ground is a foot. Further, the foot is connected to a sole 106A.

Furthermore, the three joints are a first end rotation joint 1051, a joint 1052 for swinging the end effector relative to the calf 104, and a second end rotation joint 1053, which are connected in sequence. The first end rotation joint 1051 is used to rotate the end effector around the axis of the output shaft of the joint 1051, and the second end rotation joint 1053 is used to rotate the end effector around the axis A6 of the output shaft of the joint 1053. The output shaft of the first end rotation joint 1051 is parallel to (or coincides with) the axis A4 of the calf 104. The output shaft of the joint 1052 is perpendicular to the output shaft of the joint 1051. The joint 1052 is used to adjust the angle ag5 of the end tool relative to the calf 104. The output shaft of the joint 1053 is perpendicular to the output shaft of the joint 1052.

In any one of the mechanical legs, the number of the first joint parts 101 and the second joint parts 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 contained in the first joint part 101 may be multiple. Preferably, the first joint included in the first joint part 101 is the first rotation joint 1011. Optionally, 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 device in terms of connection relationship. Any mechanical leg is connected to the rack 01 of the device through the first joint part 101 of the mechanical leg. The first joint must be the joint contained in the first joint part 101 of the mechanical leg. The base of the first joint is the base of the mechanical leg.

Please refer to Figures 1 to 5: Further, in the device as described in Example 1, when the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are used for walking, the output axis of the first joint included in any one of the mechanical leg 02 on the first side and the mechanical leg 02 on the second side points forward and backward.

Please refer to the devices shown in FIG. 6 and FIG. 7 . When the mechanical leg 02 walks, the output axis of the first joint included in the mechanical leg points to the left or right.

Optionally, the output shaft of the first joint included in the robotic leg points downward and the root of the thigh 102 included in the robotic leg 02 is located below the base of the first joint.

Optionally, the driver of each joint in the mechanical leg 02 is a rotary driver. The rotary driver enables the swing angle of the output member of each joint to be greater than 180 degrees. Compared with the linear driver, the operation flexibility and/or operation range are improved. In this embodiment 1, the rotary driver is a rotary motor.

Optionally, the drivers of the first swing joint 1012 and the second swing joint 103 are linear drivers. Linear drivers can achieve high-power operation at low cost.

Please refer to FIG. 11 . Optionally, the driver of the second swing joint 103 is a linear driver 103A. For example, the linear driver 103A is an electric push rod. Optionally, the linear driver 103A is a telescopic hydraulic cylinder.

In the mechanical leg: the first joint is the hip joint; the first link is the thigh; the second joint is the knee joint; the second link is the calf; the third joint is the ankle joint; the end effector is the foot. The end effector is the end tool. The thigh is the thigh link, which is the first link. The calf is the calf link, which is the second link.

The leg-arm fusion mechanical leg is a limb mechanism with leg and arm fusion. In the leg-arm fusion mechanical leg: 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 upper arm; the second joint also has the function of the elbow joint; the calf also has the function of the forearm; some or all of the joints in the third joint also have the function of the wrist joint; the end effector also includes a picking device and/or a working tool. When used for designated operations, the leg-arm fusion mechanical leg is used as an arm. In the mechanical arm: the first joint is the shoulder joint; the first connecting rod is the upper arm; the second joint is the elbow joint; the second connecting rod in the mechanical arm is the forearm; the third joint is the wrist joint.

As shown in Figures 1 to 5, one or two rollers 106 can be set at the end of each mechanical leg 02. The roller 106 is connected to the end of the shank 104 of the mechanical leg 02, and more specifically, the roller 106 is connected to the output member of the joint 1051 for the first end rotation in the third joint part of the end of the shank 104 of the mechanical leg 02. The joint 1051 for the first end rotation 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 a driver. The driver is used to drive the rollers to make the device travel along the road. In order to save energy and optimize the structure or mechanical layout, the roller diameter or weight is smaller than the walking wheel in the rolling walking mechanism.

The solution of the roller 106 can also be seen in FIG. 11 .

When not turning: the walking direction of the multiple mechanical legs 02 is consistent with the driving direction of the rolling walking mechanism 57.

When the plurality of mechanical legs 02 are off the ground, the rolling travel mechanism can enable the device to travel along the road surface. When the mechanical legs 02 are on the ground, the lower surface of the mechanical legs 02 can be lower than the lower surface of the rolling travel mechanism 57.

As shown in FIG. 2 , the device has six legs, which, in addition to the above four legs, also include a leg 023L in the middle of the first side and a leg 023R in the middle of the second side.

In this article, walking refers to alternating walking. Alternating walking refers to walking in a manner in which multiple mechanical legs 02 alternately support the ground and leave the ground. Each of the multiple mechanical legs 02 will alternately support the ground and leave the ground. Alternating support and leave the ground refers to supporting the ground in a first time period and leaving the ground in a second time period different from the first time period. And the support and leave the ground will be repeated in a cycle. Specifically, the control of each mechanical leg supporting the ground and leaving the ground belongs to the category of gait control. Gait control can be carried out with reference to the existing technology in the background technology, and will not be repeated in this article. In this article, walking refers to multi-leg alternating walking. Walking is different from jumping and moving. For example, snakes swimming on the ground, machines sliding and moving along the ground, and people rolling on the ground are not walking. Walking specifically refers to multi-leg alternating walking of people or quadrupeds. When walking, each leg will inevitably alternately support the ground and swing off the ground. Multi-leg alternating walking refers to at least two legs crossing and replacing the support walking. Alternation means alternating support and leaving the ground. Multi-leg alternating walking means multi-leg alternating support walking. In this article, any of the legs is a mechanical leg. The underwater propulsion device is a propeller or a mechanical leg capable of performing a paddling action.

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 leg is the thigh 102 and the calf 104. The leg rotation refers to the rotation of the thigh 102 and the calf 104. The leg rotation especially refers to the rotation of the thigh 102.

Multi-leg alternating ground-supporting walking is multi-leg alternating walking. Multi-leg alternating walking is equivalent to multi-leg alternating ground-supporting walking. 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 shank 104 included in the mechanical leg.

13. The end of the leg-arm fused mechanical leg is provided with a connection part for connecting a working tool. The connection is installation and/or grasping. If the connection is installation, the connection part is the installation part.

Optionally, as in the device described in Example 1, the connection part for connecting the working tool 17 is a gripping device 06. The connection is gripping.

The end of the leg-arm fused mechanical leg has a connection portion for connecting to a grasping device 06 or a connection portion for connecting to a working tool. The grasping device 06 is constructed to have the ability to grasp a working tool 17 to perform designated work.

Please refer to Figures 10 and 11: Further, the grasping device 06 comprises: a linear moving mechanism 06_2 for picking up objects, one end of the linear moving mechanism 06_2 is connected to the end of the mechanical leg fused with the leg and arm, and the other end is connected to a hook 06_3 for hooking an object, and the linear moving mechanism 06_2 is used to drive the hook 06_3 to move linearly to grasp or release an object. The object is the working tool 17 or the working object or the working material.

Optionally, the end of the robotic leg is an output member of a joint 1053 for rotating the second end of the robotic leg.

The linear moving mechanism 06_2 drives the hook 06_3 to move outward along the movement axis of the linear moving mechanism to release the external object. The linear moving mechanism 06_2 drives the hook 06_3 to move inward along the movement axis of the linear moving mechanism to grab the external object. The outward direction can refer to the direction indicated by the OUT icon in the accompanying drawings. The inward direction can refer to the direction indicated by the IN icon in the accompanying drawings. The object-grabbing device 06 can be used in any solution in this article.

Optionally, 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 cylinder. In this embodiment 1, 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 match the working tool 17, for example, the arc radius of the hook top is set to 3 cm.

14. Optionally, for the movable device as described in Example 1, the designated operation includes any one of carrying a person by holding the person from below, carrying a person by driving the working tool 17 connected to the end of the mechanical leg 02 to grab a flexible object connected to the person, cutting an object, digging or shoveling an object, picking an object, cultivating, painting an object, taking bricks to build a wall, welding an object, rotating a fastener to install or remove an object, and spraying an object. The designated operation is a specific operation. Designated means specific. Designated is equivalent to specific.

Optionally, the working tool 17 for cutting the object is a knife, a saw or a cutting machine.

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

The multiple working tools 17 may be connected to the end of the same mechanical leg or to the ends of multiple mechanical legs respectively.

15. Optionally, for any of the above-mentioned movable devices, when the movable device is in operation, the posture of the frame 01 can be either the first lying posture or the standing posture. The optional standing posture is the first standing posture or the second standing posture. In the accompanying drawings, the devices shown in Figures 1 to 9 are all in the first lying posture. The devices shown in Figures 16 and 17 are in the first standing posture. The device shown in Figure 18 is in the second lying posture, i.e., lying on its back.

Optionally, in any of the above-mentioned movable devices, the end of the mechanical leg 02 is provided with a sole 106A for supporting the ground.

Optionally, in any of the above-mentioned movable devices, the end of the mechanical leg 02 is provided with a roller for rolling along the road surface.

Optionally, in any of the movable devices described above, 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 a power source provided on the frame 01, and one end of the power supply component is used to connect to the working tool.

For example, the power supply component may be a power interface and/or a wire. The power interface is pluggable to power the working 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.

Optionally, the top 115 of the movable device described in any of the above items is connected to the frame 01 through a fifth lifting mechanism 1315 so that the top 115 can be lifted and lowered relative to the frame 01 and/or the top 115 is provided with rollers.

Optionally, the movable device described in any one of the above items is configured to be able to carry an adult. The frame of the device or its related components (such as the seat 117) are structurally designed to withstand a standard preset force (such as 100KG).

Optionally, the movable equipment described in any of the above items also includes a manned cabin 11.

Optionally, the movable device described in any of the above items is a vehicle.

Optionally, the movable device described in any of the above items further comprises 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 the water; and/or the buoyancy generated by the movable device in the water is not less than the gravity of the movable device or the movable device is a ship. The underwater propulsion device 09 is a propeller. Or optionally, the underwater propulsion device 09 is a water jet propulsion device.

16. A control method 1 for a movable device as described in Embodiment 1 or any optional solution based on Embodiment 1 comprises the steps of:

Get the type information of the job:

If the type of operation is to carry a person by holding the person from below, then step S1 is executed.

If the type of operation is to move a person by grabbing a flexible object connected to the person, then step S2 is executed.

If the type of operation is cutting objects, then execute step S3.

If the type of operation is digging or shoveling, then execute step S4.

If the type of operation is picking items, then execute step S5.

If the type of operation is farming, then execute step S6.

If the type of operation is painting an object, then execute step S7.

If the operation type is to take bricks to build a wall, then execute step S8.

If the type of work is welding objects, then execute step S8.

If the type of operation is rotating a fastener to install or remove an object, then step S9 is executed.

If the type of operation is to spray an object, then step S10 is executed.

If the type of operation is to climb along an external object by the leg-arm fused mechanical leg, step S11 is executed.

If the type of operation is walking, execute step S12;

If the type of operation is to travel by legs assisting the crawler-type walking mechanism 07, then step S13 is executed;

S1: firstly place the movable part of the mechanical leg with integrated legs and arms under the person to be transported to hold the person and then lift and/or translate the person, the movable part refers to the thigh 102 and/or shank 104 of the mechanical leg with integrated legs and arms and/or the joint at the end of the shank 104 and/or the tool connected to the end of the mechanical leg with integrated legs and arms;

S2: Control the leg-arm fused mechanical leg to drive the end effector connected to the end of the mechanical leg to carry the person by grabbing the flexible object connected to the person, and the end effector is the grabbing device 06;

S3: Control the leg-arm fused mechanical leg to drive a working tool connected to the end of the mechanical leg to cut an object, wherein the working tool is a knife, a saw or a cutting machine;

S4: Control the mechanical leg with the leg and arm fused therein to drive the working tool connected to the end of the mechanical leg to dig or shovel, wherein the working tool is a shovel;

S5: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg to pick objects, the picked objects are vegetables, fruits, cotton, plants or weeds, the plants are any one or any combination of vegetable plants, tree plants, rice seedlings, and Chinese medicinal plants, and the working tool is a picker;

S6: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg to cultivate, wherein the cultivating refers to hoeing or transplanting seedlings, wherein the working tool for hoeing is a hoe, and the working tool for transplanting seedlings is a seedling transplanter;

S7: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg to apply the working material carried by the working tool to the working object, where the working tool is a painting tool, the working material is paint or pigment or powder or paste, and the working object refers to the wall or ground or equipment surface to be painted;

S8: Control the leg-arm fused mechanical leg to drive a working tool connected to the end of the mechanical leg to take bricks and build a wall, wherein the working tool is a grabbing component;

S9: controlling the leg-arm fused mechanical leg to drive a working tool connected to the end of the mechanical leg to weld an object, wherein the working tool is a welding tool;

S9: Control the mechanical leg with the leg and arm fused therein to drive the working tool connected to the end of the mechanical leg to rotate the fastener to install or remove the object, wherein the working tool is a grasping component or a wrench or a screwdriver for sleeve-engaging the fastener;

S10: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg to spray an object, the object being medicine, paint, powder, slurry or fire extinguishing material, and the working tool being a sprayer;

S11: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the leg-arm fused mechanical leg to grab an external object higher than the frame 01 of the equipment so that the equipment climbs along the external object.

S12: Controlling the leg-arm fused mechanical leg to make the movable device walk along the road surface;

S13: When the movable device is traveling through the crawler-type walking mechanism 07 and is about to enter the down-sloping section from the flat road, the mechanical leg 02 located at the second end of the frame 01 is controlled to make the mechanical leg 02 touch the ground on the flat road, so as to raise the rear part of the crawler-type walking mechanism 07; And/or, when the movable device is traveling through the crawler-type walking mechanism 07 and is about to enter the flat road from the up-sloping section and the crawler 07 in the crawler-type walking mechanism is still in a backward tilting state, the mechanical leg 02 located at the second end of the frame 01 is controlled to make the mechanical leg 02 touch the ground on the up-sloping section, so as to reduce the inclination angle of the crawler-type walking mechanism 07.

A designated job is a specific job. Designated is specific. Designated is equivalent to specific.

Optionally, the control method 1 includes step Z0 before performing the specified operation: obtaining the position information of the operation object or obtaining the orientation information of the target space.

Optionally, the control method 1 includes step Z10 before performing the designated operation: controlling the limb mechanism to drive the working tool connected to the end of the limb mechanism so that the working tool moves from the current posture of the working tool to the working posture.

Optionally, the control method 1 includes step Z20 before performing the designated operation: controlling the movement of a limb mechanism and/or controlling the action of a working tool connected to the end of the limb mechanism to load or grab working materials.

Controlling the leg-arm fusion mechanical leg means controlling the movement of the leg-arm fusion mechanical leg. The working tool connected to the end means the working tool connected to the end. Obtaining the type information of the operation, for example, the control device receives a manual instruction through a communication module or a human-machine interface, and the instruction includes the type information of the operation, and the start and stop instructions of the operation.

The leg-arm fusion mechanical leg is constructed to have the capabilities and properties for designated operations and for walking. The internal structural characteristics of the leg-arm fusion mechanical leg meet the two requirements, and the leg-arm fusion mechanical leg is not an ordinary mechanical leg. When used for walking, the leg-arm fusion mechanical leg has the characteristics and capabilities of a mechanical leg. And the leg-arm fusion mechanical leg is constructed to be able to realize the functions of an arm. Realizing the functions of an arm is also called using it as an arm. When used for designated operations, the leg-arm fusion mechanical leg is used as an arm, that is, it has the functions of an arm. Configuration is also called construction. Configuration is also called construction. Configuration is equivalent to construction. The same hardware can realize different functions, which has great benefits in cost savings and performance improvement.

The leg-arm fused robotic leg is constructed to be able to bear the force generated by the leg-arm fused robotic leg in performing designated operations.

When the movable device performs a designated operation, the control device controls the movement of the leg-arm fusion mechanical leg by controlling the arm movement accordingly. The driving instructions sent by the control device to the driver of the joint of the leg-arm fusion mechanical leg are all instructions for driving the arm movement.

When the leg-arm fused mechanical leg is used for walking, the leg-arm fused mechanical leg is used as a mechanical leg, and accordingly, the methods for controlling the leg-arm fused mechanical leg by the control device are all methods for controlling the movement of a (normal) mechanical leg. The driving instructions issued by the control device to the drivers of the joints of the leg-arm fused mechanical leg are all instructions for driving the movement of the (normal) leg-arm fused mechanical leg. Some or all of the joints in the third joint part 105 are used as ankle joints or have the function of ankle joints. The mechanical leg may also be without an ankle joint and a sole, and walk by touching the ground at the end of the calf.

(I) Overview of the implementation plan for the operation of the leg-arm fusion mechanical leg:

The type of work tool corresponds to the type of work. The name of any specified work refers to the same thing whether or not the noun "work" is added after it. For example, the work of cutting objects can also be called cutting objects. Digging work is also called digging. Shoveling work is also called shoveling.

Any kind of operation has an operation element corresponding to the type of operation. The operation element is a control method, an operation object, an operation tool or an operation position. The method is a rule, and the method includes logic and/or an algorithm. The rule includes the planning of motion parameters and the acquisition and monitoring of status parameters. Planning is also the setting of target values. Motion parameters include the target position and/or motion path of the movement and/or the motion speed and/or the angle and/or the posture and/or the force and/or the torque. Motion parameters refer in particular to the target position and/or motion path of the movement. Optionally, the setting of motion parameters can be set manually or by a control device. The acquisition of status parameters refers in particular to the collection through sensors. The operation tool connected to the end of the mechanical leg of the leg-arm fusion is also called the posture of the operation tool connected to the end of the mechanical leg of the leg-arm fusion. For any operation, the operation area can be obtained based on the location of the operation object, the posture of the movable equipment itself, and the operation tool (size, motion path).

Any operation, including the operation tool, the operation object, whether the operation tool and the operation object need to be in contact, and the operation posture, can be known from the existing known technology. Usually, when there is no limiting description, the default operation type is the type of operation that requires the operation tool and the operation object to be in contact. The difference is that the invention of this article is to use the legs to work. It is more beneficial than working with hands.

In any operation, if the operation tool of the operation is a grasping component. The grasping component (size, model or specification) is constructed to correspond to the object (size, model or specification) to be grasped in the operation. Grasping includes at least one of clamping, holding, hooking, hanging and adsorption. Optionally, the grasping component is a multi-joint manipulator or claw or hook. Optionally, or the grasping component is an electromagnetic suction cup. The operation tool is a tool used for a specified operation. Tools are also called tools.

(II) Overview of the implementation scheme for working with a leg-arm fused robotic leg:

In the present invention, in any operation, any part of the leg-arm fusion mechanical leg is used for operation Z or the leg-arm fusion mechanical leg performs operation Z, and the operation method and step Z of the operation Z are: controlling the leg-arm fusion mechanical leg to drive the working tool connected to the end of the mechanical leg to perform the operation. The leg-arm fusion mechanical leg is a leg-arm fusion mechanical leg or a mechanical arm. Posture refers to position and posture.

The mechanical leg with the fusion of the leg and the arm is controlled to drive the working tool connected to the end of the mechanical leg to work, that is, the mechanical leg with the fusion of the leg and the arm is controlled to drive the working tool connected to the end of the mechanical leg to work. The mechanical leg with the fusion of the leg and the arm is controlled to drive the working tool connected to the end of the mechanical leg, that is, the mechanical leg with the fusion of the leg and the arm is controlled to drive the working tool connected to the end of the mechanical leg.

The operation includes the operation of driving the operation tool to process the operation object and the operation of placing the operation material into the target space. The operation of using the operation tool to process the operation object is also called the first type of operation. This processing is also called processing.

The first type of operation is moving people, cutting objects, digging or shoveling objects, tilling land, picking objects, welding, and rotating fasteners to install or remove objects. The operation step of the first type of operation is step Z11. Optionally, step Z10 can also be performed before step Z11.

Z10: Control the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg, so that the working tool moves from the current posture of the working tool to the working posture.

Z11 is: controlling the leg-arm fused mechanical leg to drive the working tool connected to the end of the mechanical leg to process the working object.

For example: the processing object is moving people, cutting objects, digging or shoveling objects, hoeing, picking objects, welding objects, turning fasteners. Farming refers to hoeing or planting seedlings. The working tool is the tool used for processing. The working object is the object to be processed.

The working posture is the first working posture, that is, the first target posture. The first target posture is the posture of the working tool when it enters the working area. During the processing, the working tool is located in the working area. The working area refers to the area where the working object is processed by the working tool. The working area is also called the working position. During the processing, the working tool moves from the first target posture to the second target posture. The second target posture is the posture at which the operation is terminated. During the processing, the processing part of the working tool contacts the working object. For example, the type of operation is cutting objects, the working tool of the operation is a tool with a blade, and the processing part is the blade.

The operation of placing the work material into the target space is the second type of operation. In the second type of operation, the work material is loaded or carried by the work tool. The target space is also called the space to be placed. The target space is the space where the target object is located. The target space can also refer to the target object.

Implementation Method of Cutting, Digging or Shoveling This operation is carried out by controlling the mechanical leg with the leg and arm fused together to drive the working tool connected to the end of the mechanical leg to cut the working object. The working tool is a knife, a saw or a cutting machine.

The cutting object is harvesting Chinese medicinal materials, harvesting crops, mowing grass, pruning branches or felling trees. Crops refer to rice and/or wheat and/or corn. Felling trees is preferably sawing trees.

The working tool used for harvesting Chinese medicinal materials, harvesting crops, and mowing grass is a knife or a saw. The working object of this operation is the Chinese medicinal materials, crops, or grass to be cut. The working tool used for pruning branches is a knife. The working object of this operation is the branches to be pruned. The working tool used for cutting trees is a knife. The working object of this operation is the tree to be cut. The working tool used for sawing trees is a saw, a water jet, a laser cutter, or an electric grinding wheel cutter. The working object of this operation is the tree to be sawed.

Implementation of excavation: driving the working tool to excavate the working object. The working tool is an excavation tool. The excavation tool is a shovel. The working object is the object to be excavated.

Shoveling: driving the working tool to shovel the working object. The working tool is a shoveling tool. The shoveling tool is a shovel. The working object is the object to be shoveled. Shoveling refers to shoveling loose objects. The load and power of shoveling are smaller than digging.

The picking items include picking vegetables, picking fruits, picking cotton, pulling out plants, or pulling out weeds, and the plants include any one or any combination of vegetable plants, tree plants, seedlings, and Chinese medicinal plants.

Implementation of picking items: driving the working tool to pick the working object. The working tool is a picking tool. The working object is the item to be picked. The picking tool is a picking device designed according to the item to be picked. For example, the picking device is a weeding comb, a fruit grabber, a seedling puller, etc.

The plan of hoeing the land: driving the working tool to till the land. The working tool is a hoe. The working object is the land to be hoeed.

Implementation of welding: driving the working tool to weld the working object. The working tool is a welding tool. The working object is the object to be welded. Welding includes welding metal parts by using a welding machine to generate an arc or welding a conductor by using a soldering iron to melt tin. When welding metal parts by using a welding machine to generate an arc, the welding tool is an electric welder that can generate an arc. When welding a conductor by using a soldering iron to melt tin, the welding tool is a soldering iron.

Implementation of rotating a fastener to install or remove an item: driving a work tool to rotate the work object to install or remove an item. The work tool is a tool or a gripping component used to sleeve the fastener. The tool used to sleeve the fastener is a wrench or a screwdriver. The work object is the fastener to be rotated.

The second type of work is planting seedlings, spraying, painting or taking bricks to build walls.

The operation step of the second type of operation is Z21. Optionally, step Z20 may be performed before step Z21.

Z20: Control the movement of the leg-arm fused robotic leg and/or control the movement of the working tool connected to the end of the leg-arm fused robotic leg to load or grab the working materials.

Z21: Control the movement of the leg-arm fused mechanical leg to: place the working materials carried by the working tool connected to the end of the leg-arm fused mechanical leg into the target space, or process the working materials carried by the working tool connected to the end of the leg-arm fused mechanical leg to the working object. Carrying means loading.

The operation object is the object to be processed. The target space is the space where the operation material is to be placed. The operation object is located in the target space. The target space is the space where the operation object is located. The placement or processing includes any one or any combination of spraying, coating, inserting, and shooting. The placement is also called processing.

This step Z21 is to control the movement of the leg-arm fused mechanical leg, so that the working tool connected to the end of the leg-arm fused mechanical leg and loaded or carrying the working material moves from the current posture to the working posture, so as to place the working material into the target space. The current posture refers to the current posture of the working tool. The working posture is the posture for placing the working material.

The target space is the space where the working materials are to be placed. The working tool is the container for loading the working materials or the tool for carrying the working materials. The working materials are the materials to be placed. The working object is the working materials to be placed. The process includes: making the working tool reach the working position.

In step Z10, step Z11, step Z20, and step Z21, the motion refers to the motion according to the set motion parameters. The motion parameters in each step may be different. Any task includes: receiving a task instruction, and executing the operation step S when the operation instruction is received. Before any step, a step of setting the motion parameters of the step may also be included.

Optionally, the end of the leg-arm fused mechanical leg is connected to a grasping device 06, and the working tool is a working tool grasped by the grasping device 06. Optionally, before executing step Z, it also includes: obtaining the position information of the working object or obtaining the orientation information of the target space; and/or, controlling the leg-arm fused mechanical leg and controlling the grasping device 06 connected to the end of the leg-arm fused mechanical leg to grasp the working tool.

The above operation Z can be any operation in this article. By replacing any operation in this article with the operation Z in the above paragraph Z, an operation scheme for any operation can be obtained. For example, according to the general operation technical scheme Z and operation steps Z in paragraph Z of this article, the steps of performing a certain operation of any leg-arm fusion mechanical leg in this article can be realized.

Implementation plan for moving people and objects: Moving people or storing and retrieving objects can be referred to as moving people and objects. Moving people and objects refers to moving people and objects from their original locations to their target locations. This movement includes lifting and/or translation. People and objects refer to people and/or objects. Moving people or storing and retrieving objects can be performed in the first type of operation. The operation method is: driving the operation tool to move the operation object. The operation tool is a grabbing component. The operation object is the person or object to be moved.

Implementation of seedling planting: driving the working tool to place the working material loaded by the working tool into the target space. The placing is planting. The working tool is a seedling planting device. The working material is a seedling or a grabbing device. The seedling is a crop seedling or a Chinese medicinal seedling or a tree seedling. The target space is a space for seedling planting.

Implementation scheme for painting objects or holding bricks to build walls: painting objects, the objects are paint or pigment or powder or paste. The operation method is: driving the operation tool, dropping the operation materials carried by the operation tool into the target space or processing the operation materials carried by the operation tool to the operation object. The dropping or processing is painting. The painting tool is a brush or a roller or a scraper. The target space is the space of the object to be painted. The operation object refers to the wall or ground or equipment surface to be painted.

Implementation of brick-taking and wall-building: drive the working tool and place the working material carried by the working tool into the target space. The working tool is a grabbing component. The working material is a brick. The target space is the space to be built. Building a wall means: placing bricks side by side and stacking them layer by layer. Stacking them layer by layer means piling up the bricks layer by layer.

The spray material is medicine or paint or powder or slurry or fire extinguishing material. The operation method 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 operation tool is an injector. The operation material is medicine or paint or powder or slurry. The target space is the space for the object to be sprayed. The delivery and treatment are injection. Spraying refers to ejecting the pressurized material to be sprayed. The operation object refers to the object to be sprayed with the operation material. For example, the operation material is paint or powder or slurry or fire extinguishing material, and the object is a wall or ground or equipment surface. For example, the operation material is a pesticide for killing insects, and the object is a crop or vegetable or plant. For example, the operation material is a herbicide, and the object is grass.

Beneficial effects of leg-arm fusion robot operation: For example, at a fire scene with smoke, damaged buildings, cluttered objects, and many unexpected obstacles on the road, traditional wheeled driving has poor obstacle-crossing ability or tracked driving movable equipment is too heavy and can easily crush and injure personnel. Leg-arm fusion robot leg type driving movable equipment is more suitable for the scene. Leg-arm fusion robot legs are used for walking + firefighting, replacing the traditional technology of robot leg walking + robot arm (firefighting) operation scheme, which not only greatly reduces direct cost, volume, and weight; high efficiency has very important social and economic value.

For example, a 4-legged mobile device (robot tiger) has 1-4 legs with fused legs and arms, and a shoveling tool is connected to the end of the leg-arm fused legs. The device is used to shovel animal manure in farms.

For example, a 4-legged mobile device (robot tiger) has 4 legs and arms fused together, which can walk, and a tool for harvesting Chinese medicinal materials (sickle) is connected to the end of one leg and arm fused together, and a digging tool (bucket) is connected to the end of one leg and arm fused together, and a grasping device (062) is connected to the ends of the other two leg and arm fused together.

The control method of the device is as follows: control one mechanical leg with fused legs and arms to harvest Chinese medicinal materials on the ground with a Chinese medicinal material harvesting tool (sickle), control one mechanical leg with fused legs and arms to dig medicinal materials in the ground with a digging tool (shovel), and control the other two mechanical legs with fused legs and arms to carry the collected medicinal materials with a grabbing device 062. The cooperation of the four mechanical legs with fused legs and arms can greatly improve the efficiency of collecting Chinese medicinal materials.

17. A control method 2 for a movable device as described in Example 1 or any optional solution based on Example 1 comprises the steps of: controlling the mechanical leg 02 on the first side and/or controlling the mechanical leg 02 on the second side, so that the posture of the frame 01 switches between the first lying posture and the standing posture; the standing posture is the first standing posture or the second standing posture. In the accompanying drawings, the devices shown in Figures 1 to 9 are all in the first lying posture. The devices shown in Figures 16 and 17 are in the first standing posture. The device shown in Figure 18 is in the second lying posture, i.e., lying on its back. Just as a person can change his posture by supporting himself with his hands and feet, the device, i.e., a robot, can also change its posture by supporting itself with its legs.

18. Optionally, a control method 3 of a movable device as described in Embodiment 1, Embodiment 2, and Embodiment 3 comprises the steps of:

When the movable equipment is moving from a flat road to a downhill section through the crawler-type walking mechanism 07, the second lifting mechanism 222 is controlled to make the second walking mechanism 522 touch the ground on the flat road, so that the rear part of the crawler-type walking mechanism 07m is raised; and/or,

When the movable equipment enters a flat road from an upwardly inclined section through the crawler traveling mechanism 07 and the crawler 07m in the crawler traveling mechanism is still in a backwardly inclined state, the second lifting mechanism 222 is controlled to make the second traveling mechanism 522 touch the ground at the upwardly inclined section to reduce the inclination angle of the crawler traveling mechanism 07m; and/or,

Control the first lifting mechanism 211 and the second lifting mechanism 222, and/or control the third lifting mechanism, to: adjust the height of the frame 01 relative to the road surface or adjust the posture of the frame 01 when the leg-arm fused mechanical leg is off the ground to perform a specified operation; or switch the device between the first mode and the second mode;

The first mode is: the lower surface of the third walking mechanism is lower than the lower surface of the first walking mechanism 511 and/or the lower surface of the second walking mechanism 522, the third walking mechanism supports the frame 01 off the ground and enables the movable device to travel along the road, or one of the first walking mechanism 511 and the second walking mechanism 522 and the third walking mechanism support the frame 01 off the ground and enables the movable device to travel along the road;

The second mode is: the lower surface of the first walking mechanism 511 and the lower surface of the second walking mechanism 522 are both lower than the lower surface of the third walking mechanism, and the first walking mechanism 511 and the second walking mechanism 522 support the frame 01 off the ground and enable the movable equipment to travel along the road.

The rolling travel mechanism overcomes obstacles, which means that the lower surface of the rolling travel mechanism is raised to a height not lower than the obstacle protruding from the road surface so as to overcome the obstacle or that the rolling travel mechanism does not fall into a sunken part below the road surface. For example, the obstacle protruding from the road surface is a step above the road surface. The sunken part below the road surface is below the step. The obstacle is located in front of the driving direction. The road surface refers to the road surface at the current location of the device.

19. A control method 4-1 for a movable device as described in embodiments 1, 2, 3, implementation schemes 7 and 8 comprises the steps of:

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 one end of the frame 01; control the mechanical leg 02 on the first side so that the mechanical leg 02 on the first side supports the ground and/or control the mechanical leg 02 on the second side so that the mechanical leg 02 on the second side supports the ground, or control the mechanical leg 02 on the first side and the mechanical leg 02 on the second side to walk, so that the device travels along the road and/or one end of the frame 01 and the rolling device located at the one end are moved along the road. The walking mechanism leaves the ground to overcome obstacles; the one end is the first end and the other end is the second end, or the one end is the second end and the other end is the first end; the leg root motion mechanism is the first linear motion mechanism 184 of the connecting bracket, or the leg root motion mechanism is the first linear motion mechanism 184L on the first side and the first linear motion mechanism 184R on the second side, or the leg root motion mechanism is the first leg root swinging mechanism 19L on the first side and the first leg root swinging mechanism 19R on the second side.

Specifically, please refer to the equipment shown in Figures 6 and 8. The leg root movement mechanism drives the mechanical legs to move to the first end (front) of the frame 01. At this time, the equipment can form a unique driving mode of "the mechanical legs pulling the vehicle in front" and can assist the first walking wheel 511 to leave the ground and overcome obstacles.

Specifically, please refer to the equipment shown in Figures 7 and 9. The leg root movement mechanism drives the mechanical legs to move to the second end (rear) of the frame 01. At this time, the equipment can form a unique driving mode of "the mechanical legs are in the reverse vehicle" and can assist the second walking wheel 522 to leave the ground and overcome obstacles.

A control method 4-2 for a movable device as described in Examples 1, 2, 3, Implementation Options 7, and 8 comprises the steps of:

Control the first linear motion mechanism 184 of the connecting bracket or control the first linear motion mechanism 184L of the first side and the first linear motion mechanism 184R of 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 in the middle of the frame 01, or control the first leg root swing mechanism 19L of the first side and the first leg root swing mechanism 19R of 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 in the middle and lower part of the frame 01; control the mechanical leg 02 on the first side and the mechanical leg 02 on the second side to walk.

A control method 4-3 of a movable device as described in implementation examples 1, 2, 3, implementation examples 7, and 8 comprises the steps of:

The leg root motion mechanism is controlled so that the base of the mechanical leg connected to the output member of the leg root motion mechanism is located at any position among the first end of the frame 01, the middle of the frame 01 and the second end of the frame 01, and the mechanical leg is controlled to perform a specified operation. The leg root motion mechanism is any one of the first linear motion mechanism 184 of the connecting bracket, the first linear motion mechanism 184L of the first side, the first linear motion mechanism 184R of the second side, the first leg root swing mechanism 19L of the first side and the first leg root swing mechanism 19R of the second side.

A control method 4-4 of a movable device as described in Embodiment 8 comprises the steps of:

The first leg root swing mechanism on one side is controlled so that the base of the mechanical leg 02 on that side is located in the middle and upper part of the frame 01, and the mechanical leg 02 is controlled to perform specified operations or climbing. The climbing refers to grasping an external object higher than the frame 01 through the end effector connected to the end of the mechanical leg so that the device crawls along the external object. The end effector is a grasping device 06 or a working tool for climbing. The one side is the first side or the second side.

20. A control method 5-1 for a movable device as described in Example 1, Example 2, and Implementation Option 8 comprises the steps of:

The second linear motion mechanism controlled in any direction drives the base of the mechanical leg in any direction to move to the first area, and controls the mechanical leg to perform specified operations or climbing. The climbing refers to grasping an external object higher than the frame 01 through the end effector connected to the end of the mechanical leg so that the device crawls along the external object. The end effector is a grasping device 06 or a working tool for climbing.

A control method 5-2 for a movable device as described in Implementation Example 1, Implementation Example 2, and Implementation Example 8 includes the steps of: controlling the second linear motion mechanism in any direction to drive the base of the mechanical leg in any direction to move to the second area, and controlling the mechanical leg to perform specified operations.

A control method 5-3 of a movable device as described in implementation example 1, implementation example 2, and implementation example 8 comprises the steps of:

Control the second linear motion mechanism on the first side and the second linear motion mechanism on the second side of the same part, so that the base of the mechanical leg on the first side and the base of the mechanical leg on the second side of the same part move to the second area, and control the mechanical leg on the first side and the mechanical leg on the second side to walk, and the same part is the first end and/or the second end.

21. A computer-readable storage medium, characterized in that computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, any of the control methods described above is implemented.

A control device for a movable device, characterized in that the control device comprises a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, any of the control methods described above is implemented.

The control device may be located within the device or in another mobile platform independent of the movable device.

A mobile platform, which is a movable device as described in Example 1 or any optional scheme based on Example 1, or the mobile platform includes a walking mechanism for making the mobile platform move along a road surface, and the mobile platform includes the above-mentioned control device.

22. Embodiment of the manned cabin of the device: The manned cabin 11 includes a bottom 116, and a manned space is left on the bottom 116. The manned space is provided with frames on the left and right sides. The frames are edges. Optionally, the front or rear side of the manned cabin is also provided with a frame. At least one side of the manned cabin 11 is provided with a door or window that can be opened and closed.

Optionally, the rack 01 is arranged in a hollow shape, the rack 01 is arranged horizontally relative to the horizontal plane, and includes multiple longitudinal beams and multiple cross beams, and the two ends of each cross beam are respectively connected to the corresponding two longitudinal beams. Multiple longitudinal beams can be stacked in the vertical direction, and multiple cross beams can be stacked in the vertical direction. In this embodiment 1, 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 a cabin. Longitudinal refers to the front and rear direction. Transverse refers to the left and right direction. Hollow means hollow.

As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, and Fig. 5; the components of the rack 01 may also include bases of mutually connected motion mechanisms. The longitudinal beam on the first side or the second side may be formed by the base of the motion mechanism arranged longitudinally on that side. The base of the motion mechanism 181 for forward and backward movement at the first end arranged longitudinally and the base of the motion mechanism 182 for forward and backward movement at the second end are both longitudinal beams of the rack 01. The bases of the third lifting mechanism 212 at the first end and the third lifting mechanism 221 at the second end are both vertically connected to the rack 01.

Please refer to Figure 4: The device also includes several guide mechanisms for guiding and increasing structural strength. 1611, 1612, 1621 and 1622 are all guide mechanisms. The two ends of the first guide mechanism 1611 are respectively connected to the middle part of the frame 01 and the upper part of the first end. The two ends of the first guide mechanism 1612 are respectively connected to the middle part of the frame 01 and the lower part of the first end. The two ends of the second guide mechanism 1621 are respectively connected to the middle part of the frame 01 and the upper part of the second end. The two ends of the second guide mechanism 1622 are respectively connected to the middle part of the frame 01 and the lower part of the second end.

A predetermined width is provided between the longitudinal beams on the first side or the second side. The bottoms of the longitudinal beams on the first side or the second side are connected by cross 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. Connection embodiment: The connection of the various components of the frame is welding. The frame is threadedly connected to other components.

Glossary part:

In the present invention, any description can be used in any scheme in this article: any scheme refers in particular to any movable equipment scheme. The designated operation is the specific operation. Designation is specific. Designation is equivalent to specific. In this article: equipment is the machine, that is, the robot, and the three are equivalent. In this article, all the limitations of the front, back, left and right directions are based on the driving direction of the equipment along the road surface. Taking the driving direction of the equipment along the road surface as the reference can also be described as the driving direction of the equipment, the two are equivalent. The reference is the reference. The driving direction is the front, the first side is the left side, and the second side is the right side. When there is no limitation, the road surface refers to a flat road. The first end is the first part, that is, the first part, that is, the front part. The second end is the second part, that is, the second part, that is, the rear part. The longitudinal direction refers to the front and rear direction. The transverse direction refers to the left and right direction. The first part is the part before the center of gravity of the equipment. The second part is the part after the center of gravity of the equipment. The first part and the second part are opposite parts. 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 equipment is located before the center of gravity O of the equipment. The second end of the rack 01 of the device is located behind the center of gravity O of the device. In the front-to-back direction, the middle of the rack 01 of the device is located between the first end of the rack 01 and the second end of the rack 01.

Taking the center of gravity O of the equipment as the boundary, one side of the center of gravity O is the first side, and 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. When the driving direction is forward, the first side is the left side, and the second side is the right side. Either side is not limited to the outer surface of the side. The axis along the driving direction passing through the center of gravity O of the equipment is the longitudinal axis. The left side is to the left of the longitudinal axis. The right side is to the right of the longitudinal axis. The first side located at the center of gravity O of the equipment is the first side located at the center of the rack 01 of the equipment, that is, the first side of the longitudinal axis of the equipment. The second side located at the center of gravity O of the equipment is the second side located at the center of the rack 01 of the equipment, that is, the second side of the longitudinal axis of the equipment.

The center of gravity point O is the center of the rack 01 of the equipment. The center of gravity position is the center position. The inward and outward directions on either side refer to: the direction close to the longitudinal axis is the inside, and the direction away from the longitudinal axis is the outside. Taking the center of gravity point O of the equipment as the boundary, the front part is the first part, and 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 and back direction. Transverse refers to the left and right direction. The position of any lifting mechanism refers to the position of the output part of the lifting mechanism. The position of any front and back moving mechanism refers to the position of the output part of the front and back moving mechanism. In this article, because there is no need to accurately define the front, back, left and right directions, when defining the front, back, left and right directions, the center of gravity of the equipment is equivalent to the center of the rack, the center of the equipment is equivalent to the center of gravity of the rack, and the effects of the four are equivalent.

In this article, unless otherwise specified, all wheels refer to running wheels. In this article, running wheels can also be referred to as wheels. Running wheels are wheeled running mechanisms. Running means moving on the ground, i.e. traveling. Wheeled walking means wheeled movement, i.e. wheeled traveling.

The leg-arm fusion mechanical leg is a multifunctional mechanical leg, a mechanical leg with arm function, and a limb mechanism fusion of legs and arms, 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 front-back motion mechanism. The first leg root swing mechanism is the first single-stage swing mechanism. The first end is the first part, the front part, or the head end. The second end is the second part, the rear part, or the tail end. The middle part is the third part. The top lifting mechanism is the fifth lifting mechanism. In this article, any device is a movable device. The movable device is referred to as the device.

In this article, the crawler-type running mechanism is the crawler-type traveling device, and the two are equivalent. To touch the ground is to support the ground, to touch the ground, and to touch the ground. The part used to touch the ground is the touch-point. The wheeled running mechanism is the running wheel. The front edge of the running wheel refers to the front edge of the running wheel. The rear edge of the running wheel refers to the rear edge of the running wheel. To touch the ground is to touch the road surface. To support the ground is to touch the ground. The ground is the road surface. Traveling means traveling along the road surface.

In the absence of any limitation, the crawler-type walking mechanism is an integral crawler-type walking mechanism. An integral crawler-type walking mechanism means that the front contact point of the crawler-type walking mechanism is located in front of the center of gravity of the movable equipment and the rear contact point of the crawler-type walking mechanism is located behind the center of gravity of the equipment. An integral crawler-type walking mechanism means that a crawler for contacting the ground is provided between the front contact point and the rear contact point of the crawler-type walking mechanism.

A distributed crawler mechanism refers to a crawler-type walking mechanism whose front and rear landing points are both located before or after the center of gravity of the movable equipment. The landing point of the walking wheel refers to the lower surface of the walking wheel. The front landing point of the crawler-type walking mechanism refers to the front point of the lower surface of the crawler contained in the crawler-type walking mechanism, and the rear landing point of the crawler-type walking mechanism refers to the rear point of the lower surface of the crawler contained in the crawler-type walking mechanism. The lower surface of the crawler refers to the longest straight line on the lower surface of the crawler. The center of the walking wheel or wheel is the axis of the wheel. The center of the crawler-type walking mechanism in the front and rear direction is 1/2 the length of the crawler. The landing point of any walking component refers to the part of the walking component that is used to land. The landing point is allowed to be in a lifted and off-the-ground state. The landing point of any walking mechanism refers to the outer landing point of the walking mechanism in the top view direction. The outer landing point refers to the landing point that is farthest from the center of the frame 01 in the horizontal direction in all directions of front, back, left and right.

1. Azimuth, direction, angular position, and orientation. In the absence of any limiting description, in any of the front, back, left, right, up, or down directions, the reference object is the center of gravity O of the movable device. The center of gravity (O) of the device refers to the structural center of gravity (O) of the device. In the absence of any limiting description, any component refers to the center of the component. In this article, inward or outward refers to the reference object as the benchmark. Inward means: pointing in the direction of the reference object; outward means: pointing in the opposite direction of the reference object. When there is no additional description: the front refers to: the direction in which the movable device is traveling. The front refers to the direction indicated by X1 in the attached figure. If X1 indicates the front, then X2 indicates the back. Left and right refer to left and/or right, and front and back refer to front and/or back. Advance and retreat refer to advance and/or retreat. In this article, the front view refers to the view from the front to the back, and the front view refers to the left view; the side view is also the front view or the main view, and the view direction is from left to right; the top view is the view from top to bottom.

The front includes the front, the left front and the right front. The rear includes the rear, the left rear and the right rear. The left includes the left, the left front and the left rear. The right includes the right, the right front and the right rear. The longitudinal direction is the X direction, that is, the front-to-back direction. The transverse direction is the Y direction, that is, the left-to-left direction. The top includes the top, the upper side, that is, the oblique upper side. The top is the top. The bottom includes the bottom, the lower side, that is, the oblique lower side. The vertical direction is the Z direction, which refers to the up and down direction. In this article, the first side and the second side are relative directions. When there is no limiting description: the first side is the left side, that is, the left side, and the second side is the right side, that is, the right side. When there is no limiting description, the middle part of the article refers to the part between the first running mechanism and the second running mechanism. The first end of the first side is the left front. The first end of the second side is the right front. 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 region is the region above the rack 01, i.e., the back. The second region is the region below the rack 01, i.e., the abdomen. The surface of the first region is the upper surface of the first region, i.e., the back. The surface of the second region is the lower surface of the second region. The first region and the second region are separated by a height line of 1/2 of the height of the rack 01. The first region is above the 1/2 height line, and the second region is below the 1/2 height line.

Any component has two ends, one end of the component refers to the root of the component, and the other end of the component refers to the end of the component. In terms of connection: the root refers to the part close to the frame. The end refers to the part far away from the frame. The component particularly refers to a leg, an arm, a mechanism or a joint. The root, the base, the fixed end, the fixed part, the head end, and the inner end are all equivalent. The end, the movable end, the movable part, the output end, the output part, and the outer end are all equivalent. One end of any mechanism refers to the base of the mechanism, and the other end of the mechanism refers to the output part of the mechanism.

In this article, when there is no limitation or additional explanation: the movable equipment refers to the frame 01 of the movable equipment. The movement of the equipment refers to the movement of the frame 01. The main body is the body, the trunk, the fuselage, and the frame. The ground is the road surface. The ground refers to the bottom surface under the equipment for supporting the equipment. In this article, any connecting wheel refers to the shaft of the connecting wheel. The installation position of the crawler walking mechanism and the crawler is the middle part under the equipment. When there is no limitation, the positional relationship of any component relative to another component is based on the center of the two components as a comparison reference.

2. In this article, "same in any place" means substantially the same. Substantially the same can mean completely the same. For example, "flat" means substantially horizontal. "flat" can mean horizontal. "straight" means substantially straight. In this article, "adjust" means to increase or decrease within the adjustable range. "Adjust" means controlled adjustment.

3. Meaning of common nouns (scheme, can, may, set, have, include):

If any solution in this document includes the word "can", "may" or "with", then the solution includes the solution after the word "can", "may" or "with" is removed. Any means a number. A number can be one or more. A certain also means any one or any multiple.

A includes B, including: A is connected to B or A is B. Including can be just including. Just including is.

4. Connection includes direct connection or connection through a centering piece. Connection includes: mechanical connection (between mechanical parts), electrical connection (between electrical parts), etc. Electrical connection includes wired connection and wireless connection. Direct connection, such as welding or crimping or threaded connection or hooking or hanging or snap-on connection, etc. Indefinitely, connection refers to serial connection. Multiple parts are connected in sequence, that is, the end of the previous part is connected to the root end of the next part, that is, the tails and heads of multiple parts are connected in sequence. By default, the connection is a mechanical connection. The types of (mechanical) connections include: fixed connection and detachable connection. The connection between the two can also be integrated. A detachable connection is a connection in a controlled way to release the connection. A movable connection includes a slidable connection or a rotatable connection; a rotatable connection is a hinge. A fixed connection is an installation. In this article, any connecting part refers to a part in the equipment used to connect the parts to be connected. The connecting part refers to the part used to support and connect the parts to be connected. For example, the parts to be connected are motion mechanisms. The connecting part refers to the part that is constructed to have the properties for connecting the parts to be connected or has been processed for connection. The connecting part refers to the part that is constructed to be able to bear the force generated by the parts to be connected. The connecting part can also refer to the connecting part. The part is a hole, a slot or a pin or a reinforcement.

5. Unit, device, system, module, component, element, device, and assembly are all equivalent. In the absence of a limiting description, the components included in the equipment can be one or more. Any component can be distributed in multiple physical entities or a single physical entity. Multiple components can also be arranged in the same physical entity. The driving device is also called a drive, i.e. a power device. The driving device is also called an actuator.

The motion mechanism and its driver can be integrated. For example, an integrated joint means that the joint and the driver of the joint are integrated. The output end of the motion device is the output end of the motion mechanism. The driver is also called a drive assembly.

6. The rack is the main body, the trunk, and the fuselage. These five are equivalent. Any movable device has a rack. The rack is the part of the movable device that is fixedly connected to each other, and the part that is fixedly connected to each other has the largest mass among all the parts of the device.

7. In this article, any device includes all devices required to implement the operation. Any device includes: a control device, an operating device and an energy supply device. It is known that the movable device may also include necessary electrical components and/or mechanical parts. Electrical components (such as wires) are used to electrically connect the components. Mechanical parts are used to connect and support the components. In this article, the movable device, control device, operating device and energy supply device are all configured to: implement the methods, steps and functions described anywhere in this article.

7.1. Operations include driving the equipment and designated operations. Operation devices include special operation devices and mobile devices. Mobile devices are used to move movable equipment. The movement refers to movement driven by a power system. A rolling walking device is a rolling walking mechanism and a driver of the rolling walking mechanism. The walking mechanism can be a rolling walking mechanism or a walking mechanism. A walking device is a leg device. A walking mechanism is a leg. Leg walking is walking. Any walking mechanism is connected to a driver, which is used to generate power to drive the equipment along the road surface. Any walking mechanism and the connected driver for driving the mechanism are called a walking device. The walking device includes a wheeled walking device and/or a crawler walking device and/or a leg device. Walking is driving. Walking refers to moving on the ground. A walking device is also called a ground moving device.

Any mechanism, the input end of the mechanism is connected to the output end of the driver for driving the mechanism. The control device is connected to the driver. The driver is controlled by the control device, and the action of the mechanism is controlled by the control device. In this article, any mechanism is connected to a driver for driving the lifting mechanism. The output member of the wheel mechanism is the rim and/or the tire on the rim. The driver may include a reducer.

In this article, any motion mechanism that can be controlled by a control device is connected to a driver for driving the motion mechanism. Controlling any mechanism means controlling the driver for driving the mechanism. The power input end of the mechanism is connected to the power output end of the driver.

The types of movement include lifting, legged walking, wheeled walking, tracked walking and underwater propulsion. According to the type of movement, the movement mechanism can be divided into lifting mechanism, walking mechanism, wheeled walking mechanism, tracked walking mechanism and underwater propulsion mechanism. According to the type of movement, the movement device can be divided into lifting device, legged walking device, wheeled walking device, tracked walking device and underwater propulsion device. Legged walking is walking. Walking is also called traveling or moving. Walking refers to ground movement. All walking devices are ground moving devices.

In this article, when there is no limitation or additional explanation: 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 main body is the body, the trunk, the fuselage, and the rack, and the five are equivalent. In this article, the ground is the road surface.

When the operation is walking, the operation execution device is a moving tool. For example, the moving tool includes feet, climbing tools, and wheels. When the operation is a special operation, the operation tool includes a gripping device and/or an operation tool.

The energy supply device includes a power source or is a power source. In any device herein, the power source is connected to the control device to supply power to the control device; the energy supply device is connected to the operating device to provide energy for the operation. Further, the energy supply device is connected to the driving device in the operating device to provide energy for the operation. Providing energy refers in particular to supplying power. The energy supply device can be a power source. The power source can be a battery.

The driving device is the driving unit, the power unit, the power system, the driving component, and the driving assembly, and the six are equivalent. The driving device includes a power conversion device. For example, the power conversion device is a motor, a hydraulic cylinder, a hydraulic motor, a cylinder, or a pneumatic motor. Optionally, the driving device also includes a power control device for controlling the power component. For example, the power control device is a motor driver or a hydraulic valve.

7.2. The control device is configured to implement any control method described herein. The control device includes a processor and a storage medium for storing executable instructions of the processor, and the processor is configured to implement any control method described herein. The processor is used to process, execute programs, and operate data. The storage module is used to store programs and data. The storage medium is a storage module. The processor is a CPU or a 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 human-machine interface to obtain manual control instructions. The communication module can also communicate with the automatic control module to obtain automatic control instructions. For example, 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 the storage module in the control device or from the outside. The outside refers in particular to the network and the cloud platform.

The control device includes software, hardware and structural parts for realizing the control function. Further, the control device also includes at least one of a human-machine interface and a sensor module. The control device is configured to connect any components required for control.

The communication module is used for the communication between the components in the control device and/or the communication between the control device and the external system. The communication module includes a wired communication module and a wireless communication module. For example, the wired communication module is a 485 bus, a CAN bus or an Ethernet bus. The external system refers in particular to an external information processing center, in particular to a network system. For example, the wireless communication module is a mobile communication module or an infrared communication module. The human-machine interface includes a voice input system, a touch screen, a keyboard, a mouse, a button, a human posture recognition system, etc.

The sensor module includes a sensor for obtaining the device's own status information and/or an environmental perception module 08 for obtaining environmental information. The control device can also obtain information collected by the external sensor module through the communication module. The own status can be the body's angle, movement 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. The environment refers to the environment where the device is located. The sensor for obtaining environmental information includes at least one of a visual sensor, a radar, an ultrasonic wave, a satellite positioning module, and a radio frequency positioning module.

The control device is configured to control a movable device to perform any of the operations described herein. The control device is (electrically) connected to the operating device to control it to perform the operation. Specifically: the control device is (electrically) connected to a motion device in the operating device to control the motion device, and the motion device drives the operating tool connected thereto to perform the operation. The motion device is the operating device. More specifically: the control device is (electrically) connected to a driving device in the operating device, and the control device controls the driving device, and the driving device drives the motion mechanism connected thereto (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. Further, the mechanical arm or the mechanical leg fused with a leg and an arm drives the operating tool connected thereto (mechanically) to perform the operation. Depending on the type of operation, there may be multiple sets of driving devices, motion mechanisms, and operating tools connected in sequence. For the sake of simplicity of description herein, "controlling a driving device for driving a motion mechanism" may be referred to as "controlling a motion device" or "controlling a motion mechanism", and the three are equivalent. The operating tool is a gripping device and/or an operating tool.

The control device (electrically) controls the driving device, which means that the control device (the processing module therein) processes the information related to the operation and executes the program related to the operation. The control device can send control signals related to the operation to the driving device.

Any device in this article includes a steering mechanism and a driver for driving the steering mechanism. The steering mechanism is connected to the steering wheel. The steering wheel can be turned by operating the steering controller. In this article, the wheel differential on both sides of the device can also be controlled to turn. The steering mechanism of the three-wheeled device can be a steering mechanism of a tricycle. The steering mechanism of the four-wheeled device can be a steering mechanism of a car. The steering mechanism can be a digital steering gear. The digital steering gear is connected to the running wheel to be turned. The steering gear is controlled by the control device to drive the steering wheel to turn.

7.2.1. The motion control device can be a steering wheel, accelerator, brake, or joystick. Motion control includes forward and backward control and/or steering control.

7.2.3. The automatic driving module is used to control the movement of movable equipment in an automatic driving manner. Automatic driving means unmanned driving. The automatic driving module is unmanned driving based on satellite and map information; automatic driving can be achieved by referring to existing known technologies.

8. Any motion mechanism in this article is connected to the connection part in the device for connecting the motion mechanism. The connection part is set on the frame of the device. The movement includes any one or any combination of rotation, linear movement and swing. The output member of any motion mechanism can drive a certain component to move, which means that the output member of the motion mechanism is connected to the component. The base of the motion mechanism is connected to the frame 01.

The motion mechanism is the driving mechanism, the movable mechanism, and the mechanism, and the four are equivalent. The mechanism includes a first component and a second component; the first component is connected to the second component; and the second component can move relative to the first component. The two components are connected by a kinematic pair. The first component is relatively stationary in the mechanism and is used to support the second component. The first component is the base, the machine base, the fixing member, the fixing member, and the frame, and the five are equivalent. The base is used to connect the frame of the equipment or is a component of the frame of the equipment. The second component moves within the moving path and/or moving range set by the first component. The second component is the moving part. The moving part can also be divided into a prime mover, a follower, and a transport part. The prime mover is the active part, the input part, and the input member, and the four are equivalent. The input member is the power input member. The prime mover is used to connect to a power device or a motion control device; the prime mover is driven to move by the power device or the motion control device drives the prime mover to move. Or the prime mover is a power member. The prime mover is connected to the follower. The follower is the working part, the output part, the output end, and the output member, and the five are equivalent. The output part is the motion output part or the power output part. The intermediary part is the intermediate component connecting the prime mover and the driven part. The intermediary part is used to transmit power, that is, the transmission part. The driven part drives the connected load object to move. The load object is a tool or an end effector used for operation. The motion mechanism is connected to the power device, which means that the prime mover of the motion mechanism is connected to the power device. The movement of the motion mechanism is driven by the power device. The power device is also called a driver. For ease of reading, the name of the device can be directly used to represent the mechanism of the device. For example, a wheel refers to a wheel mechanism. An electric push rod refers to an electric push rod mechanism. A cylinder refers to a cylinder mechanism. A hydraulic cylinder refers to a hydraulic cylinder mechanism. A robotic arm refers to a robotic arm mechanism.

Based on the motion characteristics of the output part, the motion mechanism includes a rotary mechanism, a linear motion mechanism and a swing mechanism. According to the type of motion mechanism included: the drive device can be divided into a rotary drive device, a linear drive device, etc. For example, the rotary drive device is a rotary motor. A linear drive device refers to a device whose output part can reciprocate linearly relative to the base of the device. The linear motion mechanism is an electric push rod device, a piston cylinder device or a telescopic hydraulic cylinder device. A rotary motion mechanism refers to a mechanism whose output part can rotate relative to the base of the mechanism. The output part can be a rotating shaft. A rotary motion mechanism can be a gear set mechanism, a worm gear mechanism or a rotary motor mechanism. A rotary motion mechanism can be a rotary joint. Linear movement is linear motion. Linear refers especially to a straight line. A linear motion mechanism refers to a mechanism whose output part can reciprocate linearly relative to the base of the motion mechanism. A linear motion mechanism is a linear joint. A sliding member is a slider.

From the perspective of commercial availability and feasibility, the linear motion mechanism can be a guide rail type motion mechanism or a telescopic mechanism. A guide rail is a slide rail. The base of a guide rail type motion mechanism is a guide rail, and the output member is a slide. The telescopic mechanism is an electric push rod, a piston cylinder, or a telescopic hydraulic cylinder.

Please refer to Figure 12: an electric push rod, which has a screw mechanism inside. The base 201A of the electric push rod is the outer tube of the push rod, the output member 203A of the electric push rod is the telescopic rod of the push rod, and the internal screw mechanism includes a screw 202A. The driver of the push rod is a motor 204A.

Please refer to Figure 13: A guide rail type motion mechanism, which has a screw mechanism inside. The screw mechanism includes a base 201B, a screw 202B and an output member 203B with a screw hole. The base 201B is a bracket connecting the screw 202B and the output member 203B. The output member 203B with a screw hole means that the output member is provided with a screw hole or the output member 203B is connected to a nut. The screw hole or the nut is provided with a thread matching the screw 202B. The output member 203B is sleeved on the screw 202B and is threadedly connected to the screw 202B. The driver of the mechanism is a motor. The input member of the mechanism is the 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 202B of the mechanism, and the motor can drive the screw 202B to rotate around its own axis. The rotation of the screw rod 202B can drive the output member 203B to move along the length direction of the screw rod, 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.

A piston cylinder is a telescopic cylinder, which is a cylindrical metal device that guides the piston to perform linear reciprocating motion in it. A telescopic hydraulic cylinder refers especially to a piston hydraulic cylinder. The base of a piston cylinder is the cylinder body, and the output part is the telescopic rod connected to the piston. The base of a telescopic hydraulic cylinder is the hydraulic cylinder body, and the output part is the telescopic rod connected to the piston.

Unless otherwise specified, the swing mechanism in this article refers to a single-link swing mechanism, i.e., a single-stage swing mechanism. A lifting mechanism can be a vertical linear moving mechanism or a swing mechanism. A swing mechanism is a swing joint. A swing mechanism refers to: the output member of the mechanism is hinged to the base of the mechanism; the output member can rotate around the hinge, and one end of the output member is the hinge end. The output member of the swing mechanism is a swing arm.

In this application, any of the schemes can be combined and cited with any other schemes, and are all used to explain the schemes in this article.

The optional embodiments of the present application are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (25)

1. A device for the movement of a body, characterized by comprising the following steps:

   A frame (01);

   Taking the running direction of the equipment along a road as a reference, a mechanical leg (02) positioned on a first side of the gravity center (O) of the equipment and a mechanical leg (02) positioned on a second side of the gravity center (O) of the equipment, wherein the mechanical leg (02) on the first side and the mechanical leg (02) on the second side are connected with the frame (01);

   The mechanical legs (02) of the first side and the mechanical legs (02) of the second side are configured to be capable of walking, at least one of the mechanical legs (02) of the first side and the mechanical legs (02) of the second side is a leg-arm fusion mechanical leg, the tail end of the leg-arm fusion mechanical leg is connected with an end effector, the end effector is a working tool (17) or a connecting part for connecting the working tool (17), and the leg-arm fusion mechanical leg and the working tool (17) are configured for specified operation;

   The device further comprises a rolling travelling mechanism (57) connected to the frame (01), wherein the rolling travelling mechanism is used for supporting the frame (01) to leave the ground and enabling the device to travel along a road surface; and/or the equipment also comprises a leg root movement mechanism for enabling the base of the mechanical leg to move up and down and/or back and forth relative to the frame (01), one end of the leg root movement mechanism is connected with the frame (01), and the other end of the leg root movement mechanism is connected with the base of the mechanical leg.
2. The mobile device of claim 1, wherein the device comprises a plurality of sensors,

   -Either one of the mechanical leg (02) of the first side and the mechanical leg (02) of the second side comprises: a first joint part (101), a thigh (102), a second joint part (103) and a shank (104) which are connected in sequence, wherein the second joint part (103) comprises a second swing joint for enabling the shank (104) to swing back and forth relative to the thigh (102), the base of the mechanical leg refers to the base of a first joint included in the first joint part (101), and the tail end of the mechanical leg is the tail end of the shank (104);

   The first joint part (101) includes a first swing joint (1012) that enables the thigh (102) to swing back and forth with respect to the base of the mechanical leg, or the first joint part (101) includes a first rotational joint (1011) that rotates the leg and a first swing joint (1012) that enables the thigh (102) to swing back and forth with respect to the base of the mechanical leg, the first rotational joint (1011) being connected to the first swing joint (1012).
3. The mobile device of claim 1, wherein the device comprises a plurality of sensors,

   When the mechanical leg (02) on the first side and the mechanical leg (02) on the second side are used for walking, an output shaft of a first joint included in any one of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side points forwards and backwards or points leftwards and rightwards or points downwards, and a root part of a thigh (102) included in the mechanical leg (02) is located below a base of the first joint.
4. The mobile device of claim 1, wherein the device comprises a plurality of sensors,

   The end effector is connected to the end of mechanical leg: the tail end of the mechanical leg is connected with the end effector through a third joint part, and the third joint part is used for adjusting the posture of the end effector;

   The third joint portion includes a joint (1052) for swinging the end effector relative to the lower leg (104), the joint (1052) being capable of swinging the end effector up to prevent the end effector from touchdown when the mechanical leg is used for walking; and/or the third joint part comprises at least three joints for adjusting the posture of the end effector in a three-dimensional space.
5. The mobile device of claim 4, wherein the at least three joints are a first end-rotating joint (1051), a second end-rotating joint (1053), which is connected in sequence, for swinging the end effector relative to the calf (104), the first end-rotating joint (1051) being used for rotating the end effector about the axis of the output shaft of the joint (1051), and the second end-rotating joint (1053) being used for rotating the end effector about the axis (A6) of the output shaft of the joint (1053).
6. The mobile device of claim 1, wherein the device comprises a plurality of sensors,

   The base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side in any one section among the first end of the rack (01), the middle part of the rack (01) and the second end of the rack (01) are connected through a second bracket, and when the mechanical leg (02) on the first side and the mechanical leg (02) on the second side which are connected through the second bracket are disconnected with the rack (01), the mechanical leg (02) on the first side and the mechanical leg (02) on the second side which are connected through the second bracket can walk along a road independently of the equipment.
7. A movable apparatus according to claim 1, characterized in that the connection for connecting the work tool (17) is a gripping device (06).
8. A mobile device according to claim 7, wherein the gripping means (06) comprise: the linear moving mechanism (06_2) is used for taking objects, one end of the linear moving mechanism (06_2) is connected with the tail end of the mechanical leg fused by the leg and the arm, the other end of the linear moving mechanism is connected with the hook (06_3) used for hooking objects, and the linear moving mechanism (06_2) is used for driving the hook (06_3) to move linearly so as to grab or release the objects.
9. The mobile device of claim 1, wherein the device comprises a plurality of sensors,

   The rolling type travelling mechanism (57) comprises a first travelling mechanism (511) and a second travelling mechanism (522) which are connected to the frame (01), when the posture of the frame (01) is a first prone position, the first travelling mechanism (511) is positioned in front of the gravity center (O) of the movable equipment, the second travelling mechanism (522) is positioned behind the gravity center (O) of the movable equipment, the lower surface of the first travelling mechanism (511) and the lower surface of the second travelling mechanism (522) are lower than the surface of a second area of the frame (01), and the first travelling mechanism (511) and the second travelling mechanism (522) are used for supporting the frame (01) to leave the ground and enable the equipment to travel along a road surface; and/or the number of the groups of groups,

   The rolling type travelling mechanism (57) comprises a third travelling mechanism connected to the frame (01), the third travelling mechanism is a crawler type travelling mechanism (07), when the posture of the frame (01) is a first prone position, the lower surface of the third travelling mechanism is lower than the surface of a second area of the frame (01), the third travelling mechanism is used for supporting the frame (01) to leave the ground and enabling the equipment to travel along a road surface, and the abutting points of the third travelling mechanism are arranged on the front, back, left and right sides of a gravity center (O) point of the equipment.
10. The mobile device of claim 9, wherein the device comprises a plurality of sensors,

    When the posture of the frame (01) is a first prone posture, the edge of the first end of the first travelling mechanism (511) is positioned in front of the edge of the first end of the surface of the frame (01) close to the second area; and/or the number of the groups of groups,

    When the posture of the frame (01) is a first prone posture, the edge of the second end of the second travelling mechanism (522) is positioned behind the edge of the second end of the surface of the frame (01) close to the second area; and/or the number of the groups of groups,

    The apparatus includes a road wheel connected to a first region of a first end of the frame (01), when the posture of the frame (01) is a first prone position: the upper surface of the travelling wheel of the first area of the first end 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 travelling wheel of the first area of the first end is positioned in front of the edge of the first end of the frame (01) close to the surface of the first area; and/or the number of the groups of groups,

    The apparatus comprises a road wheel connected to a first area of a second end of the frame (01), when the posture of the frame (01) is a first prone position: the upper surface of the travelling wheel of 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/or the edge of the second end of the travelling wheel of the first area of the second end is positioned behind the edge of the second end of the surface of the frame (01) close to the first area.
11. The mobile device of claim 9, wherein the device comprises a plurality of sensors,

    The device also comprises a first lifting mechanism (211) and a second lifting mechanism (222), one ends of the first lifting mechanism (211) and the second lifting mechanism (222) are connected with the frame (01),

    The other end of the first lifting mechanism (211) is connected with a first travelling mechanism (511), the first lifting mechanism (211) is used for lifting the first travelling mechanism (511) relative to the frame (01),

    The other end of the second lifting mechanism (222) is connected with a second travelling mechanism (522), and the second lifting mechanism (222) is used for lifting the second travelling mechanism (522) relative to the frame (01);

    And/or the equipment further comprises a 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 with a third travelling mechanism, and the third lifting mechanism is used for enabling the third travelling mechanism to lift relative to the frame (01).
12. The mobile device of claim 9, wherein the device comprises a plurality of sensors,

    The first travelling mechanism (511) is a first travelling wheel or a first distributed track mechanism; and/or the number of the groups of groups,

    The second travelling mechanism (522) is a second travelling wheel or a second distributed caterpillar mechanism; and/or the number of the groups of groups,

    The first travelling mechanism (511) comprises a first travelling mechanism (051) arranged on a first side of the centre of gravity (O) of the device and a first travelling mechanism (053) arranged on a second side of the centre of gravity (O), and/or the second travelling mechanism (522) comprises a second travelling mechanism (052) arranged on the first side of the centre of gravity (O) of the device and a second travelling mechanism (054) arranged on the second side of the centre of gravity (O); and/or the number of the groups of groups,

    When the rolling travelling mechanism formed by the first travelling mechanism (511) and the second travelling mechanism (522) is disconnected from the frame (01), the rolling travelling mechanism can travel along a road independently of the equipment; and/or the number of the groups of groups,

    When the crawler travel mechanism (07) is disconnected from the frame (01), the crawler travel mechanism (07) can travel along a road surface independently of the apparatus.
13. The mobile device of claim 1, wherein the device comprises a plurality of sensors,

    The leg movement mechanism comprises a first linear movement mechanism (184) connected with a bracket, the first linear movement mechanism (184) is arranged below the frame (01) or at a first side or a second side, the base of the first linear movement mechanism (184) is connected with the frame (01),

    The output piece of the first linear motion mechanism (184) is connected with a bracket,

    The component of the first side of the bracket is connected with the base of the mechanical leg of the leg-arm fusion of the first side,

    The component on the second side of the bracket is connected with the base of the mechanical leg fused by the leg and the arm on the second side,

    The first linear motion mechanism is used for: the base of the mechanical leg on the first side and the base of the mechanical leg on the second side are driven 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 the middle part of the frame (01) or between the middle part of the frame (01) and the second end of the frame (01);

    Or alternatively, the first and second heat exchangers may be,

    The root motion mechanism comprises a first linear motion mechanism (184L) arranged on a first side of the frame (01), the base of the first linear motion mechanism (184L) on the first side is connected to the frame (01), an output piece of the first linear motion mechanism (184L) on the first side is connected with the base of the mechanical leg fused by the leg and the arm on the first side, and the first linear motion mechanism (184L) on the first side is used for: the base of the mechanical leg of the first side is driven 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 the middle part of the frame (01) or between the middle part of the frame (01) and the second end of the frame (01), and/or,

    The leg root movement mechanism comprises a first linear movement mechanism (184R) arranged on a second side of the frame (01), the base of the first linear movement mechanism (184R) on the second side is connected to the frame (01), an output piece of the first linear movement mechanism (184L) on the second side is connected with the base of the mechanical leg fused by the leg and the arm on the second side, and the first linear movement mechanism (184R) on the second side is used for: the base of the mechanical leg driving 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 middle part of the frame (01) or between the middle part of the frame (01) and the second end of the frame (01).

    Or alternatively, the first and second heat exchangers may be,

    The leg root motion mechanism comprises a first leg root swing mechanism (19L) arranged on a first side of the frame (01), the base of the first leg root swing mechanism (19L) on the first side is connected to the frame (01), a rotating shaft of the first leg root swing mechanism (19L) on the first side points to the left and right, an output piece of the first leg root swing mechanism (19L) on the first side is connected with the base of the mechanical leg fused by legs and arms on the first side, and the first leg root swing mechanism (19L) on the first side is used for: the base of the mechanical leg on the first side is driven to swing between any two positions among the first end of the first side of the frame (01), the middle part of the first side of the frame (01) and the second end of the first side of the frame (01), and/or,

    The leg root motion mechanism comprises a first leg root swing mechanism (19R) arranged on the second side of the frame (01), the base of the first leg root swing mechanism (19R) on the second side is connected with the frame (01), the rotating shaft of the first leg root swing mechanism (19R) on the second side points to the left and right, the output piece of the first leg root swing mechanism (19R) on the second side is connected with the base of the mechanical leg fused by the leg arms on the second side, and the first leg root swing mechanism (19R) on the second side is used for: the base of the mechanical leg on the second side is driven to swing between any two positions among the first end of the second side of the frame (01), the middle part of the second side of the frame (01) and the second end of the second side of the frame (01).
14. The mobile device of claim 1, wherein the leg movement mechanism comprises

    A second linear motion mechanism (121L) and/or a second linear motion mechanism (121L) arranged at a first end of a first side of the frame (01)

    A second linear motion mechanism (121R) and/or a second linear motion mechanism (121R) arranged at a first end of a second side of the frame (01)

    A second linear motion mechanism (122L) and/or a second linear motion mechanism (122L) arranged at the second end of the first side of the frame (01)

    A second linear motion mechanism (122R) provided at a second end of a second side of the frame (01);

    The mechanical leg (02) of the first side comprises a mechanical leg (021L) of the first end of the first side and a mechanical leg (022L) of the second end of the first side;

    the mechanical leg (02) of the second side comprises a mechanical leg (021R) of the first end of the second side and a mechanical leg (022R) of the second end of the second side;

    The two ends of the base of the second linear motion mechanism in any direction among 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 are respectively directed to the surface of the first area of the stand (01) and the surface of the second area of the stand (01), the base of the second linear motion mechanism is connected with the stand (01), the output piece of the second linear motion mechanism is connected with the base of the mechanical leg in any direction,

    The second linear movement mechanism can drive the base of the mechanical leg to move to the first area so as to enable the mechanical leg to perform appointed operation or climb in the first area,

    The second linear movement mechanism can also drive the base of the mechanical leg to move to a second area so that the mechanical leg can perform appointed operation or walk in the second area.
15. The mobile apparatus of claim 1, wherein the designated work includes any of handling personnel in a manner to hold personnel from below, handling personnel with a work tool (17) attached to the end of the mechanical leg (02) to grasp a flexible object attached to the personnel, cutting objects, digging, shoveling, digging or shoveling, picking objects, farming, brushing objects, brick-taking and wall-building, welding objects, rotating fasteners to install or remove objects, spraying objects.
16. The mobile device of any one of claim 1 to 15,

    When the movable equipment works, the posture of the rack (01) can be a first prone position or a standing position, and the standing position is a first standing position or a second standing position; and/or the number of the groups of groups,

    The tail end of the mechanical leg (02) is provided with a sole (106A) for supporting the ground; and/or the number of the groups of groups,

    The tail end of the mechanical leg (02) is provided with a roller wheel for rolling along a road surface; and/or the number of the groups of groups,

    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 with a power supply arranged on the frame (01), and one end of the power supply component is used for being connected with the working tool; and/or the number of the groups of groups,

    The top (115) of the device is connected with a frame (01) through a fifth lifting mechanism (1315) so that the top (115) can lift relative to the frame (01) and/or the top (115) is provided with rollers; and/or the number of the groups of groups,

    The mobile device is configured to be driven by an adult, and/or the device further comprises a passenger compartment (11); and/or the number of the groups of groups,

    The movable equipment is a vehicle; and/or the number of the groups of groups,

    The mobile device further comprises a water propulsion device (09) connected to the frame (01), the water propulsion device (09) being 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 gravity of the movable device or the movable device is a ship.
17. A control method of a movable apparatus according to any one of claims 1 to 15, characterized in that the control method comprises the steps of:

    Acquiring the type information of the operation: step S1 is performed if the type of work is to carry a person in such a manner as to hold the person from below the person, step S2 is performed if the type of work is to carry a person in such a manner as to grasp a flexible object connected to the person, step S3 is performed if the type of work is to cut an object, step S4 is performed if the type of work is to excavate or shovel an object,

    S1: firstly, placing a movable part of the leg-arm fusion mechanical leg under a person to be carried to support the person, and then lifting and/or translating the person, wherein the movable part refers to a thigh (102) and/or a shank (104) of the leg-arm fusion mechanical leg and/or a joint at the tail end of the shank (104) and/or a tool connected with the tail end of the leg-arm fusion mechanical leg;

    S2: controlling the mechanical legs fused by the legs and the arms to drive an end effector connected with the tail ends of the mechanical legs to carry personnel in a mode of grabbing flexible objects of connecting personnel, wherein the end effector is a grabbing device (06);

    S3: controlling the mechanical legs fused by the legs and the arms to drive a working tool connected with the tail ends of the mechanical legs to cut objects, wherein the working tool is a knife, a saw or a cutting machine;

    S4: and controlling the mechanical legs fused by the legs and the arms to drive a working tool connected with the tail ends of the mechanical legs to excavate or shovel objects, wherein the working tool is a shovel.
18. A control method of the movable apparatus according to claim 16, characterized by comprising, before the execution of the specified job, step Z1 or step Z10 or step Z20:

    z1: acquiring pose information of an operation object or azimuth information of a target space;

    Z10: the mechanical leg with the integrated control leg and arm drives a working tool connected with the tail end of the mechanical leg, so that the working tool moves from the current position to the working position of the working tool;

    Z20: controlling the movement of the mechanical legs fused by the legs and the arms and/or controlling the action of a working tool connected with the tail ends of the mechanical legs fused by the legs and the arms so as to load or grab the working materials.
19. A control method of a movable apparatus according to any one of claims 1 to 15, characterized in that the control method comprises the steps of: controlling at least one mechanical leg (02) of the first side and controlling at least one mechanical leg (02) of the second side to enable the posture of the frame (01) to be switched between a first prone position and a standing position; the standing position is a first standing position or a second standing position.
20. A control method of the movable apparatus according to claim 11, characterized in that the control method comprises the steps of:

    When the movable equipment runs from a flat road to a declined road section through the crawler-type travelling mechanism (07), controlling the second lifting mechanism (222) to enable the second travelling mechanism (522) to land on the flat road so as to enable the rear part of the crawler-type travelling mechanism (07) to be lifted; and/or the number of the groups of groups,

    When the movable equipment runs from an ascending road section to a flat road through the crawler-type travelling mechanism (07) and the crawler 07 in the crawler-type travelling mechanism is in a backward inclined state, controlling the second lifting mechanism (222) to enable the second travelling mechanism (522) to prop against the ascending road section so as to reduce the inclination angle of the crawler-type travelling mechanism (07); and/or the number of the groups of groups,

    -Controlling the first lifting mechanism (211) and controlling the second lifting mechanism (222), and/or controlling the third lifting mechanism for: when the mechanical leg fused by the leg and the arm leaves the ground to perform appointed operation, adjusting the height of the frame (01) relative to the road surface or adjusting the posture of the frame (01); or causing the device to switch between a first mode and a second mode;

    The first mode is: the lower surface of the third travelling mechanism is lower than the lower surface of the first travelling mechanism (511) and/or the lower surface of the second travelling mechanism (522), the third travelling mechanism supports the stand (01) to be lifted off the ground and enables the movable equipment to travel along the road, or one of the first travelling mechanism (511) and the second travelling mechanism (522) and the third travelling mechanism supports the stand (01) to be lifted off the ground and enables the movable equipment to travel along the road;

    The second mode is: the lower surface of the first travelling mechanism (511) and the lower surface of the second travelling mechanism (522) are lower than the lower surface of the third travelling mechanism, and the frame (01) is supported by the first travelling mechanism (511) and the second travelling mechanism (522) to be lifted off the ground and the movable equipment to travel along a road surface.
21. A control method of the movable apparatus according to claim 13, characterized in that the control method comprises the steps of:

    Controlling a certain leg movement mechanism to enable the base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side to be positioned at a certain end of the frame (01); controlling the mechanical legs (02) on the first side to prop the mechanical legs (02) on the first side and/or controlling the mechanical legs (02) on the second side to prop the mechanical legs (02) on the second side or controlling the mechanical legs (02) on the first side and the mechanical legs (02) on the second side to walk so as to enable the equipment to travel along a road surface and/or enable one end of the frame (01) and a rolling travelling mechanism positioned at the one end to be separated from the ground to surmount a barrier; the one end is a first end and the other end is a second end, or the one end is a second end and the other end is a first end; the certain leg movement mechanism is a first linear movement mechanism (184) of the connecting bracket, or the certain leg movement mechanism is a first linear movement mechanism (184L) of the first side and a first linear movement mechanism (184R) of the second side, or the certain leg movement mechanism is a first leg swinging mechanism (19L) of the first side and a first leg swinging mechanism (19R) of the second side; and/or the number of the groups of groups,

    A first linear movement mechanism (184) of the connecting bracket or a first linear movement mechanism (184L) of the first side and a first linear movement mechanism (184R) of the second side are controlled so that a base of the mechanical leg (02) of the first side and a base of the mechanical leg (02) of the second side are positioned in the middle of the frame (01), or a first root swinging mechanism (19L) of the first side and a first root swinging mechanism (19R) of the second side are controlled so that a base of the mechanical leg (02) of the first side and a base of the mechanical leg (02) of the second side are positioned in the middle and lower parts of the frame (01); controlling the mechanical leg (02) of the first side and the mechanical leg (02) of the second side to walk; and/or the number of the groups of groups,

    Controlling a first leg swinging mechanism on one side to enable a base of a mechanical leg (02) on the one side to be located at the middle upper part of the rack (01), and controlling the mechanical leg (02) to perform designated operation or climbing, wherein the climbing refers to that an end effector connected with the tail end of the mechanical leg is used for grabbing an external object higher than the rack (01) to enable the equipment to climb along the external object, and the end effector is a grabbing device (06) or a working tool used for climbing, and the one side is a first side or a second side; and/or the number of the groups of groups,

    The base of a mechanical leg connected with an output piece of the leg movement mechanism is located at any position of a first end of the frame (01), the middle of the frame (01) and a second end of the frame (01), the mechanical leg is controlled to perform specified operation, and the leg movement mechanism is any one of a first linear movement mechanism (184) of the connecting support, a first linear movement mechanism (184L) of a first side, a first linear movement mechanism (184R) of a second side, a first leg swinging mechanism (19L) of the first side and a first leg swinging mechanism (19R) of the second side.
22. A control method of the movable apparatus according to claim 14, characterized in that the control method comprises the steps of:

    Controlling the second linear movement mechanism in any direction to drive the base of the mechanical leg in any direction to move to the first area, and controlling the mechanical leg to perform designated operation or climbing, wherein the climbing refers to that an end effector connected with the tail end of the mechanical leg grabs an external object higher than the rack (01) to enable the equipment to climb along the external object, and the end effector is a grabbing device (06) or an operation tool for climbing; and/or the number of the groups of groups,

    Controlling the second linear movement mechanism in any direction to drive the base of the mechanical leg in any direction to move to the second area, and controlling the mechanical leg to perform specified operation; and/or the number of the groups of groups,

    The second linear movement mechanism on the first side and the second linear movement mechanism on the second side of the same part are controlled to move the base of the mechanical leg on the first side and the base of the mechanical leg on the second side of the same part to a second area, the mechanical leg on the first side and the mechanical leg on the second side are controlled to walk, and the same part is the first end and/or the second end.
23. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer program instructions, which when executed by a processor, implement a control method according to any of claims 17-22.
24. A control device for a mobile apparatus, the control device comprising a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the control method of any of claims 17-22.
25. A mobile platform, characterized in that it is a mobile device according to any one of claims 1 to 15, or that it comprises a travelling mechanism for travelling the mobile platform along a road surface, the mobile platform comprising a control device according to claim 24.