WO2023133743A1

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

Info

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

Abstract

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

Description

可移动的设备、控制方法、控制装置、存储介质及附件Movable equipment, control method, control device, storage medium and accessories

技术领域technical field

本发明属于机器人技术设备领域，尤其涉及可移动的设备、控制方法、控制装置、存储介质、移动平台及附件。本文中，设备即机器人，两者等同。The invention belongs to the field of robot technical equipment, and in particular relates to movable equipment, a control method, a control device, a storage medium, a mobile platform and accessories. In this paper, the device is the robot, and the two are equivalent.

背景技术Background technique

可移动的设备的越障，一直是行业焦点；当前越障有两种方式，一种是用机械腿，一种是履带式行走机构；现有技术中对于机械腿的研究均停留在用腿走路的简单场景或仅仅用于跳舞等表演场景中；缺乏更多用机械腿(工业农业建筑消防应急救援领域)作业的方案导致(多关节、高成本)机械腿资源浪费；或现有技术中也需要其他更多种越障技术；因为越障的目的是输送人员或作业，所以需要为可移动的设备设计更优的载人舱以便于提高人员舒适度或便于控制作业；所以亟需更多新技术以解决上述任一种或多种问题。The obstacle surmounting of movable equipment has always been the focus of the industry; there are currently two ways to surmount obstacles, one is to use mechanical legs, and the other is to use crawler-type walking mechanisms; the research on mechanical legs in the prior art is still in the use of legs. Simple scenes of walking or only used in performance scenes such as dancing; the lack of more solutions for using mechanical legs (in the field of industrial, agricultural, building, fire emergency rescue) results in waste of resources (multi-joint, high cost) mechanical legs; or in the prior art Other more obstacle-crossing technologies are also needed; because the purpose of obstacle-crossing is to transport personnel or operations, it is necessary to design a better manned cabin for mobile equipment in order to improve personnel comfort or facilitate control operations; so there is an urgent need for more Multiple technologies to solve any one or more of the above problems.

发明内容Contents of the invention

为实现上述目的，本申请提供：To achieve the above purpose, this application provides:

1.一种可移动的设备，其特征在于，包括：1. A mobile device, characterized in that it comprises:

机架(01)；连接于该机架(01)的能用于步行的多条机械腿(02)；A frame (01); a plurality of mechanical legs (02) capable of walking connected to the frame (01);

连接于该机架(01)的滚动式行走机构(57)，该滚动式行走机构用于驱动该设备沿路面行驶；A rolling traveling mechanism (57) connected to the frame (01), the rolling traveling mechanism is used to drive the equipment to travel along the road surface;

该设备还包括滚动件升降机构(21)，该滚动件升降机构(21)的一端连接所述机架(01)，该滚动件升降机构(21)的另一端连接所述滚动式行走机构(57)；和/或，该设备还包括用于使该机械腿(02)的基座相对于该机架(01)能实现上下运动和/或前后运动的第四运动机构，该第四运动机构的一端连接所述机架(01)，该第四运动机构的另一端连接所述机械腿(02)的基座；和/或，多条该机械腿(02)中至少一条机械腿的末端设有作业工具(17)或设有用于连接作业工具(17)的连接部，该机械腿和该作业工具(17)均配置为用于特定的作业，该特定的作业包括切割物体和/或挖掘或铲物。The equipment also includes a rolling element lifting mechanism (21), one end of the rolling element lifting mechanism (21) is connected to the frame (01), and the other end of the rolling element lifting mechanism (21) is connected to the rolling traveling mechanism ( 57); and/or, the device also includes a fourth movement mechanism for enabling the base of the mechanical leg (02) to move up and down and/or forward and backward relative to the frame (01), the fourth movement One end of the mechanism is connected to the frame (01), and the other end of the fourth motion mechanism is connected to the base of the mechanical leg (02); and/or, at least one mechanical leg in the plurality of mechanical legs (02) The end is provided with a work tool (17) or with a connection for connecting a work tool (17), the mechanical leg and the work tool (17) are configured for a specific operation, the specific operation includes cutting objects and/or Or digging or shoveling.

在一些实施例中，该机械腿02包括依次连接的使腿部旋转的第一旋转关节1011、使第一连杆102相对于机械腿基座摆动的第一摆动关节1012、第一连杆102、用于使该第二连杆104相对于该第一连杆102摆动的第二摆动关节103和第二连杆104；该机械腿02的基座为该第一旋转关节1011的基座，且该机械腿02的基座连接于该机架01；以及In some embodiments, the mechanical leg 02 includes a first rotary joint 1011 for rotating the leg, a first swing joint 1012 for swinging the first connecting rod 102 relative to the base of the mechanical leg, and a first connecting rod 102 connected in sequence. , the second swing joint 103 and the second link 104 for swinging the second link 104 relative to the first link 102; the base of the mechanical leg 02 is the base of the first rotary joint 1011, And the base of the mechanical leg 02 is connected to the frame 01; and

该第一旋转关节1011的输出轴指向上下，该第一摆动关节1012和该第二摆动关节的驱动器为线性驱动器；或，该第一旋转关节1011的输出轴指向前后，或，当该机械腿02连接于该机架01的左侧或右侧时该第一旋转关节1011的输出轴指向左右，或，该第一摆动关节1012和该第二摆动关节的驱动器为旋转驱动器。The output shaft of the first rotary joint 1011 points up and down, and the drivers of the first swing joint 1012 and the second swing joint are linear drives; or, the output shaft of the first rotary joint 1011 points forward and backward, or, when the mechanical leg When 02 is connected to the left or right side of the frame 01, the output shaft of the first rotary joint 1011 points to the left and right, or the drivers of the first swing joint 1012 and the second swing joint are rotary drives.

在一些实施例中，该机械腿(02)的末端设置有滚轮(106)；或，该设备的顶部115通过第五升降机构1315连接机架01使该顶部115相对于所述机架01能升降和/或该顶部115设置有滚轮。In some embodiments, the ends of the mechanical legs (02) are provided with rollers (106); or, the top 115 of the device is connected to the frame 01 through the fifth lifting mechanism 1315 so that the top 115 can move relative to the frame 01 Lifting and/or the top 115 is provided with rollers.

有益效果：该方案便于管道作业，必要时通过该机械腿02的末端设置滚轮106或顶部抵接管道内部，能防止设备打滑，该滚轮又能减小通行时的摩擦力。Beneficial effects: the scheme is convenient for pipeline operations. If necessary, the end of the mechanical leg 02 is provided with a roller 106 or the top abuts against the inside of the pipeline, which can prevent the equipment from slipping, and the roller can reduce the friction when passing.

在一些实施例中，该第四运动机构包括用于使所述机械腿02的基座能实现上下运动的第四升降机构12、用于使所述机械腿02的基座能实现前后运动的第四前后运动机构、用于使所述机械腿02的基座能实现上下前后摆动的单级摆动机构中任意一种或任意多种；和/或，该多功能的机械腿02设置有用于给该作业工具供电的供电部件，该供电部件的一端用于连接该作业工具，该供电部件的另一端连接设置于该机架01的电源。。In some embodiments, the fourth movement mechanism includes a fourth lifting mechanism 12 for enabling the base of the mechanical leg 02 to move up and down, and a fourth lifting mechanism 12 for enabling the base of the mechanical leg 02 to move forward and backward. The fourth forward and backward movement mechanism, any one or more of the single-stage swing mechanism for enabling the base of the mechanical leg 02 to swing up and down; and/or, the multifunctional mechanical leg 02 is provided with a A power supply component for supplying power to the working tool, one end of the power supply component is used to connect to the working tool, and the other end of the power supply component is connected to a power supply provided on the frame 01 . .

在一些实施例中，该该滚动式行走机构和滚动件升降机构配置为：第一可分段升降的滚动式行走机构群。第一可分段升降的滚动式行走机构群包括第一行走机构、第二行走机构和第三行走机构，且所述第一行走机构和所述第二行走机构沿行驶方向间隔布置；所述第三行走机构位于所述第一行走机构和所述第二行走机构之间，且第一行走机构、第二行走机构和第三行走机构均分别通过相应的升降机构连接于可移动的设备的机架01，所述升降机构用于使与该升降机构对应连接的行走机构升降。In some embodiments, the rolling traveling mechanism and the rolling element lifting mechanism are configured as: a first group of rolling traveling mechanisms that can be raised and lowered in sections. The first rolling traveling mechanism group that can be lifted in sections includes a first traveling mechanism, a second traveling mechanism and a third traveling mechanism, and the first traveling mechanism and the second traveling mechanism are arranged at intervals along the traveling direction; The third traveling mechanism is located between the first traveling mechanism and the second traveling mechanism, and the first traveling mechanism, the second traveling mechanism and the third traveling mechanism are respectively connected to the movable equipment through corresponding lifting mechanisms Frame 01, the lifting mechanism is used to lift and lower the traveling mechanism correspondingly connected to the lifting mechanism.

本申请的移动设备的有益效果在于：The beneficial effects of the mobile device of the present application are:

现有技术中单纯只包含两腿或四腿机器人，用腿作业时存在容易失去稳定支撑、平衡能力、倒地损伤的问题一；现有技术中多种轮腿一体机器人，正因为其轮设置于腿上，一旦腿抬起进行作业时轮也跟着抬起离地，也存在整机很容易失去支撑、平衡能力、倒地损伤的问题一；The existing technology only includes two-legged or four-legged robots, and there are problems that it is easy to lose stable support, balance ability, and fall to the ground when working with legs. On the legs, once the legs are lifted up for operation, the wheels are also lifted off the ground, and there are also problems that the whole machine is easy to lose support, balance ability, and fall to the ground;

所以本发明方案轮腿分别独立连接于机架01，各司其职；当机械腿作业时，通过滚动式行走机构支撑该机架01；***设计合理、功能规划清晰，完美解决了上述问题一；Therefore, the wheels and legs of the present invention are independently connected to the frame 01, and each performs its duties; when the mechanical legs are working, the frame 01 is supported by the rolling walking mechanism; the system design is reasonable and the function planning is clear, which perfectly solves the above problems. ;

现有技术中，也有将机器人设置有除用于作业的(一或两)机械腿之外的更多支撑腿的六腿或八腿机器人方案；但因为机械腿为多连杆摆动机构带来成本高昂的问题二；In the prior art, there are also six-legged or eight-legged robot schemes that the robot is provided with more supporting legs except for (one or two) mechanical legs used for operations; The second problem of high cost;

本发明方案，滚动式行走机构成本低廉，相较于上述更多支撑腿的方案能降低机器人的造价和使用成本，解决了上述问题二；且滚动式行走机构的载重、行驶速度或效率能更高；相较于腿式机构具有更好的支撑、姿态保持能力，提高了机械腿作业的稳定性、作业的质量。According to the solution of the present invention, the cost of the rolling walking mechanism is low. Compared with the above-mentioned solution with more supporting legs, the cost of the robot and the cost of use can be reduced, and the above problem 2 is solved; and the load, driving speed or efficiency of the rolling walking mechanism can be higher. High; Compared with the leg mechanism, it has better support and posture maintenance capabilities, which improves the stability and quality of the mechanical leg operation.

现有技术中机器人还存在因行业思路惯性因机械腿用于步行、粗壮有力常常需要牢牢固定在身体根部从而导致了作业范围受限、能力欠缺的问题三；In the prior art, robots still have problems such as limited scope of work and lack of ability due to the inertia of the industry's thinking and the fact that the mechanical legs are used for walking and are strong and strong, and often need to be firmly fixed at the root of the body;

本发明的分支方案1：该设备包括使该机械腿02的基座相对于该机架01能实现升降运动和/或前后运动的第四运动机构，使第一连杆102的根部能上行(到头顶)或前后移动，逆转了行业思维偏见，解决了问题三，大幅的提高了多功能的机械腿02作业、攀爬性能。 Branch solution 1 of the present invention: the device includes a fourth motion mechanism that enables the base of the mechanical leg 02 to move up and down relative to the frame 01 and/or move back and forth, so that the root of the first connecting rod 102 can go up ( To the top of the head) or move back and forth, reversed the industry's thinking bias, solved the third problem, and greatly improved the operation and climbing performance of the multifunctional mechanical leg 02.

现有技术中机器人还存在机械腿用于作业离地时整机不便于进行姿态和/或对地高度的问题四。The robot in the prior art also has the problem of inconvenient posture and/or ground height when the mechanical legs are used for work off the ground.

本发明的分支方案2：该设备包括用于使滚动式行走机构升降的升降机构，该升降机构不仅仅能提升设备越障能力(例如将机架抬高以越障、例如使待越障的滚动式行走机构对地抬升以越障)，还能在用机械腿作业时调整设备的姿态和/或对地高度，不仅仅解决了上述问题四，更有益于提高作业质量。且如果该滚动式行走机构和该滚动件升降机构配置为可分段升降的滚动式行走机构群，则使得设备能具有独特的越障能力，能大幅减轻机械腿02用于步行、越障的使用频率；因为用机械腿步行和撑地使需要将设备整机抬起承受很大的载荷，所以本方案能将降低机械腿的损害概率、延长寿命、降低了对机械腿载荷能力的需求，因为机械腿为多连杆摆动机构，灵活性强但造价高，降低载荷能力的需求就能大幅度降低机械腿、设备的制造和使用成本。Branch solution 2 of the present invention: the equipment includes a lifting mechanism for lifting and lowering the rolling traveling mechanism. The rolling walking mechanism lifts the ground to overcome obstacles), and can also adjust the posture and/or height of the equipment when working with mechanical legs, which not only solves the above-mentioned problem 4, but also helps to improve the quality of work. And if the rolling traveling mechanism and the rolling member lifting mechanism are configured as a group of rolling traveling mechanisms that can be raised and lowered in sections, the equipment can have a unique obstacle-surmounting ability, which can greatly reduce the mechanical leg 02 for walking and obstacle-crossing. Frequency of use; because walking and supporting the ground with mechanical legs requires lifting the whole machine to bear a large load, so this solution can reduce the damage probability of mechanical legs, prolong life, and reduce the demand for the load capacity of mechanical legs. Because the mechanical leg is a multi-link swing mechanism, it has strong flexibility but high cost. Reducing the demand for load capacity can greatly reduce the cost of manufacturing and using the mechanical leg and equipment.

现有技术中机器人还存在机械腿仅仅用于走路和跳舞表演导致资源严重浪费的问题五。Robots in the prior art also have the problem five that the mechanical legs are only used for walking and dancing performances, resulting in a serious waste of resources.

本发明的分支方案3：至少一条机械腿的末端设有作业工具17或设有用于连接作业工具17的连接部，该机械腿和该作业工具17均配置为用于特定的作业，该特定的作业包括切割物体和/或挖掘或铲物，也即意味着该机械腿除了用于步行外，还能持刀切割物体和/或持铲挖掘或铲物，解决了上述问题五，降低了资源的浪费、大幅度提高了机械腿的使用价值。Branching scheme 3 of the present invention: the end of at least one mechanical leg is provided with a working tool 17 or a connecting part for connecting the working tool 17, and the mechanical leg and the working tool 17 are configured for a specific operation, and the specific The operation includes cutting objects and/or digging or shoveling, which means that in addition to walking, the mechanical leg can also cut objects with a knife and/or dig or shovel with a shovel, which solves the above-mentioned problem five and reduces resources. waste, greatly improving the use value of the mechanical legs.

上述分支方案1、2和3并非仅能孤立使用，且能相互配合，使效果倍增。例如，分支方案1和分支方案3相结合：分支方案1不仅仅能大幅度的扩大分支方案3中作业范围，更能提高作业质量和效率，例如用刀砍树根，通过第四运动机构先将待作业的机械腿降至低位，更适合用力、使作业角度或作业质量或作业效率更佳；例如，例如用刀修剪高位树枝，通过第四运动机构先将待作业的机械腿升至高位，使作业角度或作业质量或作业效率更佳。同理，分支方案2与分支方案3配合也能起到类同作用。例如，有的作业需要第一部位(前部)作业(例如挖掘)，有的作业需要后部作业(例如插秧、种树，设备需要倒着走或用尾部作业工具的作业，才能不损伤已种的植株)，通过第四运动机构先将待作业的机械腿运动至第一部位(前部)，能提高第一部位(前部)作业的效率或质量；通过第四运动机构先将待作业的机械腿运动至后部，能提高后部作业的效率或质量。The above branch schemes 1, 2 and 3 can not only be used in isolation, but can cooperate with each other to multiply the effect. For example, the combination of branch plan 1 and branch plan 3: branch plan 1 can not only greatly expand the scope of operation in branch plan 3, but also improve the quality and efficiency of the operation, such as cutting tree roots with a knife, and firstly through the fourth motion mechanism. Lowering the mechanical legs to be operated to a low position is more suitable for exerting force, making the working angle or working quality or working efficiency better; for example, for example, using a knife to trim high branches, first raise the mechanical legs to be operated to a high position through the fourth motion mechanism , to make the operation angle or operation quality or operation efficiency better. In the same way, the cooperation of branch plan 2 and branch plan 3 can also play a similar role. For example, some operations require the first part (front) operations (such as excavation), and some operations require rear operations (such as transplanting rice seedlings, planting trees, equipment needs to go backwards or use the operation of the tail operation tool, so as not to damage the existing parts. Plants to be planted), first move the mechanical leg to be operated to the first part (front part) through the fourth motion mechanism, which can improve the efficiency or quality of the first part (front part) operation; through the fourth motion mechanism, first move the mechanical leg to be The mechanical legs of the operation move to the rear, which can improve the efficiency or quality of the rear operation.

本发明还提供：一种可移动的设备的控制方法1，该设备包括机架01、机械腿02、连接于该机架01的滚动式行走机构和用于使该机械腿02的基座相对于该机架01能实现升降运动和/或前后运动的第四运动机构，该第四运动机构的一端连接所述机架01，该第四运动机构的另一端连接所述机械腿02的基座，其特征在于，该控制方法包括步骤F1和/或F2：The present invention also provides: a control method 1 for movable equipment, the equipment includes a frame 01, a mechanical leg 02, a rolling traveling mechanism connected to the frame 01, and a base for making the mechanical leg 02 relatively A fourth motion mechanism that can realize lifting motion and/or forward and backward motion on the frame 01, one end of the fourth motion mechanism is connected to the frame 01, and the other end of the fourth motion mechanism is connected to the base of the mechanical leg 02. Seat, characterized in that the control method includes steps F1 and/or F2:

F1：控制能实现上下运动的该第四运动机构使该机械腿02相对于该机架01下降和控制该机械腿02进行步行或作业；和/或，控制能实现上下运动的该第四运动机构使该机械腿02相对于该机架01上升和控制该机械腿02抓住外部物体使该设备沿该外部物体攀爬或作业；F1: Control the fourth motion mechanism that can realize up and down motion to lower the mechanical leg 02 relative to the frame 01 and control the mechanical leg 02 to walk or work; and/or control the fourth motion that can realize up and down motion The mechanism makes the mechanical leg 02 rise relative to the frame 01 and controls the mechanical leg 02 to grasp the external object to make the equipment climb or work along the external object;

F2：控制能实现前后运动的该第四运动机构使该机械腿02运动至该设备的第一部位(前部)且控制该机械腿02撑地以使该的第一部位(前部)滚动式行走机构越障和/或作业；和/或，(F21)控制能实现前后运动的该第四运动机构使该机械腿02运动至该设备的后部且控制该机械腿02撑地以使该后部的滚动式行走机构越障和/或作业；和/或，控制能实现前后运动的该第四运动机构使该机械腿02运动至该机架01侧方的中部再进行步行和/或作业。F2: Control the fourth movement mechanism capable of moving back and forth to move the mechanical leg 02 to the first part (front) of the device and control the mechanical leg 02 to stand on the ground to roll the first part (front) and/or, (F21) controlling the fourth motion mechanism capable of moving back and forth to move the mechanical leg 02 to the rear of the device and controlling the mechanical leg 02 to stand on the ground so that The rolling walking mechanism at the rear is able to overcome obstacles and/or operate; and/or, control the fourth movement mechanism capable of moving back and forth so that the mechanical leg 02 moves to the middle of the side of the frame 01 and then walks and/or or assignments.

该控制方法1的有益效果：本控制方法对应于上述可移动的设备1000，具有上述设备1000中分支方案1所述的优点(第四运动机构使第一连杆102的根部能上行(到头顶)或前后移动，逆转了行业思维偏见，解决了问题三，大幅的提高了多功能的机械腿02作业、攀爬性能)；The beneficial effects of this control method 1: this control method corresponds to the above-mentioned movable equipment 1000, and has the advantages described in branch scheme 1 in the above-mentioned equipment 1000 (the fourth motion mechanism enables the root of the first connecting rod 102 to go up (to the top of the head) ) or move back and forth, reversed the industry's thinking bias, solved the third problem, and greatly improved the multifunctional mechanical leg 02 operation and climbing performance);

且在该F2方案中，具有更突出的效果：通过设置滚动式行走机构解决了行走机构全部为腿的机器人在平路上相较于滚动式行走机构的速度和效率低的问题；如F2步骤所示通过第四运动机构使贵重的机械腿能前后移动，当滚动式行走机构需要越障时，能巧妙的调用“远处的”机械腿来撑地，协助解决了滚动式行走机构的越障能力；当机械腿02运动至该机架01侧方的中部还能进行(双腿)步行，使设备的能耗、灵活性、通过能力、步行能力，作业能力得到优良的均衡。该F2方案使双腿机器人的能力大幅提升。即使是四腿可移动的设备，机械腿02的基座能前后移动至相对的一方，益处一为使在该相对的一方增加了作业能力，相对于一只手作业变为两只手作业；益处二当某一位置的机械腿02失能时，从同侧对方区域移来的多功能的机械腿有助于弥补在该区位的作业能力And in the F2 scheme, it has a more prominent effect: by setting the rolling walking mechanism, the problem of the low speed and efficiency of the walking mechanism with all legs compared with the rolling walking mechanism on the flat road is solved; as shown in the F2 step It shows that the precious mechanical legs can move forward and backward through the fourth motion mechanism. When the rolling walking mechanism needs to overcome obstacles, it can cleverly call the "distant" mechanical legs to support the ground, helping to solve the obstacle-crossing of the rolling walking mechanism. Ability; when the mechanical leg 02 moves to the middle of the side of the frame 01, it can also walk (with both legs), so that the energy consumption, flexibility, passing ability, walking ability and working ability of the equipment are well balanced. The F2 solution significantly increases the capabilities of the two-legged robot. Even if it is a mobile device with four legs, the base of the mechanical leg 02 can move back and forth to the opposite side. The first benefit is to increase the working capacity on the opposite side, and the operation with one hand becomes the operation with two hands; Benefit 2 When the mechanical leg 02 in a certain position fails, the multifunctional mechanical leg moved from the opposite area on the same side helps to compensate for the working ability in this area

机械腿虽然越障能力突出，但属于多关节的贵重器件，相对于轮履式行走机构、第四运动机构成本高昂；自然界也已证明，腿越多动物自身耗能越大严重制约了自身发展，例如，多腿的蜘蛛蜈蚣螃蟹的承载能力显著低于四足动物(例如狮子老虎豹子大象)，四腿的动物的智商普遍低于双腿动物(例如大猩猩、猴、猿猴)；所以，本方案能使机器人的前后腿共享、便于减小机械腿的安装数量，具有重要意义。Although the mechanical legs have outstanding ability to overcome obstacles, they are multi-joint expensive devices, which are expensive compared to the wheel-track walking mechanism and the fourth motion mechanism; nature has also proved that the more legs the animal consumes, the more energy it consumes, which seriously restricts its own development. For example, the carrying capacity of multi-legged spiders, centipedes, and crabs is significantly lower than that of quadrupeds (such as lions, tigers, leopards, and elephants), and the IQ of four-legged animals is generally lower than that of two-legged animals (such as gorillas, monkeys, and apes); so , this scheme can share the front and rear legs of the robot and facilitate the reduction of the number of mechanical legs installed, which is of great significance.

该腿根前后运动机构设置为前后方向，相较于设置于其他方向的技术方案或单级摆动机构，具有独特的性能、速度、精度优势。The forward and backward motion mechanism of the leg base is set in the forward and backward direction, and has unique advantages in performance, speed and precision compared with technical solutions or single-stage swing mechanisms set in other directions.

2.本发明还提供一种技术方案2：一种第一可分段升降的滚动式行走机构群，包括机架(01)或连接于可移动的设备的机架(01)，2. The present invention also provides a technical solution 2: a group of rolling traveling gears that can be raised and lowered in sections, including a frame (01) or a frame (01) connected to movable equipment,

该第一可分段升降的滚动式行走机构群包括第一升降机构(211)、第二升降机构(222)、第三升降机构(212)、第一行走机构(571)、第二行走机构(572)和第三行走机构(573)；所述第一升降机构(211)、所述第二升降机构(222)以及所述第三升降机构的一端均连接所述机架(01)；The first section-liftable rolling traveling mechanism group includes a first lifting mechanism (211), a second lifting mechanism (222), a third lifting mechanism (212), a first traveling mechanism (571), a second traveling mechanism (572) and a third traveling mechanism (573); one end of the first lifting mechanism (211), the second lifting mechanism (222) and the third lifting mechanism is connected to the frame (01);

所述第一升降机构(211)的另一端连接第一行走机构(571)；所述第一升降机构(211)用于调整所述第一行走机构(571)相对于所述机架(01)的距离；所述第二升降机构(222)的另一端连接第二行走机构(572)；所述第二升降机构(222)用于调整所述第二行走机构(572)相对于所述机架(01)的距离；所述第三升降机构的另一端连接第三行走机构(573)；所述第三升降机构用于调整所述第三行走机构(573)相对于所述机架(01)的距离；The other end of the first lifting mechanism (211) is connected to the first traveling mechanism (571); the first lifting mechanism (211) is used to adjust the first traveling mechanism (571) relative to the frame (01 ) distance; the other end of the second lifting mechanism (222) is connected to the second walking mechanism (572); the second lifting mechanism (222) is used to adjust the second walking mechanism (572) relative to the The distance of the frame (01); the other end of the third lifting mechanism is connected to the third traveling mechanism (573); the third lifting mechanism is used to adjust the third traveling mechanism (573) relative to the frame (01) distance;

且所述第一行走机构(571)和所述第二行走机构(572)沿行驶方向间隔布置；所述第三行走机构(573)位于所述第一行走机构(571)和所述第二行走机构(572)之间。And the first traveling mechanism (571) and the second traveling mechanism (572) are arranged at intervals along the traveling direction; the third traveling mechanism (573) is located between the first traveling mechanism (571) and the second Between walking mechanism (572).

在该技术方案2中任一处所述距离均为上下方向的距离。调整任一行走机构相对于所述机架01的距离即使该行走机构相对于所述机架01升降。该行走机构为第一行走机构、第二行走机构或第三行走机构。Any distance in this technical solution 2 is the distance in the up-down direction. Adjusting the distance of any running gear relative to the frame 01 means that the running gear moves up and down relative to the frame 01 . The running gear is the first running gear, the second running gear or the third running gear.

可选的，如技术方案2所述的第一可分段升降的滚动式行走机构群还包括第一前后运动机构181和/或第二前后运动机构182，所述第一前后运动机构181的两端分别连接所述第一升降机构211和所述机架01，并用于调整所述第一行走机构沿行驶方向相对所述机架01的中心的距离；所述第二前后运动机构182的两端分别连接所述第二行走机构和所述机架01，并用于调整所述第二行走机构沿行驶方向相对所述机架01的中心的距离。Optionally, the group of rolling traveling gears that can be raised and lowered in sections as described in technical solution 2 further includes a first forward and backward motion mechanism 181 and/or a second forward and backward motion mechanism 182, and the first forward and backward motion mechanism 181 The two ends are respectively connected to the first lifting mechanism 211 and the frame 01, and are used to adjust the distance of the first traveling mechanism relative to the center of the frame 01 along the traveling direction; The two ends are respectively connected to the second traveling mechanism and the frame 01 , and are used to adjust the distance of the second traveling mechanism relative to the center of the frame 01 along the traveling direction.

该方案2的有益效果：通过科学巧妙的布局、拓扑架构设计，使现有技术中能高效高速行驶的但难越障的滚动式行走机构，获得了类似于多连杆摆动式机械腿的抬腿越障能力，且易于成本、体积降低。本方案，第一行走机构和第二行走机构均独立的连接于机架01两者可单点、无关联的升降，无需通过中框连接使其整体升降，避免了中框相对主框升降带来的结构复杂、且人员出入设备时存在的被剪切的风险。Beneficial effects of this scheme 2: Through the scientific and ingenious layout and topology design, the rolling walking mechanism that can drive efficiently and at high speed but is difficult to overcome obstacles in the prior art can obtain a lift similar to a multi-link swinging mechanical leg. Obstacle-surmounting ability with legs, and easy cost and volume reduction. In this solution, the first traveling mechanism and the second traveling mechanism are independently connected to the frame 01, and the two can be lifted at a single point without any connection, without connecting the middle frame to make the overall lifting, avoiding the lifting belt of the middle frame relative to the main frame The complex structure and the risk of being cut when people enter and exit the equipment.

可选的，如技术方案2所述的第一可分段升降的滚动式行走机构群，该第三行走机构包括履带式行走机构07m，所述机架01的中心或所述可移动的设备的重心位于所述履带式行走机构07m的履带于地面的正投影所覆盖的区域内。Optionally, as described in the technical solution 2, the first group of rolling traveling mechanisms that can be lifted in sections, the third traveling mechanism includes a crawler-type traveling mechanism 07m, and the center of the frame 01 or the movable equipment The center of gravity of is located in the area covered by the orthographic projection of the crawler belt of the crawler-type traveling mechanism 07m on the ground.

该方案的有益效果：第三行走机构包括履带式行走机构07m，能单独支撑机架离地和行驶，便于第一行走机构、第二行走机构越障。Beneficial effects of the scheme: the third traveling mechanism includes a crawler-type traveling mechanism 07m, which can independently support the frame to lift off the ground and run, and is convenient for the first traveling mechanism and the second traveling mechanism to overcome obstacles.

可选的方案2.1，如技术方案2所述的第一可分段升降的滚动式行走机构群，该第三行走机构包括中部靠前的行走轮512和中部靠后的行走轮521，所述中部靠前的行走轮512沿行驶方向横向布置有至少两个，或所述中部靠后的行走轮521沿行驶方向横向也布置有至少两个，所述机架01的中心或所述可移动的设备的重心于地面的正投影位于所述第三行走机构的各触地点依次连线合围所形成的区域内；或，Optional solution 2.1, as described in technical solution 2, the first segmented liftable rolling traveling mechanism group, the third traveling mechanism includes a middle front traveling wheel 512 and a middle rear traveling wheel 521, said There are at least two traveling wheels 512 at the front of the middle part arranged laterally along the traveling direction, or at least two traveling wheels 521 at the rear of the middle part are arranged transversely along the traveling direction. The center of the frame 01 or the movable The orthographic projection of the center of gravity of the equipment on the ground is located in the area formed by connecting the contact points of the third running gear in sequence; or,

该第一行走机构包括第一行走轮和/或该第二行走机构包括第二行走轮，The first traveling mechanism includes first traveling wheels and/or the second traveling mechanism includes second traveling wheels,

或，该第一行走机构和/或该第二行走机构包括滚筒式行走机构或履带式行走机构。Or, the first traveling mechanism and/or the second traveling mechanism include a roller-type traveling mechanism or a crawler-type traveling mechanism.

该方案的有益效果：该第三行走机构包括中部靠前的行走轮512和中部靠后的行走轮521，能单独支撑机架离地，便于第一行走机构、第二行走机构越障。该第一行走机构包括第一行走轮和/或该第二行走机构，能充分发挥轮式机构行驶高效、舒适性强的优势。行走轮在平路行驶时具有更高的速度、效率或舒适性。行走轮相对于履带式行走机构或滚筒的着地面积小，行走轮撑地时更便于准确调整设备的姿态，便于提高作业精度。Beneficial effects of this solution: the third traveling mechanism includes a middle front traveling wheel 512 and a middle rear traveling wheel 521, which can independently support the frame from the ground, and facilitate the first traveling mechanism and the second traveling mechanism to overcome obstacles. The first traveling mechanism includes the first traveling wheels and/or the second traveling mechanism, which can give full play to the advantages of high driving efficiency and high comfort of the wheeled mechanism. Road wheels for greater speed, efficiency or comfort when driving on flat roads. Compared with the crawler-type traveling mechanism or the roller, the walking wheel has a small ground area, and it is easier to accurately adjust the posture of the equipment when the walking wheel supports the ground, and it is convenient to improve the operation accuracy.

基于上述方案2.1，可选的，该第一滚动式行走机构群或该设备，还包括连接于机架01的第二履带式行走机构，该第二履带式行走机构用于驱动该滚动式行走机构群或该设备沿路面行驶。本文中，在没有限定为第二履带式行走机构，各处所述履带式行走机构为第一履带式行走机构。该第二履带式行走机构的各着地点依次连线合围所形成图形包括该滚动式行走机构群或该设备的重心。该第二履带式行走机构与该可分段升降的滚动式行走机构群互不干涉。当可分段升降的滚动式行走机构群中行走机构在相应的升降机构的控制下相对于机架01上升时，该第二履带式行走机构用于抵地或行驶。在同一部位，不设置两履带式行走机构以防相互干涉。在中部，该第三行走机构所包括的行走轮设置于第二履带式行走机构的外侧，该行走轮的升降与该第二履带式行走机构不干涉。该方案的益处为：包括的行走轮的第三行走机构主要成本在于连接第三行走机构的升降机构，行走轮的成本可轻微不计算。该第三行走机构所包括的行走轮用于抵地、越障，且相较于履带式行走机构更利用调整设备姿态以提升作业性能。第二履带式行走机构又可使设备获得良好的过松软地段、爬连续阶梯的能力。Based on the above scheme 2.1, optionally, the first rolling traveling mechanism group or the equipment further includes a second crawler traveling mechanism connected to the frame 01, and the second crawler traveling mechanism is used to drive the rolling traveling mechanism The group of institutions or the device travels along the road. Herein, without being limited to the second crawler-type traveling mechanism, the crawler-type traveling mechanism mentioned everywhere is the first crawler-type traveling mechanism. The figure formed by enclosing each landing site of the second crawler-type traveling mechanism with a line in turn includes the center of gravity of the rolling-type traveling mechanism group or the equipment. The second crawler-type traveling mechanism does not interfere with the group of rolling-type traveling mechanisms that can be raised and lowered in sections. When the traveling mechanism in the segmented lifting rolling traveling mechanism group rises relative to the frame 01 under the control of the corresponding lifting mechanism, the second crawler-type traveling mechanism is used for landing or driving. In the same position, two crawler-type traveling mechanisms are not provided to prevent mutual interference. In the middle, the traveling wheels included in the third traveling mechanism are arranged outside the second crawler-type traveling mechanism, and the lifting of the traveling wheels does not interfere with the second crawler-type traveling mechanism. The benefit of this scheme is: the main cost of the third traveling mechanism including the traveling wheels lies in the lifting mechanism connected to the third traveling mechanism, and the cost of the traveling wheels can be slightly ignored. The traveling wheels included in the third traveling mechanism are used for landing on the ground and overcoming obstacles, and compared with the crawler-type traveling mechanism, the attitude of the equipment is adjusted to improve the working performance. The second crawler-type walking mechanism can enable the equipment to obtain a good ability to cross soft areas and climb continuous steps.

该第一行走机构和/或该第二行走机构包括履带式行走机构，在雪地时能提供比轮机构更大的抓地能力，该第一行走机构和/或该第二行走机构包括滚筒式行走机构，更适应涉水水域的行走。The first running mechanism and/or the second running mechanism includes a crawler type running mechanism, which can provide a greater grip than the wheel mechanism in snowy conditions, and the first running mechanism and/or the second running mechanism includes a roller The walking mechanism is more suitable for walking in wading waters.

基于上述方案2.1，可选的，所述第一行走轮相对所述可分段升降的滚动式行走机构群的行驶方向横向布置有至少两个，各所述第一行走轮均连接所述第一升降机构211，或各所述第一行走轮均对应连接一所述第一升降机构211；和/或所述第二行走轮相对所述可分段升降的滚动式行走机构群的行驶方向横向布置有至少两个，各所述第二行走轮均连接所述第一升降机构211，或各所述第二行走轮均对应连接一所述第一升降机构211。Based on the above scheme 2.1, optionally, there are at least two first road wheels arranged transversely to the traveling direction of the rolling traveling gear group that can be raised and lowered in sections, and each of the first road wheels is connected to the first road wheel. A lifting mechanism 211, or each of the first traveling wheels is correspondingly connected to a first lifting mechanism 211; and/or the traveling direction of the second traveling wheels relative to the group of rolling traveling mechanisms that can be raised and lowered in sections There are at least two horizontally arranged, each of the second traveling wheels is connected to the first lifting mechanism 211 , or each of the second traveling wheels is correspondingly connected to one of the first lifting mechanisms 211 .

本发明还提供一种技术方案2：一种第二可分段升降的滚动式行走机构群。具体方案见实施例。The present invention also provides a technical solution 2: a second group of rolling traveling gears that can be raised and lowered in sections. See embodiment for specific scheme.

3.本发明还提供：一种可移动的设备，该设备包括机架(01)、连接于该机架(01)的可分段升降的滚动式行走机构群，该可分段升降的滚动式行走机构群为第一可分段升降的滚动式行走机构群或第二可分段升降的滚动式行走机构群。3. The present invention also provides: a movable device, which includes a frame (01), a group of rolling traveling gears connected to the frame (01) that can be The walking mechanism group is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections.

可选的，该设备还包括用于使该设备沿路面行驶的第四行走机构(15)、用于作业的机械臂或多功能的机械腿(02)或载人舱(11)或水中推进装置。Optionally, the device also includes a fourth traveling mechanism (15) for driving the device along the road surface, a mechanical arm or a multifunctional mechanical leg (02) for operation, or a manned cabin (11) or a propulsion mechanism in water. device.

该方案的益处：第一可分段升降的滚动式行走机构群能使设备不依靠机械腿而取得越障能力，便于在复杂地形场所越障行驶；如再配上相较于可分段升降的滚动式行走机构群能快速(高效、节能)行驶的第四行走机构15，两种行驶机构相配合，设备的适应性能更广；或与机械臂配合使设备取得复杂场所的越障+作业能力；或与机械腿02配合能降低机械腿02(重载撑地)越障行驶频率、延长其寿命；或与载人舱11配合，使设备能将人员输送到复杂场所；或与水中推进装置，使设备具有水陆两栖能力。Benefits of this solution: the first rolling walking mechanism group that can be lifted in sections can enable the equipment to obtain obstacle-surmounting capabilities without relying on mechanical legs, which is convenient for driving over obstacles in complex terrain places; The fourth traveling mechanism 15 of the rolling traveling mechanism group that can travel quickly (highly efficient and energy-saving). The two traveling mechanisms cooperate to make the equipment more adaptable; or cooperate with the mechanical arm to enable the equipment to achieve obstacle-crossing + operations in complex places. ability; or cooperate with the mechanical leg 02 to reduce the frequency of the mechanical leg 02 (heavy load supporting the ground) and prolong its life; or cooperate with the manned cabin 11, so that the equipment can transport people to complex places; or propel with the water device that enables the device to have amphibious capabilities.

本发明还提供：一种可移动的设备的控制方法2，该设备包括机架(01)、连接于该机架(01)的可分段升降的滚动式行走机构群，该可分段升降的滚动式行走机构群为第一可分段升降的滚动式行走机构群或第二可分段升降的滚动式行走机构群，该控制方法包括步骤Y1和/或Y2：The present invention also provides: a control method 2 for movable equipment, the equipment includes a frame (01), and a group of rolling walking mechanisms connected to the frame (01) that can be lifted and lowered in sections. The rolling traveling mechanism group is the first rolling traveling mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections, and the control method includes steps Y1 and/or Y2:

Y1：控制该设备行驶，控制与待越障的行走机构对应的升降机构，使该待越障的行走机构相对于该机架(01)上升以越障，和/或，控制与除待越障的行走机构之外的若干个行走机构对应的升降机构，使该若干个行走机构相对于该机架(01)下降以撑地，以使该待越障的行走机构上升以越障。Y1: Control the device to travel, control the lifting mechanism corresponding to the walking mechanism to be overcome, make the walking mechanism to rise relative to the frame (01) to overcome the obstacle, and/or, control and eliminate the obstacle The lifting mechanism corresponding to several running gears other than the running gear of the obstacle makes the several running gears descend relative to the frame (01) to support the ground, so that the running gear to be surmounted can rise to surmount the obstacle.

Y2：控制该设备朝下台阶的方向行驶，控制与已悬空于台阶下方路段的上方的行走机构对应的升降机构，使该行走机构相对于该机架(01)下降以使该行走机构的在该台阶下方路段撑地。该控制方法用于使该可移动的设备越障。Y2: Control the device to move in the direction of the lower step, control the lifting mechanism corresponding to the running mechanism that has been suspended above the section below the step, and make the running mechanism drop relative to the frame (01) so that the running mechanism The section below the steps supports the ground. The control method is used to enable the movable device to overcome obstacles.

该控制方法2的有益效果：Y1步骤提供了一种不依赖于机械腿的清晰可行的越凸起于路面的障碍的方法；Y1步骤提供了一种不依赖于机械腿的清晰可行的过下台阶类型障碍的方法。The beneficial effect of this control method 2: the Y1 step provides a clear and feasible way to get over the obstacles raised on the road without relying on the mechanical legs; Method for step type obstacles.

本发明还提供：一种可移动的设备的控制方法3，该设备包括机架(01)、连接于该机架(01)的第四行走机构(15)、连接于该机架(01)的可分段升降的滚动式行走机构群，该可分段升降的滚动式行走机构群为第一可分段升降的滚动式行走机构群或第二可分段升降的滚动式行走机构群；该控制方法包括步骤S1和/或S2：The present invention also provides: a control method 3 for movable equipment, the equipment includes a frame (01), a fourth traveling mechanism (15) connected to the frame (01), a fourth traveling mechanism (15) connected to the frame (01) The rolling traveling mechanism group that can be lifted and lowered in sections is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections; The control method comprises steps S1 and/or S2:

S1：控制该第一可分段升降的滚动式行走机构群使其所包含的可升降的滚动式行走机构相对于所述机架(01)升高以使所述第四行走机构(15)撑地；S1: Control the group of rolling traveling gears that can be raised and lowered in sections so that the raised and lowering rolling running gears contained therein rise relative to the frame (01) so that the fourth running gear (15) ground;

S2：控制第一可分段升降的滚动式行走机构群使该设备越障。S2: Control the first group of rolling traveling gears that can be raised and lowered in sections to make the equipment overcome obstacles.

在该控制方法2和控制方法3中，共同的原则为：在越障时使该设备中除了待越障的行走机构之外的若干个行走机构触地且该若干个行走机构触地点在俯视方向所围成的图形包含该设备的重心O点。In the control method 2 and the control method 3, the common principle is: make several running gears in the equipment touch the ground except the running gear to be overcome when overcoming the obstacle, and the grounding points of the several running gears are in the top view. The figure enclosed by the directions contains the center of gravity O point of the device.

可选的，该控制方法2或控制方法3中还包括步骤：控制该第一前后运动机构181调整该第一行走机构在前后方向相对所述机架01的中心的距离，和/或，控制该第二前后运动机构182调整该第二行走机构在前后方向相对所述机架01的中心的距离。该步骤用于：根据障碍物的宽度调整第一行走机构和/ 或该第二行走机构的着地点。以更好的跨栏、越障。Optionally, the control method 2 or control method 3 further includes the step of: controlling the first forward and backward movement mechanism 181 to adjust the distance of the first traveling mechanism relative to the center of the frame 01 in the front and rear direction, and/or, controlling The second forward and backward movement mechanism 182 adjusts the distance of the second traveling mechanism relative to the center of the frame 01 in the front and rear direction. This step is used to: adjust the landing point of the first running gear and/or the second running gear according to the width of the obstacle. With better hurdles and obstacles.

该步骤S1用于使该可移动的设备在无障碍的路段行驶。也即：当该可移动的设备在无障碍的路段时，执行该步骤S1。该步骤S2解决该机架01遇到障碍需越障的难题或该第四行走机构15遇到障碍需越障的难题。该步骤S1使该可分段升降的滚动式行走机构群可不阻碍(600)第四行走机构15。可选的，该步骤S1中，还包括步骤：控制所述第四行走机构15使所述可移动的设备沿路面行驶。This step S1 is used to make the movable device travel on an unobstructed road section. That is: when the movable device is on an unobstructed road section, step S1 is executed. This step S2 solves the difficult problem that the frame 01 needs to overcome an obstacle or the fourth traveling mechanism 15 needs to overcome an obstacle. This step S1 makes the group of rolling traveling gears that can be raised and lowered in sections not hinder ( 600 ) the fourth traveling gear 15 . Optionally, the step S1 further includes the step of: controlling the fourth traveling mechanism 15 to make the movable equipment travel along the road.

该技术方案的有益效果：现有汽车，仅仅具有第四行走机构15，一旦遇到障碍则通行困难、使输送任务无法顺利执行。本发明所提供的技术方案，使汽车会跨栏、走路。解决汽车遇到障碍则通行困难、在雪地打滑、输送任务无法顺利执行的重大问题。具有重要经济价值和社会意义。The beneficial effect of this technical solution: the existing automobile only has the fourth traveling mechanism 15, once it encounters an obstacle, it will be difficult to pass, so that the conveying task cannot be carried out smoothly. The technical scheme provided by the invention enables the automobile to hurdle and walk. Solve the major problems that the car has difficulty in passing when it encounters obstacles, skids in the snow, and the transportation task cannot be carried out smoothly. It has important economic value and social significance.

因思维的惯性(人和动物的腿随处可见)，现有设备的越障技术方案多为仿照人类或动物的腿的多连杆摆动关节方案，所以导致较重的设备(例如汽车)至今无法高性能(上台阶、下台阶、跨栏)越障。线性运动机构相较于多连杆摆动机构，具有承载能力大、体积小、成本低、速度快的突出优点，在用于和行走机构结合使设备越障时具有突出的优势。例如，千斤顶为典型的线性运动机构，其价格不到100元且承载能力达到1000KG，承载50KG的绕关节旋转机械臂为典型多连杆摆动机构，其最低价格为25000元，价格相差250倍、承载能力相差20倍。所有用线性运动机构或单级摆动机构作为越障机构，相比多连杆摆动机构的机械腿越障，具有巨大的性价比优势。Due to the inertia of thinking (legs of people and animals can be seen everywhere), the obstacle-crossing technical solutions of existing equipment are mostly multi-link swing joint schemes imitating the legs of humans or animals, so heavier equipment (such as automobiles) cannot High-performance (step-up, step-down, hurdles) obstacle surmounting. Compared with the multi-link swing mechanism, the linear motion mechanism has the outstanding advantages of large load capacity, small size, low cost, and fast speed. It has outstanding advantages when used in combination with the walking mechanism to make the equipment overcome obstacles. For example, the jack is a typical linear motion mechanism, its price is less than 100 yuan and its load capacity reaches 1000KG, and the joint-rotating mechanical arm with a load capacity of 50KG is a typical multi-link swing mechanism, its lowest price is 25,000 yuan, and the price difference is 250 times. The carrying capacity differs by 20 times. All linear motion mechanisms or single-stage swing mechanisms are used as obstacle-crossing mechanisms, which have a huge cost-effective advantage compared with multi-link swing mechanisms for obstacle-crossing mechanical legs.

4.本发明还提供：一种可移动的设备的控制方法4，该设备包括机架(01)、连接于该机架(01)的履带式行走机构(07m)和连接于该机架(01)的可升降的行走机构，该可升降的行走机构为机械腿(02)或通过升降机构连接该机架(01)的滚动式行走机构，其特征在于，该控制方法包括步骤C1和/或C2：4. The present invention also provides: a kind of control method 4 of movable equipment, and this equipment comprises frame (01), is connected to this frame (01) crawler-type running mechanism (07m) and is connected to this frame ( 01), the liftable traveling mechanism is a mechanical leg (02) or a rolling traveling mechanism connected to the frame (01) through a lifting mechanism, characterized in that the control method includes steps C1 and/or or C2:

C1：在该可移动的设备通过该履带式行走机构(07m)行驶将从平路进入下倾路段时，控制该可移动的设备中后方的可升降的行走机构在该平路抵地,以使该履带式行走机构(07m)的后部抬高；C1: When the movable equipment travels through the crawler-type walking mechanism (07m) and enters the downhill road section from the flat road, control the rear liftable walking mechanism of the movable equipment to reach the ground on the flat road, so as to raising the rear of the crawler running gear (07m);

C2：在该可移动的设备通过该履带式行走机构(07m)行驶从上倾路段进入平路且该履带式行走机构中履带(07m)还处于后倾状态时，控制该可移动的设备的后方的可升降的行走机构在该上倾路段抵地,以减小该履带式行走机构(07m)的倾斜角度。C2: When the movable equipment travels through the crawler-type traveling mechanism (07m) and enters the flat road from the uphill road section and the crawler belt (07m) in the crawler-type traveling mechanism is still in the backward tilting state, control the movement of the movable equipment The liftable traveling mechanism at the rear touches the ground on the uphill road section, so as to reduce the inclination angle of the crawler-type traveling mechanism (07m).

该控制方法4的有益效果：履带机构在爬楼梯、过松软地段(沙滩、淤泥)相较于轮或腿机构有突出的优势；但在从平路进入下倾路段或从从上倾路段进入平路时，存在前端悬空、砸地的严重安全问题；行业的惯性思维，通常为努力保持机架直立、减小倾角以防摔倒；本发明所提出该C1方案，控制后方的可升降的行走机构在后方撑地，使设备的臀部翘起主动的增大倾角，实验证明对安全性的提高有意想不到的好处。该C2方案中，设备从上坡路段进入平路时，同理，控制后方的可升降的行走机构在后方撑地，以减小该履带(070)的倾斜角度，实践证明对安全性的提高有意想不到的好处。The beneficial effect of this control method 4: the crawler mechanism has outstanding advantages compared with the wheel or leg mechanism in climbing stairs and passing soft areas (beach, mud); On flat roads, there are serious safety problems such as the front end hanging in the air and hitting the ground; the inertial thinking of the industry usually strives to keep the rack upright and reduce the inclination angle to prevent falling; the C1 scheme proposed by the present invention controls the rear liftable The walking mechanism supports the ground at the rear, so that the hips of the equipment are tilted to actively increase the inclination angle. Experiments have proved that it has unexpected benefits for improving safety. In this C2 scheme, when the equipment enters the flat road from the uphill road section, similarly, the rear liftable traveling mechanism is controlled to support the ground at the rear to reduce the inclination angle of the crawler belt (070), which is proved to be beneficial to the improvement of safety. Unexpected benefits.

5.另外，本发明还提供：一种可移动的设备的控制方法5，该可移动的设备包括机架(01)和多条连接于该机架的机械腿，且该多条机械腿中至少一条机械腿配置为多功能的机械腿(02)，该多功能包括用于特定的作业和步行，其特征在于，该控制方法包括步骤M1：5. In addition, the present invention also provides: a control method 5 of a movable device, the movable device includes a frame (01) and a plurality of mechanical legs connected to the frame, and among the plurality of mechanical legs At least one mechanical leg is configured as a multi-functional mechanical leg (02), the multi-function includes being used for specific operations and walking, it is characterized in that the control method includes step M1:

控制该多功能的机械腿(02)以从人员下方托住人员的方式搬运人员；和/或，控制该多功能的机械腿(02)带动该机械腿(02)末端所连接的作业工具以抓取连接人员的柔性物体的方式搬运人员；和/或，控制该多功能的机械腿(02)带动该机械腿02末端所连接的作业工具进行特定的作业，该特定的作业为切割物品或挖掘或铲物或采摘物品、喷涂物品或取砖砌墙中至少一种。Control the multifunctional mechanical leg (02) to carry the personnel in the manner of supporting the personnel from below; and/or, control the multifunctional mechanical leg (02) to drive the working tool connected to the end of the mechanical leg (02) to and/or, control the multifunctional mechanical leg (02) to drive the working tool connected to the end of the mechanical leg 02 to perform a specific operation, the specific operation is cutting objects or At least one of digging or shoveling or picking an item, spraying an item, or taking a brick wall.

可选的方案5.1，该控制方法5中，该切割物品或挖掘或铲物为：先切割物品再挖掘或铲物；和/或，用于切割物体的作业工具为锯、水刀、激光刀或电动砂轮切割机；和/或，Optional scheme 5.1, in the control method 5, the cutting or excavation or shoveling is: first cutting the object and then excavating or shoveling; and/or, the working tool for cutting the object is a saw, water knife, laser knife or Electric abrasive cutters; and/or,

该控制该多功能的机械腿(02)带动该机械腿02末端所连接的作业工具17进行特定的作业为：控制该多功能的机械腿02带动该机械腿(02)末端所连接的刀切割物品和控制该多功能的机械腿(02)带动该机械腿(02)末端所连接的的铲进行挖掘或铲物的作业。The control of the multifunctional mechanical leg (02) to drive the working tool 17 connected to the end of the mechanical leg 02 to perform specific operations is: to control the multifunctional mechanical leg 02 to drive the knife connected to the end of the mechanical leg (02) to cut Items and control The multifunctional mechanical leg (02) drives the shovel connected to the end of the mechanical leg (02) to perform digging or shoveling operations.

该技术方案的有益效果：使用切割工具先切割物品，再挖掘或铲物，相较于(现有挖掘机技术中)用蛮力直接冲击、破碎物体，能大幅度的降低冲击力、载荷、使多功能的机械腿02的构造能精巧化、非笨重化、降低重量、降低多功能的机械腿运动时的能量消耗、避免多功能的机械腿02多功能的机械腿受损、延长使用寿命。Beneficial effects of this technical solution: using cutting tools to cut objects first, and then digging or shoveling objects, compared with (in existing excavator technology) directly impacting and breaking objects with brute force, can greatly reduce impact force, load, Make the structure of the multi-functional mechanical leg 02 compact, non-bulky, reduce weight, reduce energy consumption during the movement of the multi-functional mechanical leg, avoid damage to the multi-functional mechanical leg 02, and prolong the service life .

可选的，该刀和该铲连接于同一多功能的机械腿02的末端。或该刀和该铲连接于不同的多功能的机械腿02的末端，该作业为多条多功能的机械腿02配合作业。Optionally, the knife and the shovel are connected to the end of the same multifunctional mechanical leg 02. Or the knife and the shovel are connected to the ends of different multifunctional mechanical legs 02, and the operation is a cooperative operation of multiple multifunctional mechanical legs 02.

基于该方案5.1，进一步的，用于切割物品或挖掘或铲物的该作业工具17为含锯的铲或链锯。含锯的铲指该铲的开口部设置有锯。当该铲的开口部接触待挖掘或待铲的物品时，该锯将先行切割物体。实践证明，链锯能切削更深、更便于在挖掘或铲物前先切割物体。Based on the solution 5.1, further, the work tool 17 used for cutting objects or excavating or shoveling objects is a shovel or a chain saw with a saw. A shovel with a saw means that the opening of the shovel is provided with a saw. When the opening of the shovel contacts the item to be excavated or shoveled, the saw will preemptively cut the object. Practice has proved that chain saws can cut deeper and make it easier to cut objects before digging or shoveling.

该控制方法5的有益效果：The beneficial effect of this control method 5:

综合而言：在(火灾、水灾、危险气体液体泄漏场所、地震、反恐防暴、瘟疫、医用救护、战场救援)应急救援、建筑业、农业、林业、中药种植业、矿产挖掘业或家畜家畜物料搬运业(例如铲猪粪、鸡粪)等本发明所限定的领域，该场景均有一个共同特点，不像办公室内、商场、工厂内地面平坦，相反的，该场景中的可移动的设备首先面临地形复杂、崎岖甚至险峻；在该场景下，通常需要配备(粗壮、高成本的)机械腿以使可移动的设备能步行越障。In general: in (fire, flood, dangerous gas and liquid leakage places, earthquake, anti-terrorist riot, plague, medical rescue, battlefield rescue) emergency rescue, construction industry, agriculture, forestry, traditional Chinese medicine planting industry, mineral excavation industry or livestock and livestock materials Fields limited by the present invention such as the handling industry (such as shoveling pig manure, chicken manure), the scenes all have a common feature, unlike the flat ground in offices, shopping malls, and factories, on the contrary, the movable equipment in this scene First of all, the terrain is complex, rugged and even steep; in this scenario, it is usually necessary to equip (thick, high-cost) mechanical legs to enable mobile devices to walk over obstacles.

现有技术中，基于多年行业惯性思维，(粗壮、高成本的)机械腿主要用于步行，作业需要另外配置机械臂，从而带来严重的资源浪费、推高机器人的购置、使用成本的问题五。In the existing technology, based on the inertial thinking of the industry for many years, (thick, high-cost) mechanical legs are mainly used for walking, and additional mechanical arms are required for operations, which brings serious waste of resources and pushes up the purchase and use costs of robots. five.

第一点：本发明，客服了本领域的主流的行业偏见一：不采用常规的机械臂进行作业，而使用多功能的机械腿进行特定作业；节省了的昂贵的机械臂所带来的高成本、高重量、高能耗、高控制复杂性；且机械臂通常安装在身体的上部不方便进行低位作业；用多功能的机械腿进行特定的作业节省了用于弯腰的关节成本、弯腰控制所带来的***、技术复杂度。The first point: the present invention overcomes the mainstream industry prejudice in this field. One: instead of using conventional mechanical arms for operations, multifunctional mechanical legs are used for specific operations; the high cost of expensive mechanical arms is saved. Cost, high weight, high energy consumption, and high control complexity; and the mechanical arm is usually installed on the upper part of the body, which is inconvenient for low-level operations; using multifunctional mechanical legs for specific operations saves joint costs for bending, bending The system and technical complexity brought by the control.

第二点：更为重要的是：本发明，在克服上述机械腿主要设计为用于步行的行业偏见的基础上，并非控制机械腿末端进行踢踢物品挪挪位置的简单作业，而是使用多功能的机械腿操作作业工具进行特定工序的作业。能否巧妙的使用工具，是动物与人类的主要区别，也是普通机器人与先进机器人的核心区别。这也是本发明的核心价值所在。The second point: more importantly: the present invention, on the basis of overcoming the industry prejudice that the above-mentioned mechanical legs are mainly designed for walking, is not a simple operation of controlling the end of the mechanical legs to kick and move objects. The multi-functional mechanical legs operate the working tool to perform specific process operations. The ability to use tools skillfully is the main difference between animals and humans, and also the core difference between ordinary robots and advanced robots. This is also where the core value of the present invention lies.

第三点：更为重要的是：本发明，在使用多功能的机械腿作业、且使用工具的基础上，还摒弃了诸如钻孔之类的单点作业的低效作业方案，控制多功能的机械腿作业且使用工具进行高价值、高效率的制定的作业方法。例如，假设钻头的直径是1平方厘米，如需挖掘1平米的矿石或泥土，则需要用钻头钻孔10000次。如用本发明所特定的进行面切割的切割方案均为面切割的作业方案，能将作业效率提高上百倍。The third point: more importantly: the present invention, on the basis of using multi-functional mechanical legs and tools, also abandons the low-efficiency operation scheme of single-point operations such as drilling, and controls the multi-functional It is a high-value and high-efficiency working method formulated by the mechanical leg operation and the use of tools. For example, assuming that the diameter of the drill bit is 1 square centimeter, if you need to excavate 1 square meter of ore or soil, you need to use the drill bit to drill 10,000 times. All the cutting schemes of carrying out surface cutting as specified by the present invention are the operation schemes of surface cutting, which can improve the operational efficiency hundreds of times.

搬运人员是消防、医用应急救援、人员护理中非常重要的核心任务。现有技术中一半用手去搬、很难想到用腿去进行搬运人员；即使想到用腿搬运人员，也很容易因行业偏见、参照现有技术中用机械臂抓取物体的方式去抓取人员则很容易导致两种不良后果：多手指的柔软的机械手无力可靠的抓取和搬运人员，或者机械手坚硬有力又很容易伤害人员。本发明中，以使多功能的机械腿从人员下方托住人员的方式搬运人员、以使多功能的机械腿抓取连接人员的柔性物体的方式搬运人员，从技术方案上，可以安全的搬运人员。破除了行业偏见，具有意向不到的效果。用机器人的机械腿安全搬运人员，避免无需警察或救援人员冒生命危险亲临火灾或***等危险现场，具有重要的经济和社会价值。Moving personnel is a very important core task in firefighting, medical emergency rescue, and personnel care. Half of the existing technology uses hands to carry people, and it is difficult to think of carrying people with legs; even if you think of using legs to carry people, it is easy to grab objects due to industry prejudice and refer to the way of grabbing objects with mechanical arms in the prior art People can easily lead to two kinds of adverse consequences: the soft manipulator with multiple fingers is unable to reliably grab and carry people, or the manipulator is hard and powerful and can easily injure people. In the present invention, people are transported in such a way that the multifunctional mechanical legs support the personnel from below the personnel, and the personnel are transported in the manner that the multifunctional mechanical legs grab the flexible objects connected to the personnel. From the technical solution, it is safe to carry personnel. It breaks industry prejudice and has unexpected effects. It is of great economic and social value to use the mechanical legs of the robot to safely transport people and avoid the danger of fire or explosion without the need for police or rescue personnel to risk their lives.

用多功能的机械腿切割物料(例如树枝、损毁建筑物)、用多功能的机械腿挖掘、铲物(清障)是(火灾、水灾、地震)应急救援的重要任务。具有重要的经济和社会价值。Cutting materials (such as branches, damaged buildings) with multifunctional mechanical legs, digging with multifunctional mechanical legs, and shoveling (clearing obstacles) are important tasks for emergency rescue (fire, flood, earthquake). It has important economic and social value.

6、本发明还提供一种技术方案6：一种载人舱：该载人舱包括底部、顶部和顶部升降机构，该顶部升降机构用于调整该顶部相对于该底部的高度，该顶部升降机构的两端分别连接该底部和该顶部。该顶部升降机构用于使该载人舱内的高度能在站立高度与小于站立高度的高度中调整。可选的，站立高度为1.6米。6. The present invention also provides a technical solution 6: a manned cabin: the manned cabin includes a bottom, a top and a top lifting mechanism, the top lifting mechanism is used to adjust the height of the top relative to the bottom, and the top lifts The two ends of the mechanism connect the bottom and the top respectively. The top elevating mechanism is used to make the height in the manned cabin adjustable between the standing height and the height lower than the standing height. Optional, standing height is 1.6 meters.

在一些实施例中，如技术方案6所述的载人舱，该载人舱包括坐具位姿调整用的运动机构，用于使该坐具调整为乘坐位姿或撤出乘坐位姿，该运动机构的基座和输出件分别连接该坐具和该载人舱的的基座。乘坐位姿指该坐具上表面平置处于供人乘坐的位姿。撤离乘坐位姿指使坐具117从乘坐位姿靠边。撤离乘坐位姿用于使人能站立于乘坐位姿时坐具117所在部分或全部区域。In some embodiments, the manned cabin as described in technical solution 6, the manned cabin includes a movement mechanism for adjusting the posture of the seat, which is used to adjust the seat to the sitting posture or withdraw from the riding posture, the movement The base and the output part of the mechanism are respectively connected with the base of the seat and the passenger cabin. The sitting position refers to the position in which the upper surface of the seat is placed flat for people to sit on. Evacuation from the sitting posture indicates that the seat 117 is pulled aside from the riding posture. The evacuated sitting posture is used to enable the person to stand in the sitting posture when the seat 117 is in part or all of the area.

在一些实施例中，如技术方案6所述的载人舱，该载人舱包括靠背角度调整机构，用于调整坐具后部的靠背相对于该载人舱的的基座的角度。该运动机构的基座和输出件分别连接该靠背和该载人舱的的基座。该运动机构使该靠背相对于该载人舱的的基座后倾(以配置为床)或使该靠背竖立(以供人靠背)。In some embodiments, as described in the technical solution 6, the passenger cabin includes a backrest angle adjustment mechanism for adjusting the angle of the backrest at the rear of the seat relative to the base of the passenger cabin. The base and the output part of the kinematic mechanism are respectively connected to the base of the backrest and the passenger compartment. The motion mechanism makes the backrest tilt backward relative to the base of the passenger compartment (to be configured as a bed) or erects the backrest (to provide people with a backrest).

在一些实施例中，如技术方案6所述的载人舱，该载人舱包括载人舱边距调整用运动机构，用于调整该载人舱的至少一边的边部相对于该载人舱的的基座在水平方向上距离，该运动机构的基座和输出件分别连接该载人舱的的基座和该载人舱的至少一边的边部。该运动机构使该载人舱在该水平方向的两边的距离在躺乘距离于小于躺乘距离的距离之间调整，躺乘距离指使人能躺于该载人舱内的距离。可选的，躺乘距离为1.6米。In some embodiments, in the manned cabin as described in technical solution 6, the manned cabin includes a movement mechanism for adjusting the edge distance of the manned cabin, which is used to adjust the edge of at least one side of the manned cabin relative to the manned cabin. The base of the cabin is separated from each other in the horizontal direction, and the base and the output member of the motion mechanism are respectively connected to the base of the manned cabin and at least one edge of the manned cabin. The movement mechanism adjusts the distance between the two sides of the passenger compartment in the horizontal direction between the lying distance and a distance smaller than the lying distance. The lying distance refers to the distance that people can lie in the passenger compartment. Optionally, the lying distance is 1.6 meters.

进一步的，使用第一可分段升降的滚动式行走机构群中第一前后运动机构和/或第一前后运动机构作为载人舱边距调整用运动机构。该方案避免了采用专用的载人舱边距调整用运动机构，节省了成本。Further, the first forward-backward movement mechanism and/or the first forward-backward movement mechanism in the first section-elevating rolling traveling mechanism group are used as the movement mechanism for adjusting the edge distance of the manned cabin. This solution avoids the use of a special kinematic mechanism for adjusting the edge distance of the manned cabin, and saves costs.

一种可移动的设备的控制方法6或一种载人舱的控制方法6，该控制方法6包括步骤1、步骤2、步骤3中至少一种。A control method 6 of a movable device or a control method 6 of a manned cabin, the control method 6 includes at least one of step 1, step 2, and step 3.

步骤1：通过传感器采集与载人空间内人员由坐姿变为站姿相关的信息，当识别模块基于该信息判断该载人空间内人员由坐姿变为站姿时，控制顶部升降机构动作使顶部相对于该载人空间的底部升高和/或控制坐具位姿调整用的运动机构动作使该坐具撤离乘坐位姿。Step 1: Use sensors to collect information related to people changing from a sitting posture to a standing posture in the manned space. When the recognition module determines that the person in the manned space changes from a sitting posture to a standing posture based on the information, control the top lifting mechanism to make the top Relative to the bottom of the manned space, the motion mechanism for raising and/or controlling the posture adjustment of the seat makes the seat withdraw from the sitting posture.

步骤2：控制该载人舱11的载人舱边距离调整用运动机构调整该载人舱的至少一边的边部相对于该载人舱的的基座在水平方向的距离，使该载人舱在该水平方向的两边的距离在躺乘距离于小于躺乘距离的距离之间调整。Step 2: Control the manned cabin side distance adjustment of the manned cabin 11 to adjust the distance between at least one side of the manned cabin and the base of the manned cabin in the horizontal direction with a motion mechanism, so that the manned cabin The distance between the two sides of the cabin in the horizontal direction is adjusted between the lying-riding distance and a distance smaller than the lying-riding distance.

步骤3：控制该载人舱的靠背角度调整机构，使该靠背相对于该载人舱的的基座后倾(配置为床)或使该靠背竖立(供人靠背)。Step 3: Control the backrest angle adjustment mechanism of the manned cabin to make the backrest recline relative to the base of the manned cabin (configure as a bed) or make the backrest upright (for people to backrest).

步骤4：关联控制该载人舱的靠背角度调整机构和该载人舱的载人舱靠背后方的边距调整用运动机构，使该靠背的动作和该靠背后方的边部的动作互不干涉。Step 4: Associatingly control the backrest angle adjustment mechanism of the manned cabin and the motion mechanism for adjusting the margin behind the backrest of the manned cabin of the manned cabin, so that the movement of the backrest and the edge of the backrest of the manned cabin interact non-interference.

关联控制，例如为：先使靠背竖立再使该靠背后方的边部向前运动，或使靠背竖立和该靠背后方的边部向前运动同时进行，或先使靠背后方的边部向后运动靠背后倾，或使靠背后方的边部向后运动和靠背后倾同时进行。该步骤4，能避免靠背和该靠背后方的边部单一动作时容易相互碰撞、抵触的问题。Associated control, for example: make the backrest upright first and then move the edge behind the backrest forward, or make the backrest erect and the edge behind the backrest move forward at the same time, or first make the edge behind the backrest The backrest reclines, or the rearward movement of the edge of the backrest and the backrest reclines simultaneously. This step 4 can avoid the problem that the backrest and the edge at the back of the backrest easily collide with each other and interfere with each other when they move in a single action.

该可移动的设备构造为可载人移动。可移动的设备包括载人舱11或连接载人舱11。载人空间指可移动的设备内的载人空间或载人舱内的载人空间。载人舱内的载人空间内即载人舱内。该顶部指可移动的设备的顶部或载人舱的顶部。载人空间的底部指可移动的设备的底部或载人舱的底部。The mobile device is configured to be transported by people. The movable equipment includes the manned cabin 11 or the connected manned cabin 11 . The manned space refers to the manned space in the movable equipment or the manned space in the manned cabin. The manned space in the manned cabin is the manned cabin. The top refers to the top of the movable equipment or the top of the manned compartment. The bottom of the manned space refers to the bottom of the movable equipment or the bottom of the manned compartment.

该方案的有益效果：人类的天性是每天必须有躺有坐有站，否则会非常不舒适和影响健康。现有技术中，即使是汽车中也只能坐和躺，无法顺利的站。本发明方案，通过控制顶部升降机构1315不仅仅使人能站立于机器人内，当人员由坐姿变为站姿，更提供了一种无人人员干预的(自动化、智能)的“顶随人站”的技术方案，能提高舒适性。控制运动机构使该坐具117撤离乘坐位姿，能使坐具117让出在乘坐位置时占用的空间以供人站立再该空间，易于在设备小型化时提供更大的站立空间和舒适度(设备小型化具有重要意义，便于设备进电梯上公交车回房间，更利于机器人的应用)。该步骤2和步骤3易于实现躺坐的切换。Beneficial effect of this scheme: the nature of human beings must lie down, sit and stand every day, otherwise it will be very uncomfortable and affect health. In the prior art, even in a car, one can only sit and lie down, and cannot stand smoothly. The solution of the present invention not only enables people to stand in the robot by controlling the top lifting mechanism 1315, but also provides a (automated, intelligent) "top-following-person station" that does not require human intervention when the person changes from a sitting position to a standing position. "The technical solution can improve the comfort. Control the motion mechanism to make the seat 117 withdraw from the sitting posture, and the seat 117 can be made to give up the space occupied by the seat for people to stand in this space, which is easy to provide greater standing space and comfort when the equipment is miniaturized (equipment Miniaturization is of great significance, it is convenient for the equipment to enter the elevator, get on the bus and return to the room, which is more conducive to the application of robots). This step 2 and step 3 are easy to realize the switching of reclining and sitting.

7、一种计算机可读存储介质，其特征在于，该计算机可读存储介质上存储有计算机程序，该程序被处理器执行时实现上述控制方法1-6中任一项。7. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, any one of the above control methods 1-6 is implemented.

8、一种可移动的设备的控制装置，其特征在于，该控制装置包括处理器，该处理器用于执行计算机程序，该程序被该处理器执行时实现上述控制方法1-6中任一项。8. A control device for movable equipment, characterized in that the control device includes a processor, the processor is used to execute a computer program, and when the program is executed by the processor, any one of the above-mentioned control methods 1-6 is implemented .

9、一种可移动的设备，其特征在于，包括上述控制装置。9. A movable device, comprising the above-mentioned control device.

附图说明Description of drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或示范性技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the embodiments or exemplary technical descriptions. Obviously, the accompanying drawings in the following descriptions are only for this application. For some embodiments, those skilled in the art can also obtain other drawings based on these drawings without creative efforts.

图1是一种具有机械腿的可移动的设备的立体示意图；Fig. 1 is a perspective schematic diagram of a movable device with mechanical legs;

图2是一种具有机械腿的可移动的设备的俯视方向的示意图；Fig. 2 is a schematic diagram of a top view direction of a movable device with mechanical legs;

图3是一种具有机械腿的可移动的设备的侧视方向的示意图；3 is a schematic diagram of a side view direction of a movable device with mechanical legs;

图4是一种具有机械腿的可移动的设备的侧视方向的简化的结构示意图；Fig. 4 is a simplified structural schematic diagram of a side view direction of a movable device with mechanical legs;

图5是一种多功能的机械腿处于步行状态的可移动的设备的侧视方向的示意图；5 is a schematic diagram of a side view direction of a movable device with a multifunctional mechanical leg in a walking state;

图6是一种含用于使机械腿的基座前后运动的运动机构的可移动的设备的示意图；Fig. 6 is a schematic diagram of a movable device including a kinematic mechanism for moving the base of the mechanical leg back and forth;

图7是一种含用于使机械腿的基座前后运动的运动机构的可移动的设备的示意图；Fig. 7 is a schematic diagram of a movable device including a kinematic mechanism for moving the base of the mechanical leg back and forth;

图8是一种含载人舱的可移动的设备的示意图；Fig. 8 is a schematic diagram of a mobile device containing a manned cabin;

图9是一种含载人舱的可移动的设备的示意图；Fig. 9 is a schematic diagram of a mobile device containing a manned cabin;

图10是一种机械腿的立体示意图；Fig. 10 is a three-dimensional schematic diagram of a mechanical leg;

图11是一种机械腿的侧视方向的示意图；Fig. 11 is a schematic diagram of a side view direction of a mechanical leg;

图12是一种电动推杆的示意图；Fig. 12 is a schematic diagram of an electric push rod;

图13是一种导轨型运动机构的示意图；Fig. 13 is a schematic diagram of a guide rail type motion mechanism;

图14是一种导向机构的示意图；Fig. 14 is a schematic diagram of a guiding mechanism;

图15是一种履带式行走机构的示意图；Fig. 15 is a schematic diagram of a crawler-type traveling mechanism;

图16是本实施例的一种可移动的设备的实体产品示意图；FIG. 16 is a schematic diagram of a physical product of a mobile device in this embodiment;

附图标记：Reference signs:

01、机架；02-腿；01. Rack; 02-leg;

021-第一部位的腿；021L-第一侧的第一部位腿；021R-第二侧的第一部位腿；021 - leg of the first part; 021L - leg of the first part of the first side; 021R - leg of the first part of the second side;

022-第二部位的腿；022L-第一侧的第二部位腿；022R-第二侧的第二部位腿；022 - leg of the second part; 022L - leg of the second part of the first side; 022R - leg of the second part of the second side;

023-第三部位的腿；023L-第一侧的第三部位腿；023R-第二侧的第三部位腿；023 - leg of the third part; 023L - leg of the third part of the first side; 023R - leg of the third part of the second side;

06-抓取装置；062L-第一侧的第二部位腿末端的抓取装置；06 - Gripping device; 062L - Gripping device at the end of the leg of the second part of the first side;

171-第一作业工具：链锯；172-第二作业工具：铲；173-第一作业工具：剪刀；171-first working tool: chain saw; 172-second working tool: shovel; 173-first working tool: scissors;

115、顶部；1151-顶轮；12-第四升降机构；121-第一部位的第四升降机构；121L-第一侧的第一部位的第四升降机构；121R-第二侧的第一部位的第四升降机构；122-第二部位的第四升降机构；122L-第一侧的第二部位的第四升降机构；122R-第二侧的第二部位的第四升降机构；115, top; 1151-top wheel; 12-the fourth lifting mechanism; 121-the fourth lifting mechanism of the first part; 121L-the fourth lifting mechanism of the first part of the first side; 121R-the first of the second side 122-the fourth lifting mechanism of the second part; 122L-the fourth lifting mechanism of the second part of the first side; 122R-the fourth lifting mechanism of the second part of the second side;

181-第一前后运动机构；181L-第一侧的第一前后运动机构；181R-第二侧的第一前后运动机构；181-the first forward and backward motion mechanism; 181L-the first forward and backward motion mechanism of the first side; 181R-the first forward and backward motion mechanism of the second side;

182-第二前后运动机构；182L-第一侧的第二前后运动机构；182R-第二侧的第二前后运动机构；182-the second forward and backward motion mechanism; 182L-the second forward and backward motion mechanism of the first side; 182R-the second forward and backward motion mechanism of the second side;

184-第四前后运动机构；184L-第一侧的第四前后运动机构；184R-第二侧的第四前后运动机构；184—the fourth forward and backward motion mechanism; 184L—the fourth forward and backward motion mechanism of the first side; 184R—the fourth forward and backward motion mechanism of the second side;

211-第一升降机构；211L-第一侧的第一升降机构；211R-第二侧的第一升降机构；211-the first lifting mechanism; 211L-the first lifting mechanism on the first side; 211R-the first lifting mechanism on the second side;

212、第一部位的第三升降机构；212L-第一部位且第一侧的第三升降机构；212R-第一部位且第二侧的第三升降机构；221、第二部位的第三升降机构；221L-第二部位且第一侧的第三升降机构；221R-第二部位且第二侧的第三升降机构；212, the third lifting mechanism of the first part; 212L- the third lifting mechanism of the first part and the first side; 212R- the third lifting mechanism of the first part and the second side; 221, the third lifting mechanism of the second part Mechanism; 221L-the second position and the third lifting mechanism on the first side; 221R-the second position and the third lifting mechanism on the second side;

222、第二升降机构；222L-第一侧的第二升降机构；222R-第二侧的第二升降机构；222, the second lifting mechanism; 222L-the second lifting mechanism on the first side; 222R-the second lifting mechanism on the second side;

511-第一行走轮；051-第一侧的第一行走轮；053-第二侧的第一行走轮；511-the first traveling wheel; 051-the first traveling wheel on the first side; 053-the first traveling wheel on the second side;

512-中部靠前的行走轮；512L-左方的中部靠前的行走轮；512R-右方的中部靠前的行走轮；512-the front walking wheel in the middle; 512L-the front walking wheel in the middle of the left; 512R-the front walking wheel in the right middle;

521-中部靠后的行走轮；521L-第一侧的中部靠后的行走轮；521R-第二侧的中部靠后的行走轮；521-travel wheels behind the middle; 521L-travel wheels behind the middle of the first side; 521R-travel wheels behind the middle of the second side;

522-第二行走轮；052-第一侧的第二行走轮；054-第二侧的第二行走轮；522-the second road wheel; 052-the second road wheel on the first side; 054-the second road wheel on the second side;

07、履带式行驶装置；07M、履带式行走机构；070、履带；07. Crawler-type traveling device; 07M. Crawler-type traveling mechanism; 070. Crawler;

15A、第一车轮；15B、第二车轮；15A, the first wheel; 15B, the second wheel;

10000-地面；10005-障碍物V；O-设备重心位置。10000-ground; 10005-obstacle V; O-equipment center of gravity.

具体实施方式Detailed ways

为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本申请。In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present application.

需说明的是，当部件被称为“固定于”或“设置于”另一个部件，它可以直接在另一个部件上或者间接在该另一个部件上。当一个部件被称为是“连接于”另一个部件，它可以是直接或者间接连接至该另一个部件上。术语“上”、“下”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。术语“第一”、“第二”仅用于便于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明技术特征的数量。“多个”的含义是两个或两个以上，除非另有明确具体限定。It should be noted that when a component is referred to as being “fixed on” or “disposed on” another component, it may be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are for convenience of description only, rather than indicating or implying the referred device Or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the application, and those of ordinary skill in the art can understand the specific meanings of the above terms according to specific situations. The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of technical features. "Plurality" means two or more, unless otherwise clearly and specifically defined.

本文中，行驶方向为滚动式行走机构的行驶方向。可选地，行驶方向X1可以是水平方向，或与水平方向具有一定夹角的倾斜方向。可以理解的是，行驶方向X1沿水平方向设置时，机架01沿水平方向进行水平移动，比如沿水平设置的地面行驶。而行驶方向X1为倾斜方向时，机架01能够沿倾斜方向进行移动，比如爬坡或爬楼梯。中部靠前的轮即中部靠前的行走轮。中部靠后的轮即中部靠后的行走轮In this paper, the traveling direction is the traveling direction of the rolling traveling mechanism. Optionally, the driving direction X1 may be a horizontal direction, or an inclined direction having a certain angle with the horizontal direction. It can be understood that, when the traveling direction X1 is set along the horizontal direction, the frame 01 moves horizontally along the horizontal direction, for example, runs along a horizontally set ground. When the traveling direction X1 is an inclined direction, the frame 01 can move along an inclined direction, such as climbing a slope or climbing stairs. The front wheel in the middle is the walking wheel in the middle. The wheel behind the middle is the walking wheel behind the middle

请参阅图1至图7：本申请实施例提供了：Please refer to Fig. 1 to Fig. 7: the embodiment of this application provides:

1.技术方案1：一种可移动的设备，包括：1. Technical solution 1: a mobile device, comprising:

机架01； Rack 01;

连接于该机架01的能用于步行的多条机械腿02；A plurality of mechanical legs 02 that can be used for walking are connected to the frame 01;

连接于该机架01的滚动式行走机构，该滚动式行走机构用于驱动该设备沿路面行驶；A rolling traveling mechanism connected to the frame 01, the rolling traveling mechanism is used to drive the equipment to travel along the road;

该设备还包括滚动件升降机构，该滚动件升降机构的一端连接所述机架01，该滚动件升降机构的另一端连接所述滚动式行走机构；和/或，该设备还包括用于使该机械腿02的基座相对于该机架01能实现上下运动和/或前后运动的第四运动机构，该第四运动机构的一端连接所述机架01，该第四运动机构的另一端连接所述机械腿02的基座；和/或，多条该机械腿02中至少一条机械腿的末端设有作业工具17或设有用于连接作业工具17的连接部，该机械腿和该作业工具17均配置为用于特定的作业，该特定的作业包括切割物体和/或挖掘或铲物。第一前轮即前轮即第一行走轮。第二后轮即后轮即第二行走轮。重心位置即中心位置。The equipment also includes a rolling element lifting mechanism, one end of the rolling element lifting mechanism is connected to the frame 01, and the other end of the rolling element lifting mechanism is connected to the rolling walking mechanism; and/or, the equipment also includes a mechanism for using The base of the mechanical leg 02 can realize the fourth motion mechanism that moves up and down and/or forward and backward relative to the frame 01. One end of the fourth motion mechanism is connected to the frame 01, and the other end of the fourth motion mechanism Connect the base of the mechanical leg 02; and/or, the end of at least one mechanical leg in a plurality of the mechanical legs 02 is provided with a working tool 17 or is provided with a connecting portion for connecting the working tool 17, the mechanical leg and the working The implements 17 are each configured for a particular job including cutting an object and/or digging or shoveling. The first front wheel is the front wheel and is the first running wheel. The second rear wheel is the rear wheel and is the second road wheel. The center of gravity is the center position.

1.0.机械腿02的连接、作业工具17的实施方案：1.0. The connection of the mechanical leg 02 and the implementation of the working tool 17:

可选的，用于切割物体的作业工具17为刀。可选的，用于挖掘或铲物的作业工具17为铲。Optionally, the working tool 17 for cutting objects is a knife. Optionally, the working tool 17 for digging or shoveling is a shovel.

例如，该特定的作业仅仅为切割物体，该作业工具17为用于切割物体的作业工具17。For example, the specific work is only cutting objects, and the working tool 17 is the working tool 17 for cutting objects.

或例如，该特定的作业仅仅为挖掘或铲物，则该作业工具17为用于挖掘或铲物的作业工具17。Or for example, if the specific operation is only digging or shoveling, then the working tool 17 is the working tool 17 for digging or shoveling.

或例如，该特定的作业为切割物体及挖掘或铲物，则该作业工具17为用于切割物体的作业工具17和用于挖掘或铲物的作业工具17。多个作业工具17既可连接于同一条机械腿的末端，也可分别连接于多条机械腿的末端。Or for example, if the specific operation is cutting objects and digging or shoveling, then the working tool 17 is the working tool 17 for cutting objects and the working tool 17 for digging or shoveling. Multiple operating tools 17 can be connected to the end of the same mechanical leg, or can be connected to the ends of multiple mechanical legs respectively.

请参阅图1-图5：更具体的，Please refer to Figures 1-5: More specifically,

可移动的设备中，机械腿02设置为2条或4条。每条机械腿02的基座连接机架01。具体的，相对于机架01重心O点,可移动的设备包括：设于第一侧第一部位的(左前)腿021L、第二侧第一部位的(右前)腿021R、第一侧第二部位的(左后)腿022L、第二侧第二部位的(右后)腿022R。In the movable equipment, the mechanical legs 02 are set to 2 or 4. The base of each mechanical leg 02 is connected to the frame 01. Specifically, relative to the center of gravity O point of the frame 01, the movable equipment includes: the (left front) leg 021L at the first part of the first side, the (right front) leg 021R at the first part of the second side, and the second The second part (rear left) leg 022L, the second side second part (rear right) leg 022R.

图2中设备有6腿，其还包括：第一侧第三部位(左中)腿023L、第二侧第三部位(右中)腿023R。The device in Fig. 2 has 6 legs, which also includes: the third part (middle left) leg 023L on the first side, and the third part (middle right) leg 023R on the second side.

(左前)腿021L的末端连接有链锯171；(右前)腿021R的末端连接有铲172；(左后)腿022R的末端连接有取物装置062L；(右后)腿022R的末端连接有剪刀173。The end of (left front) leg 021L is connected with chainsaw 171; the end of (right front) leg 021R is connected with shovel 172; Scissors173.

1.1.在一些实施例中，如上述技术方案1所述的可移动的设备，该机械腿02的末端设置有滚轮106；或，该设备的顶部115通过第五升降机构1315连接机架01使该顶部115相对于所述机架01能升降和/或该顶部115设置有滚轮1151。1.1. In some embodiments, as for the mobile device described in the above technical solution 1, the end of the mechanical leg 02 is provided with a roller 106; or, the top 115 of the device is connected to the frame 01 through the fifth lifting mechanism 1315 so that The top 115 can be raised and lowered relative to the frame 01 and/or the top 115 is provided with rollers 1151 .

请参阅图1-图5、图11：每条该机械腿02的末端可设置一或两个滚轮106。滚轮106连接于机械腿02的小腿104的末端，且更具体的，滚轮106连接于机械腿02的小腿104的末端的第三关节部中第一末端旋转用的关节1051的输出件。该第一末端旋转用的关节1051还用于驱动所连接的滚轮106转向。至少两条机械腿02的末端的滚轮106连接驱动器。该驱动器用于驱动该滚轮使该设备沿路面行驶。为了节能和优化结构或力学布局，该滚轮直径或重量小于滚动式行走机构中行走轮。Please refer to FIG. 1-FIG. 5 and FIG. 11 : one or two rollers 106 can be arranged at the end of each mechanical leg 02 . The roller 106 is connected to the end of the lower leg 104 of the mechanical leg 02 , and more specifically, the roller 106 is connected to the output member of the first end rotating joint 1051 in the third joint part of the lower leg 104 of the mechanical leg 02 . The joint 1051 for the rotation of the first end is also used to drive the connected roller 106 to turn. The rollers 106 at the ends of at least two mechanical legs 02 are connected to the drives. The driver is used to drive the roller to make the device run along the road. In order to save energy and optimize the structure or mechanical layout, the diameter or weight of the roller is smaller than that of the traveling wheel in the rolling traveling mechanism.

请参阅图1-图5：顶部115可为顶板，顶部115的滚轮1151可设置于顶板的两侧。第五升降机构1315可为竖向连接于机架01的线性运动机构。具体的该线性运动机构为电动推杆、伸缩式液压缸。本实施例中第五升降机构1315为电动推杆。Please refer to FIGS. 1-5 : the top 115 can be a top plate, and the rollers 1151 of the top 115 can be arranged on both sides of the top plate. The fifth lifting mechanism 1315 can be a linear motion mechanism vertically connected to the frame 01 . Specifically, the linear motion mechanism is an electric push rod and a telescopic hydraulic cylinder. In this embodiment, the fifth lifting mechanism 1315 is an electric push rod.

上述可移动的设备的控制方法：当该设备在管道中行驶或作业时，控制该机械腿02使该机械腿02末端的滚轮106抵接与该滚动式行走机构相对的方位的管壁；或，控制该第五升降机构1315使该该顶部115抵接与该滚动式行走机构相对的方位的管壁；或，控制该机架01两侧的机械腿02使该两侧机械腿02末端的滚轮106分别抵接该机架01两侧的管道内壁，控制该滚轮106的驱动器通过该滚轮106驱动该设备沿管道行驶。The control method of the above-mentioned movable equipment: when the equipment is running or working in the pipeline, control the mechanical leg 02 so that the roller 106 at the end of the mechanical leg 02 abuts against the pipe wall in the direction opposite to the rolling walking mechanism; or , control the fifth lifting mechanism 1315 so that the top 115 abuts against the pipe wall in the direction opposite to the rolling walking mechanism; or, control the mechanical legs 02 on both sides of the frame 01 so that the ends of the mechanical legs 02 on both sides The rollers 106 abut against the inner walls of the pipeline on both sides of the frame 01 respectively, and the driver controlling the rollers 106 drives the device to travel along the pipeline through the rollers 106 .

当设备在横向管道中行驶时，该滚动式行走机构抵接管道下方，则该相对的方位为上方。当该设备在竖向管道中行驶时，该滚动式行走机构抵接管道的前方，则该相对的方位为后方。When the equipment travels in the horizontal pipeline, the rolling traveling mechanism abuts against the bottom of the pipeline, and the relative orientation is upward. When the equipment travels in the vertical pipeline, the rolling traveling mechanism abuts against the front of the pipeline, and the relative orientation is the rear.

使该两侧滚轮分别抵接该两侧的管道内壁，即：左侧的腿带动该腿末端的轮抵接左侧的管壁，右侧的腿带动该腿末端的轮抵接右侧的管壁。该方案用于使该设备跨越靠该滚动式行走机构方位的障碍。The rollers on both sides are respectively abutted against the inner wall of the pipe on both sides, that is, the left leg drives the wheel at the end of the leg to abut against the left pipe wall, and the right leg drives the wheel at the end of the leg to abut against the right side. tube wall. The scheme is used to make the equipment span the obstacles azimuthed by the rolling running gear.

该抵接相对方位的方案，用于防止该可移动的设备在管道中打滑。即使横向管道或竖向管道防止打滑或越障，均可使用该方法，能增强该设备在管道作业中能力。The solution of the relative orientation of the abutment is used to prevent the movable equipment from slipping in the pipeline. This method can be used even if the horizontal pipeline or the vertical pipeline is prevented from slipping or overcoming obstacles, which can enhance the capability of the equipment in pipeline operations.

1.2.在一些实施例中，如上述技术方案1所述的可移动的设备中，该机械腿02设置有用于给该作业工具供电的供电部件，该供电部件的一端用于连接该作业工具，该供电部件的另一端连接设置于该机架01的电源。该方案的实施：供电部件可为电源接口和/或线路。本实施例中，供电部件为电源接口和线路，电源为电池。且该电源接口为可插拔式电源接口，以供作业工具取电。该线路为导线，一端连接该电源接口另一端连接该机架01的电池。1.2. In some embodiments, in the mobile device described in the above technical solution 1, the mechanical leg 02 is provided with a power supply component for supplying power to the working tool, and one end of the power supply component is used to connect the working tool, The other end of the power supply component is connected to a power source provided on the rack 01 . Implementation of this solution: the power supply component may be a power interface and/or a circuit. In this embodiment, the power supply components are a power interface and a circuit, and the power supply is a battery. And the power interface is a pluggable power interface for powering the working tools. The line is a wire, one end is connected to the power interface and the other end is connected to the battery of the frame 01.

该方案的有益效果：该多功能的机械腿02设置有该供电部件，不仅仅使作业工具得到电源供应(1+1＝2)，更重要减小该机械腿02的末端承重、利于节能(额外好处1)，该方案还优化了可移动的设备整机的力学性能。Beneficial effects of this solution: the multifunctional mechanical leg 02 is provided with the power supply part, not only enables the working tool to be supplied with power (1+1=2), but more importantly reduces the end load of the mechanical leg 02, which is beneficial to energy saving ( Additional benefit 1), this solution also optimizes the mechanical properties of the mobile equipment.

1.3.机械腿02的细节方案说明：请参阅图10、图11，1.3. Detailed plan description of mechanical leg 02: Please refer to Figure 10 and Figure 11,

在内部结构上：本文中任一机械腿02均包括依次连接的第一关节部101、第一连杆102、第二关节部103和第二连杆104。在该第一关节部101的驱动下第一连杆102相对于机架01能摇摆。在该第二关节部103的驱动下该第二连杆104相对于第一连杆102能摇摆。In terms of internal structure: any mechanical leg 02 herein includes a first joint part 101 , a first connecting rod 102 , a second joint part 103 and a second connecting rod 104 connected in sequence. Driven by the first joint part 101 , the first link 102 can swing relative to the frame 01 . Driven by the second joint part 103 , the second link 104 can swing relative to the first link 102 .

可选的，机械腿02至少包括三个末端位置调整用关节，该至少三个末端位置调整用关节用于使该多功能的机械腿02的末端的位置在X向、Y向和Z向均可调整。末端的位置在X向、Y向和Z向均可调整指末端的位置在三维空间均能调整。该至少三个末端位置调整用关节依次连接。Optionally, the mechanical leg 02 includes at least three joints for adjusting the end position, and the at least three joints for adjusting the end position are used to make the position of the end of the multifunctional mechanical leg 02 uniform in the X direction, the Y direction and the Z direction. adjustable. The position of the end can be adjusted in the X direction, the Y direction and the Z direction, which means that the position of the end can be adjusted in three-dimensional space. The at least three terminal position adjustment joints are sequentially connected.

1.4.本发明提供一种机械腿02：包括依次连接的使腿部旋转的第一旋转关节1011、使第一连杆102相对于机械腿基座摆动的第一摆动关节1012、第一连杆102、用于使该第二连杆104相对于该第一连杆102摆动的第二摆动关节103和第二连杆104；该机械腿02的基座为该第一旋转关节1011的基座，且该第一旋转关节1011连接于该机架01；且该方案还包括下述方案B1或B2或B3。1.4. The present invention provides a mechanical leg 02: including the first rotary joint 1011 connected in sequence to rotate the leg, the first swing joint 1012 to swing the first connecting rod 102 relative to the base of the mechanical leg, and the first connecting rod 102. The second swing joint 103 and the second link 104 for swinging the second link 104 relative to the first link 102; the base of the mechanical leg 02 is the base of the first rotary joint 1011 , and the first rotary joint 1011 is connected to the frame 01; and this solution also includes the following solution B1 or B2 or B3.

B1：该第一旋转关节1011的输出轴A1指向上下，该第一摆动关节1012和该第二摆动关节103的驱动器为线性驱动器；或，B1: the output shaft A1 of the first rotary joint 1011 points up and down, and the drives of the first swing joint 1012 and the second swing joint 103 are linear drives; or,

B2：该第一摆动关节1012和该第二摆动关节103的驱动器为旋转驱动器；或，B2: the drivers of the first swing joint 1012 and the second swing joint 103 are rotary drives; or,

B3：该第一旋转关节1011的输出轴A1指向前后；或，B3: the output shaft A1 of the first rotary joint 1011 points forward and backward; or,

B4：当该机械腿02连接于该机架01的左侧或右侧时该第一旋转关节1011的输出轴指向左右。B4: When the mechanical leg 02 is connected to the left or right side of the frame 01, the output shaft of the first rotary joint 1011 points to the left and right.

该机械腿02可用于本文中任一方案中。The mechanical leg 02 can be used in any scheme herein.

机械腿的连接方案有成百上千种，本发明方案优选方案1.3，其具有多种益处如下：There are hundreds of connection schemes for mechanical legs. The preferred scheme of the present invention is scheme 1.3, which has various benefits as follows:

该B1方案，能提升机械腿02的载荷承受能力。机械腿02在抵地时(因需要抬起设备)机械腿02中从脚开始到该机械腿02的基座均承受巨大的载荷。第一旋转关节1011的输出轴指向上下且该第一旋转关节1011连接于该机架01，由第一旋转关节1011的基座和该机架01承担该机械腿02抵地所产生的(较大的径向剪切)力。该方案避免了第一旋转关节1011需输出大力矩的风险，巧妙的，该第一旋转关节1011只需要输出较小的力矩使腿部绕Z轴旋转也即偏转。且该第一摆动关节1012和该第二摆动关节的驱动器为线性驱动器，能低成本的实现大功率的作业。该5.1方案能应用于挖掘作业或较重机型设备的简易步行。The B1 scheme can improve the load bearing capacity of the mechanical leg 02. When the mechanical leg 02 reaches the ground (because of the need to lift the equipment), the mechanical leg 02 starts from the foot to the base of the mechanical leg 02 and bears a huge load. The output shaft of the first rotary joint 1011 points up and down and the first rotary joint 1011 is connected to the frame 01. Large radial shear) force. This solution avoids the risk that the first rotary joint 1011 needs to output a large torque, cleverly, the first rotary joint 1011 only needs to output a small torque to make the leg rotate around the Z axis, that is, deflect. Moreover, the drivers of the first swing joint 1012 and the second swing joint are linear drives, which can realize high-power operation at low cost. The 5.1 scheme can be applied to excavation work or easy walking of heavy-duty equipment.

该B2方案，该第一摆动关节1012和该第二摆动关节的驱动器为旋转驱动器，使各关节的输出件的摆动角度能大于180度。相较于由线性驱动器驱动的摆动关节方案，提高了作业灵活度和/或作业范围。In the solution B2, the drivers of the first swing joint 1012 and the second swing joint are rotary drives, so that the swing angle of the output parts of each joint can be greater than 180 degrees. Compared to solutions with swivel joints driven by linear drives, the working flexibility and/or working range are increased.

该B3方案，该第一旋转关节1011的输出轴指向前后有益处一和/或益处二：In the B3 scheme, the output shaft of the first rotary joint 1011 points forward and backward, which has benefit 1 and/or benefit 2:

益处一：用于扩大机械腿02在设备的前后区作业时活动范围。从作业的角度，在设备的前区或后区的作业非常重要，最主要的作业方位为前后区。相较于输出轴指向左右或上下，该输出轴指向前后方案使设备在前区或后区作业的范围更宽广。Benefit 1: It is used to expand the range of motion of the mechanical leg 02 when working in the front and rear areas of the equipment. From the perspective of operation, it is very important to work in the front or rear area of the equipment, and the most important working direction is the front and rear areas. Compared with the output shaft pointing to the left and right or up and down, the output shaft points to the front and back so that the equipment can work in a wider range in the front or rear area.

益处二：用于在机械腿02步行时形成第一连杆102相对于腿基左右摇摆、第一连杆102相对于腿基前后摇摆、第二连杆相对于第一连杆102前后摇摆的动作。该三个维度的摇摆动作，使多条机械腿能产生(标准的、完美的两腿或四腿或更多腿的)多腿交替步行动作。Benefit 2: It is used to form the first link 102 to swing left and right relative to the leg base, the first link 102 to swing back and forth relative to the leg base, and the second link to swing back and forth relative to the first link 102 when the mechanical leg 02 walks action. The three-dimensional swing motion enables the multiple mechanical legs to produce (standard, perfect two-leg or four-leg or more) multi-leg alternating walking motion.

若该第一旋转关节1011的输出轴指向上下，则不便于机械腿02步行时同时形成第一连杆102相对于腿基左右摇摆和前后摇摆的动作，这也是现有技术中挖掘机的挖掘臂只能使挖掘机简单爬行而无法多腿交替步行的根源之一。且挖掘臂的大臂受底部的基座的阻挡，向下摆动的幅度非常有限。If the output shaft of the first rotary joint 1011 points up and down, it is not convenient for the mechanical leg 02 to simultaneously swing from side to side and back and forth with respect to the leg base when the mechanical leg 02 is walking. One of the reasons why the arm can only make the excavator simply crawl and cannot walk alternately with multiple legs. And the boom of the excavating arm is blocked by the base at the bottom, and the downward swing is very limited.

该B4方案，有益于对设备提高机械腿02在左侧或右侧时的作业效率。The B4 scheme is beneficial to improve the working efficiency of the equipment when the mechanical leg 02 is on the left or right.

如方案1.4所示的一种机械腿02的控制方法，该机械腿02所含的该第一旋转关节1011的输出轴指向前后，该控制方法用于使该设备通过该机械腿02步行，该控制方法包括步骤：As shown in Scheme 1.4, a control method of the mechanical leg 02, the output shaft of the first rotary joint 1011 contained in the mechanical leg 02 points forward and backward, the control method is used to make the device walk through the mechanical leg 02, the The control method includes the steps of:

控制该第一旋转关节1011使第一连杆102处于下垂的姿态和使第一连杆102相对于机械腿基座左右摇摆，控制该第一摆动关节1012使第一连杆102相对于机械腿基座前后摆动，控制该第二摆动关节103使该第二连杆104相对于该第一连杆102前后摆动。Control the first rotary joint 1011 so that the first connecting rod 102 is in a drooping posture and make the first connecting rod 102 swing left and right relative to the base of the mechanical leg, and control the first swing joint 1012 to make the first connecting rod 102 relative to the mechanical leg The base swings back and forth, and the second swing joint 103 is controlled to make the second link 104 swing back and forth relative to the first link 102 .

更具体的，请参阅图10、图11，机械腿02的具体实施细节：More specifically, please refer to Figure 10 and Figure 11, the specific implementation details of the mechanical leg 02:

第一旋转关节1011、第一摆动关节1012均属于第一关节部101。因第二关节部103仅仅含第二摆动关节，所以第二关节部103即第二摆动关节。Both the first rotary joint 1011 and the first swing joint 1012 belong to the first joint part 101 . Since the second joint part 103 only includes the second swing joint, the second joint part 103 is the second swing joint.

该第一关节部101连接该机架01指该第一旋转关节1011的基座连接于该机架01。机械腿02与机架01的连接面可为第一旋转关节1011的F处，第一部位(例如第一部位(前部))腿021的连接面连接机架01中朝前的面。第二部位(例如为后部)腿022的连接面连接机架01中朝后的面。机械腿02的基座为该第一旋转关节1011的基座。The connection of the first joint part 101 to the frame 01 means that the base of the first rotary joint 1011 is connected to the frame 01 . The connecting surface of the mechanical leg 02 and the frame 01 can be at F of the first rotary joint 1011 , and the connecting surface of the leg 021 of the first part (for example, the first part (front part)) is connected with the front facing surface of the frame 01 . The connection surface of the leg 022 of the second part (for example, the rear part) connects the rear facing surface of the frame 01 . The base of the mechanical leg 02 is the base of the first rotary joint 1011 .

第一旋转关节1011输出件的轴线A1平行(重合)与该关节的旋转轴。该第一摆动关节1012用于调整该第一连杆102相对于该机械腿基座的夹角ag2。该第一连杆102的轴线垂直于该第一摆动关节1012的输出轴。第二摆动关节103的旋转轴A3与第一摆动关节1012的旋转轴A2平行。该第二摆动关节103用于调整该第二连杆104相对于该第一连杆102的夹角ag3。该第二连杆104的轴线A4垂直于该第二摆动关节103的输出轴A3。The axis A1 of the output member of the first rotary joint 1011 is parallel to (coincident with) the axis of rotation of the joint. The first swing joint 1012 is used to adjust the included angle ag2 of the first connecting rod 102 relative to the base of the mechanical leg. The axis of the first link 102 is perpendicular to the output shaft of the first swing joint 1012 . The rotation axis A3 of the second swing joint 103 is parallel to the rotation axis A2 of the first swing joint 1012 . The second swing joint 103 is used to adjust the included angle ag3 of the second link 104 relative to the first link 102 . The axis A4 of the second link 104 is perpendicular to the output axis A3 of the second swing joint 103 .

例如，请参阅图11，该第二摆动关节103的驱动器为线性驱动器103A，例如该线性驱动器103A为电动推杆或伸缩式液压缸。例如驱动关节的旋转驱动器为旋转电机。For example, referring to FIG. 11 , the driver of the second swing joint 103 is a linear driver 103A, for example, the linear driver 103A is an electric push rod or a telescopic hydraulic cylinder. Rotary drives that drive joints are, for example, rotary motors.

可选的，该机械腿02还包括第三关节部，该第三关节部连接该第二连杆104的末端和末端用具，该第三关节部用于调整末端用具姿态。该末端用具为脚掌106A和/或滚轮106和/或取物装置06和/或作业工具17。该第三关节部包括第一末端旋转用的关节1051、使末端用具相对于该第二连杆104摆动用的关节1052、第二末端旋转用的关节1053中任一种或任意多种。该第一末端旋转用的输出轴平行于(或重合于)该第二连杆104的轴线A4。该第一末端旋转用的关节1051用于使该末端用具绕该第二连杆104的轴线A4旋转。该关节1052的输出轴垂直于该关节1051的输出轴。该关节1052用于调整该末端用具相对于该第二连杆104的夹角ag5。该关节1053的输出轴垂直于该关节1052的输出轴。该关节1053用于使该末端用具绕该关节1053输出轴的轴线A6旋转。Optionally, the mechanical leg 02 further includes a third joint part, the third joint part connects the end of the second link 104 and the end device, and the third joint part is used to adjust the attitude of the end device. The end appliance is sole 106A and/or roller 106 and/or fetching device 06 and/or working tool 17. The third joint part includes any one or more of a joint 1051 for rotating the first end, a joint 1052 for swinging the end device relative to the second link 104 , and a joint 1053 for rotating the second end. The output shaft for the rotation of the first end is parallel to (or coincident with) the axis A4 of the second connecting rod 104 . The joint 1051 for rotating the first end is used to rotate the end device around the axis A4 of the second link 104 . The output axis of the joint 1052 is perpendicular to the output axis of the joint 1051 . The joint 1052 is used to adjust the included angle ag5 of the end device relative to the second link 104 . The output axis of the joint 1053 is perpendicular to the output axis of the joint 1052 . The joint 1053 is used to rotate the end tool about the axis A6 of the output shaft of the joint 1053 .

请参阅图5、图10、图11，机械腿包括第三关节部，第三关节部包括使末端用具相对于第二连杆摆动用的关节，机械腿用于步行时，该关节使该关节末端所连接的取物装置和/或作业工具上摆。以防止该取物装置和/或作业工具触地。防取物装置(062L)和/或作业工具(171、1721、73)干涉步行、被踩坏。Referring to Fig. 5, Fig. 10, and Fig. 11, the mechanical leg includes a third joint, and the third joint includes a joint for making the end appliance swing relative to the second connecting rod. When the mechanical leg is used for walking, the joint makes the joint The retrieval device and/or work tool connected at the end swing up. To prevent the retrieval device and/or work tool from touching the ground. The anti-fetching device (062L) and/or working tools (171, 1721, 73) interfere with walking and are trampled.

机械腿中：第一关节部为髋关节；第一连杆即大腿；第二关节部为膝关节；第二连杆即小腿；第三关节部为踝关节；末端执行器为脚。末端执行器即末端用具。In the mechanical leg: the first joint part is the hip joint; the first connecting rod is the thigh; the second joint part is the knee joint; the second connecting rod is the lower leg; the third joint part is the ankle joint; the end effector is the foot. The end effector is the end appliance.

若机械腿02为腿臂融合的肢体机构，则在上述方案1.4中，腿部即肢体；机械腿基座即肢体基座；第一关节部还具肩关节功能；第一连杆还具大臂功能；第二关节部还具肘关节功能；第二连杆还具小臂功能；第三关节部中部分或全部关节还具腕关节功能；末端执行器还包括取物装置和/或作业工具。If the mechanical leg 02 is a limb mechanism of leg-arm fusion, then in the above-mentioned scheme 1.4, the leg is the limb; the base of the mechanical leg is the limb base; the first joint also has the function of shoulder joint; The arm function; the second joint part also has the function of the elbow joint; the second link also has the function of the forearm; some or all of the joints in the third joint part also have the function of the wrist joint; the end effector also includes the retrieval device and/or operation tool.

机械臂也可采用上述机械腿02的结构，一种机械臂：包括依次连接的使臂部旋转的第一旋转关节、使第一连杆相对于臂基座摆动的第一摆动关节、第一连杆、用于使该第二连杆相对于该第一连杆摆动的第二摆动关节和第二连杆。该机械臂的基座为该第一旋转关节的基座，且该第一旋转关节连接机架。The mechanical arm can also adopt the structure of the above-mentioned mechanical leg 02. A mechanical arm includes a first rotary joint connected in sequence to rotate the arm, a first swing joint to swing the first connecting rod relative to the arm base, a first A connecting rod, a second swing joint for swinging the second connecting rod relative to the first connecting rod, and a second connecting rod. The base of the mechanical arm is the base of the first rotary joint, and the first rotary joint is connected to the frame.

机械臂中：第一关节部即肩关节；第一连杆即大臂；第二关节部即肘关节；机械臂中第二连杆即小臂；第三关节部即腕关节。In the robotic arm: the first joint is the shoulder joint; the first link is the arm; the second joint is the elbow; the second link in the robotic arm is the forearm; the third joint is the wrist.

1.5，请参阅图10、图11：本发明还提供一种取物装置06，1.5, please refer to Fig. 10 and Fig. 11: the present invention also provides a fetching device 06,

该取物装置06连接于机械腿02末端，该取物装置06包含：用于取物的线性移动机构06_2，该用于取物的线性移动机构06_2一端连接机械腿02末端，另一端连接用于钩物体的钩06_3，该用于取物的线性移动机构06_2用于驱动该钩06_3直线运动以抓取物体。该取物装置06用于抓取外部物体。可选的，该外部物体为该作业工具17或作业对象或作业物料。该机械腿02末端尤其指第二末端旋转用的关节1053的输出件。该用于取物的线性移动机构06_2驱动钩06_3沿该线性移动机构的运动轴线向外运动以释放外部物体。该用于取物的线性移动机构06_2驱动该钩06_3沿该线性移动机构的运动轴线向内运动以抓取外部物体。该向外可参考附图中OUT图标所指方向。该向内可参考附图中IN图标所指方向。该取物装置06可用于本文中任一方案中。The fetching device 06 is connected to the end of the mechanical leg 02, and the fetching device 06 includes: a linear movement mechanism 06_2 for fetching, one end of the linear movement mechanism 06_2 for fetching is connected to the end of the mechanical leg 02, and the other end is connected to For the hook 06_3 for hooking objects, the linear movement mechanism 06_2 for picking up objects is used to drive the hook 06_3 to move linearly to grab objects. The fetching device 06 is used for grabbing external objects. Optionally, the external object is the working tool 17 or working object or working material. The end of the mechanical leg 02 especially refers to the output member of the joint 1053 for the second end to rotate. The linear movement mechanism 06_2 for fetching objects drives the hook 06_3 to move outward along the movement axis of the linear movement mechanism to release external objects. The linear movement mechanism 06_2 for fetching objects drives the hook 06_3 to move inward along the movement axis of the linear movement mechanism to grab external objects. For the outward direction, please refer to the direction indicated by the OUT icon in the attached figure. The inward direction can refer to the direction indicated by the IN icon in the attached drawing. The fetching device 06 can be used in any scheme herein.

该方案的实施：用于取物的线性移动机构06_2为电动推杆或为丝杠机构或伸缩式液压缸或伸缩式气缸。本实施例中为电动推杆。该钩06_3为金属钩，且该钩06_3的尺寸设为与作业工具17相适配，例如钩顶的圆弧半径设为3厘米。The implementation of this scheme: the linear moving mechanism 06_2 that is used for fetching is an electric push rod or is a screw mechanism or a telescopic hydraulic cylinder or a telescopic cylinder. In this embodiment, it is an electric push rod. The hook 06_3 is a metal hook, and the size of the hook 06_3 is set to be compatible with the working tool 17, for example, the radius of the arc at the top of the hook is set to 3 cm.

该方案的效果：因本文中可移动的设备中多功能的机械腿02不仅用步行，还兼具持物作业或沿外部物体攀爬功能，尤其需要可靠的抓取能力(否则将难以握稳作业工具或攀爬时易坠)，该取物装置06采用钩直线抓取的方式，相较于现有技术中铰接式摆动的夹持方案，有更大抓取力度、更高抓取可靠性。The effect of this solution: Therefore, the multi-functional mechanical leg 02 in the mobile device in this paper not only can be used for walking, but also has the function of holding objects or climbing along external objects, especially reliable grasping ability (otherwise it will be difficult to hold the work steadily) tools or easy to fall when climbing), the pick-up device 06 adopts the way of grabbing in a straight line with a hook, which has greater grabbing strength and higher grabbing reliability than the hinged swing clamping scheme in the prior art .

1.6.可选的，如上述技术方案1所述的可移动的设备、一种可移动的设备的控制方法1中：1.6. Optionally, in the movable device described in the above-mentioned technical solution 1, and in the control method 1 of a movable device:

该第四运动机构包括用于使所述机械腿02的基座实现上下运动的第四升降机构12、用于使所述机械腿02的基座实现前后运动的第四前后运动机构、用于使所述机械腿02的基座实现上下前后摆动的第一单级摆动机构中任意一种或任意多种。The fourth movement mechanism includes a fourth lifting mechanism 12 for moving the base of the mechanical leg 02 up and down, a fourth forward and backward movement mechanism for moving the base of the mechanical leg 02 forward and backward, Any one or multiples of the first single-stage swing mechanisms that enable the base of the mechanical leg 02 to swing up and down.

可选的，前后运动指由中部或前部运动至后部，或指由由中部后后部运动至前部。Optionally, the forward and backward movement refers to movement from the middle or the front to the back, or from the middle back to the front.

第四运动机构即腿根运动机构。第四前后运动机构即腿根前后运动机构(18)。The fourth motion mechanism is the leg root motion mechanism. The fourth forward and backward motion mechanism is the leg root forward and backward motion mechanism (18).

该第四升降机构12沿竖直方向连接机架01，该第四升降机构12的输出件连接所述机械腿02的基座。该第四前后运动机构的基座沿前后方向连接机架01，该第四前后运动机构的输出件连接所述机械腿02的基座。第四升降机构12和第四前后运动机构均可采用导轨型运动机构、电动推杆或伸缩式液压缸。本实施例中，第四升降机构12和第四前后运动机构选用导轨型运动机构。The fourth lifting mechanism 12 is connected to the frame 01 along the vertical direction, and the output member of the fourth lifting mechanism 12 is connected to the base of the mechanical leg 02 . The base of the fourth forward-backward movement mechanism is connected to the frame 01 along the front-back direction, and the output member of the fourth forward-backward movement mechanism is connected to the base of the mechanical leg 02 . Both the fourth elevating mechanism 12 and the fourth front and rear movement mechanism can adopt guide rail type movement mechanism, electric push rod or telescopic hydraulic cylinder. In this embodiment, the fourth elevating mechanism 12 and the fourth forward and backward movement mechanism are guide rail type movement mechanisms.

该第一单级摆动机构的基座连接于该机架01的左侧或右侧，且该第一单级摆动机构的旋转轴指向左右，该第一单级摆动机构的输出件连接所述机械腿02的基座。第一单级摆动机构的旋转机构可采用齿轮组机构、涡轮蜗杆机构。本实施例中，选用涡轮蜗杆机构其能自锁定位。The base of the first single-stage swing mechanism is connected to the left or right side of the frame 01, and the rotation axis of the first single-stage swing mechanism points to the left and right, and the output member of the first single-stage swing mechanism is connected to the The base of the mechanical leg 02. The rotation mechanism of the first single-stage swing mechanism can adopt a gear set mechanism, a worm gear mechanism. In this embodiment, a worm and screw mechanism is selected for self-locking position.

请参阅图1、图2、图3、图4和图5；图1为该设备的立体结构图；图2为俯视图，图3、图4和图5均为侧视图。Please refer to Figure 1, Figure 2, Figure 3, Figure 4 and Figure 5; Figure 1 is a three-dimensional structure diagram of the device; Figure 2 is a top view, Figure 3, Figure 4 and Figure 5 are side views.

该可移动的设备包括机架01、第一部位的第四升降机构121、第二部位的第四升降机构122；The movable equipment includes a frame 01, a fourth lifting mechanism 121 at the first position, and a fourth lifting mechanism 122 at the second position;

第一部位的第四升降机构121竖向连接于机架01的第一部位；第二部位的第四升降机构122竖向连接于机架01的第二部位；The fourth elevating mechanism 121 of the first part is vertically connected to the first part of the frame 01; the fourth elevating mechanism 122 of the second part is vertically connected to the second part of the frame 01;

第一部位的第四升降机构121分第一侧的第一部位(左前)的第四升降机构121L、第二侧的第一部位(右前)的第四升降机构121R；The fourth elevating mechanism 121 of the first part is divided into the fourth elevating mechanism 121L of the first part (front left) on the first side, and the fourth elevating mechanism 121R of the first part (front right) on the second side;

第二部位的第四升降机构122分第一侧的第二部位(左后)的第四升降机构122L、第二侧的第二部位(右后)的第四升降机构122R；The fourth elevating mechanism 122 of the second part is divided into the fourth elevating mechanism 122L of the second part (left rear) on the first side, and the fourth elevating mechanism 122R of the second part (right rear) on the second side;

第一侧的第一部位(左前)的第四升降机构121L竖向连接于机架01的第一侧的第一部位(左前)；The fourth elevating mechanism 121L of the first part (left front) of the first side is vertically connected to the first part (left front) of the first side of the frame 01;

第二侧的第一部位(右前)的第四升降机构121R竖向连接于机架01的第一侧的第一部位(左前)；The fourth elevating mechanism 121R of the first part (right front) of the second side is vertically connected to the first part (left front) of the first side of the frame 01;

第一侧的第二部位(左后)的第四升降机构122L竖向连接于机架01的第一侧的第二部位(左后)；The fourth elevating mechanism 122L of the second part (left rear) of the first side is vertically connected to the second part (left rear) of the first side of the frame 01;

第二侧的第二部位(右后)的第四升降机构122R竖向连接于机架01的第一侧的第二部位(左后)；The fourth elevating mechanism 122R of the second part (rear right) on the second side is vertically connected to the second part (rear left) of the first side of the frame 01;

第一侧的第一部位(左前)的第四升降机构121L的输出件连接第一侧的第一部位(左前)的机械腿021L的基座，用于带动该机械腿的基座上下运动；The output member of the fourth lifting mechanism 121L at the first part (front left) on the first side is connected to the base of the mechanical leg 021L at the first part (front left) on the first side, and is used to drive the base of the mechanical leg to move up and down;

第二侧的第一部位(右前)的第四升降机构121R的输出件连接第二侧的第一部位(右前)的机械腿021R的基座，用于带动该机械腿的基座上下运动；The output member of the fourth lifting mechanism 121R at the first part (front right) on the second side is connected to the base of the mechanical leg 021R at the first part (front right) on the second side, for driving the base of the mechanical leg to move up and down;

第一侧的第二部位(左后)的第四升降机构122L的输出件连接第一侧的第二部位(左后)的机械腿022L的基座，用于带动该机械腿的基座上下运动；The output member of the fourth elevating mechanism 122L at the second part (rear left) on the first side is connected to the base of the mechanical leg 022L at the second part (rear left) on the first side, and is used to drive the base of the mechanical leg up and down sports;

第二侧的第二部位(右后)的第四升降机构122R的输出件连接第二侧的第二部位(右后)的机械腿022R的基座，用于带动该机械腿的基座上下运动。The output member of the fourth lifting mechanism 122R at the second part (right rear) on the second side is connected to the base of the mechanical leg 022R at the second part (right rear) on the second side, and is used to drive the base of the mechanical leg up and down. sports.

请参阅图1、图3或图4所示可移动的设备，(各)第一部位的第四升降机构121(分别)带动该机构的输出件所连接的机械腿021L的基座和机械腿021R的基座运动到上部，以供该机械腿在上部进行特定的作业或攀爬；该第二部位的第四升降机构122(分别)带动该机构的输出件所连接的022L的基座和机械腿022R的基座运动到上部，以供该机械腿在上部进行特定的作业或攀爬。Please refer to the movable equipment shown in Fig. 1, Fig. 3 or Fig. 4, the fourth elevating mechanism 121 (respectively) of the first part (respectively) drives the base and the mechanical leg of the mechanical leg 021L connected to the output part of the mechanism The base of 021R moves to the upper part for the mechanical leg to perform specific operations or climb on the upper part; the fourth elevating mechanism 122 of the second part (respectively) drives the base of 022L connected to the output part of the mechanism and The base of the mechanical leg 022R moves to the upper part for the specific operation or climbing of the mechanical leg on the upper part.

请参阅图5所示可移动的设备，各第一部位的第四升降机构121(分别)带动该机构的输出件所连接的机械腿021L的基座和机械腿021R的基座运动到下部，以供该机械腿在下部进行特定的作业或步行；该第二部位的第四升降机构122(分别)带动该机构的输出件所连接的022L的基座和机械腿022R的基座运动运动到下部，以供该机械腿在下部进行特定的作业或步行。Please refer to the movable equipment shown in Fig. 5, the fourth elevating mechanism 121 of each first part (respectively) drives the base of the mechanical leg 021L and the base of the mechanical leg 021R connected to the output part of the mechanism to move to the lower part, For the mechanical leg to perform specific operations or walks in the lower part; the fourth lifting mechanism 122 of the second part (respectively) drives the base of the 022L connected to the output part of the mechanism and the base of the mechanical leg 022R to move to The lower part is used for the mechanical leg to perform specific operations or walk in the lower part.

请参阅图6和图7，该图6和图7为同一种可移动的设备的示意图；该图6和图7均为侧视图；可移动的设备包括用于使所述机械腿02的基座能实现前后运动的第四前后运动机构184；第四前后运动机构184的基座纵向的连接于机架01的左侧或右侧；第四前后运动机构184的输出件连接机械腿02的基座。Please refer to Fig. 6 and Fig. 7, this Fig. 6 and Fig. 7 are the schematic diagrams of the same kind of movable equipment; This Fig. 6 and Fig. 7 are side views; The movable equipment includes the base for making described mechanical leg 02 The seat can realize the fourth forward and backward motion mechanism 184 of forward and backward movement; the base of the fourth forward and backward motion mechanism 184 is longitudinally connected to the left side or the right side of the frame 01; base.

如图6所示，第四前后运动机构184的输出件带动该机械腿02的基座运动至机架01的第一部位(前部)，且该机械腿02撑地使机架01的第一部位(前部)及连接于该第一部位(前部)的第一行走轮511相对于该机架01的后部抬高以使该第一部位(前部)的第一行走轮511能越过障碍10005。本文中，如果没限定正向运动，则运动允许偏斜一定角度。如果没限定直线，则允许曲线运动。例如升降，既可为直线升降，也可为曲线即摆动式升降。As shown in Figure 6, the output member of the fourth forward and backward movement mechanism 184 drives the base of the mechanical leg 02 to move to the first position (front part) of the frame 01, and the mechanical leg 02 supports the ground to make the first part of the frame 01 One part (front part) and the first road wheel 511 connected to the first part (front part) are raised relative to the rear part of the frame 01 so that the first road wheel 511 of the first part (front part) Can jump over obstacles 10005. Herein, if the forward movement is not defined, the movement is allowed to deflect by a certain angle. Curved motion is allowed if no straight line is defined. For example, the lift can be a straight lift or a curve, that is, a swing lift.

如图7所示，第四前后运动机构184的输出件带动该机械腿02的基座运动至机架01的后部，且该机械腿02撑地使机架01的后部及连接于该后部的第二行走轮522相对于该机架01的第一部位(前部)抬高以使该后部的第二行走轮522能越过障碍10005。As shown in Fig. 7, the output member of the fourth forward and backward movement mechanism 184 drives the base of the mechanical leg 02 to move to the rear of the frame 01, and the mechanical leg 02 supports the rear of the frame 01 and is connected to the frame 01. The second traveling wheel 522 of the rear portion is raised relative to the first portion (front) of the frame 01 so that the second traveling wheel 522 of the rear portion can overcome the obstacle 10005 .

可选的，该第四升降机构12、第四前后运动机构、第一单级摆动机构可任意的构成多维运动机构。多维运动机构的基座连接机架01，输出件连接该机械腿02的基座。Optionally, the fourth elevating mechanism 12, the fourth forward and backward movement mechanism, and the first single-stage swing mechanism can arbitrarily form a multi-dimensional movement mechanism. The base of the multi-dimensional motion mechanism is connected to the frame 01, and the output part is connected to the base of the mechanical leg 02.

可选的，该第一单级摆动机构的摆臂为第四线性移动机构，该第四线性移动机构的基座连接该第一单级摆动机构的输出轴，该第四线性移动机构的输出件连接该机械腿02的基座，以调节该机械腿02与该输出轴的距离。该机械腿02的角度也由该第一单级摆动机构调节。Optionally, the swing arm of the first single-stage swing mechanism is a fourth linear movement mechanism, the base of the fourth linear movement mechanism is connected to the output shaft of the first single-stage swing mechanism, and the output of the fourth linear movement mechanism A piece is connected to the base of the mechanical leg 02 to adjust the distance between the mechanical leg 02 and the output shaft. The angle of the mechanical leg 02 is also adjusted by the first single-stage swing mechanism.

可选的，该第四线性移动机构的基座的另一端或该第四线性移动机构的输出件设置有第一限位部件，该机架01的侧边部件设置有与该第一限位部件配合限位的第二限位部件。当该单级摆动机构运动使该第一限位部件151到达与该第二限位部件配合限位的位置时，控制装置可控制该该第一限位部件和/或该第二限位部件动作以限位。Optionally, the other end of the base of the fourth linear movement mechanism or the output member of the fourth linear movement mechanism is provided with a first limiting part, and the side part of the frame 01 is provided with a Parts cooperate with the second position-limiting part of position-limiting. When the single-stage swing mechanism moves to make the first limiting part 151 reach the position where it cooperates with the second limiting part, the control device can control the first limiting part and/or the second limiting part Action to limit.

以降低由该机械腿02所产生的作用于该第一单级摆动机构的输出轴的力矩。该第一限位部件和第二限位部件能配合限位。In order to reduce the moment generated by the mechanical leg 02 acting on the output shaft of the first single-stage swing mechanism. The first limiting component and the second limiting component can cooperate in limiting.

例如，第一限位部件为电动插销，则该第二限位部件为与该电动插销配合限位的孔。例如，第一限位部件为孔，则该第二限位部件为与该孔配合限位的电动插销。例如，第一限位部件为杆，则该第二限位部件为与该杆配合限位的电动锁扣，该电动锁扣能扣住该杆。For example, if the first limiting component is an electric plug, then the second limiting component is a hole that cooperates with the electric plug for limiting. For example, if the first limiting component is a hole, then the second limiting component is an electric plug that cooperates with the hole for limiting. For example, if the first limiting component is a rod, then the second limiting component is an electric lock that cooperates with the rod to limit the position, and the electric lock can buckle the rod.

该方案的有益效果：相较于其他的多自由度机构，线性运动机构成本低、速度快；第四升降机构能低成本、高效的使所述多功能的机械腿02的基座上下运动；腿根前后运动机构能低成本、高效的使所述多功能的机械腿02的基座前后运动；单级摆动机构能实现任一角度方向的上下前后运动；该三种方案各有独特点，各有优势。The beneficial effects of the solution: compared with other multi-degree-of-freedom mechanisms, the linear motion mechanism has low cost and high speed; the fourth lifting mechanism can move the base of the multifunctional mechanical leg 02 up and down at low cost and efficiently; The leg root forward and backward movement mechanism can move the base of the multifunctional mechanical leg 02 forward and backward at low cost and high efficiency; the single-stage swing mechanism can realize up and down forward and backward movement in any angle direction; these three schemes have their own unique features, Each has its advantages.

1.5：滚动式行走机构的解释、实施方案：1.5: Explanation and implementation plan of rolling walking mechanism:

滚动式行走机构指轮式行走机构和/或履带式行走机构和/或滚筒式行走机构。滚动式行走机构能支撑该机架01和能驱动可移动的设备沿路面行驶。支撑机架01尤其指支撑该机架01离地。滚动式行走机构指通过滚动件沿路面滚动使可移动的设备沿路面行驶。该滚动件为行走轮和/或履带和/或滚筒。The rolling traveling mechanism refers to the wheel-type traveling mechanism and/or the crawler-type traveling mechanism and/or the roller-type traveling mechanism. The rolling traveling mechanism can support the frame 01 and can drive movable equipment to travel along the road. Supporting the frame 01 especially refers to supporting the frame 01 off the ground. The rolling walking mechanism refers to the rolling of rolling parts along the road surface to make the movable equipment travel along the road surface. The rolling elements are road wheels and/or tracks and/or rollers.

该技术方案1所述的可移动的设备中，该滚动式行走机构构造为：可移动的设备的重心于地面的正投影位于滚动式行走机构的各触地点依次连线合围所形成的区域内。各触地点依次连线合围所形成的区域即各触地点连线所形成的图形。滚动式行走机构均设置于设备的中下部。滚动式行走机构在支撑该机架01离地时的下表面位于机架01之下。该技术方案1中，滚动件升降机构可为如图所示的第一升降机构211和该第二升降机构222。触地即着地。In the movable equipment described in the technical solution 1, the rolling running mechanism is configured such that the orthographic projection of the center of gravity of the movable equipment on the ground is located in the area formed by connecting the contact points of the rolling running mechanism in sequence . The area formed by the encirclement of each touchdown point in turn is the figure formed by the connection of each touchdown point. The rolling walking mechanism is set in the middle and lower part of the equipment. The lower surface of the rolling traveling mechanism when supporting the frame 01 off the ground is located under the frame 01. In the technical solution 1, the rolling element lifting mechanism can be the first lifting mechanism 211 and the second lifting mechanism 222 as shown in the figure. Touch the ground and land.

请参阅图1-图5：Please refer to Figure 1-Figure 5:

轮式行走机构包括第一行走轮511、第二行走轮522。可选的，所述第一行走轮511相对所述可移动的设备的行驶方向横向布置有至少两个，和/或所述第二行走轮522相对所述可移动的设备的行驶方向横向布置有至少两个。第一行走轮511和第二行走轮522中一种位于可移动的设备的重心之前，另一种位于可移动的设备的重心之后。例如，第一行走轮511位于设备的重心之前，第二行走轮522位于设备的重心之后。轮式行走机构的各触地点即轮式行走机构中各行走轮的触地点。第一行走轮511包括位于第一侧的第一部位(左前)的行走轮051、第二侧的第一部位(右前)的行走轮053。第二行走轮522包括位于第一侧的第二部位(左后)的行走轮052、第二侧的第二部位(右后)的行走轮054。The wheeled traveling mechanism includes a first traveling wheel 511 and a second traveling wheel 522 . Optionally, at least two of the first traveling wheels 511 are arranged transversely relative to the traveling direction of the movable device, and/or the second traveling wheels 522 are arranged transversely relative to the traveling direction of the movable device There are at least two. One of the first traveling wheels 511 and the second traveling wheels 522 is located in front of the center of gravity of the movable equipment, and the other is located behind the center of gravity of the movable equipment. For example, the first road wheels 511 are located in front of the center of gravity of the device, and the second road wheels 522 are located behind the center of gravity of the device. Each contact point of the wheeled running gear is the contact point of each traveling wheel in the wheeled running gear. The first traveling wheels 511 include a traveling wheel 051 at a first position (front left) on the first side, and a traveling wheel 053 at a first position (front right) on the second side. The second traveling wheels 522 include a traveling wheel 052 located at a second position (rear left) on the first side, and a traveling wheel 054 located at a second position (rear right) on the second side.

行走轮即轮机构。轮机构的输出件可为轮辋和/或套于轮辋上的轮胎。轮机构的输出件通过轮辐连接套于轮轴的轴承的外圈。本文中，任一处所述连接轮，均指连接轮的轴。The walking wheel is the wheel mechanism. The output of the wheel mechanism may be a rim and/or a tire mounted on the rim. The output part of the wheel mechanism is connected to the outer ring of the bearing of the wheel shaft through the spokes. Herein, any connection wheel described herein refers to the shaft of the connection wheel.

轮式行走机构对应的滚动件升降机构的连接关系和功能可选用如下方案：The connection relationship and functions of the rolling element lifting mechanism corresponding to the wheeled walking mechanism can be selected as follows:

与该轮式行走机构对应的滚动件升降机构可为第一升降机构211和第二升降机构222。The roller elevating mechanism corresponding to the wheeled traveling mechanism may be a first elevating mechanism 211 and a second elevating mechanism 222 .

该第一升降机构211和该第二升降机构222的一端均连接机架01，该第一升降机构211的另一端连接该第一行走轮511；该第一升降机构211用于调整该第一行走轮511相对于该机架01的在上下方向的距离，该第二升降机构222的另一端连接该第二行走轮522；该第二升降机构222用于调整该第二行走轮522相对于该机架01的在上下方向的距离。相对于该机架01指相对于该机架01的中心。One end of the first lifting mechanism 211 and the second lifting mechanism 222 are connected to the frame 01, and the other end of the first lifting mechanism 211 is connected to the first traveling wheel 511; the first lifting mechanism 211 is used to adjust the first The distance between the traveling wheels 511 in the up and down direction relative to the frame 01, the other end of the second elevating mechanism 222 is connected to the second traveling wheels 522; the second elevating mechanism 222 is used to adjust the relative distance of the second traveling wheels 522 The distance of the rack 01 in the up and down direction. Relative to the rack 01 means relative to the center of the rack 01 .

(多个)第一行走轮511可连接(一个)第一升降机构211，或各(多个)第一行走轮511均对应连接一所述第一升降机构211；各(多个)第二行走轮522可连接(一个)第二升降机构222，或各(多个)第二行走轮522均对应连接一所述第二升降机构222。对应连接指分别连接或分别对应连接。也可由一个或多个升降机构的另一端通过支架连接所有的行走轮，使该所有的行走轮一起升降。任一升降机构连接任一行走轮，均指升降机构连接行走轮的轴。行走轮可转动的连接于升降机构的输出件。任一的滚动式行走机构连接升降机构的方案均为：连接后该行走机构可正常行走。任一的行走轮均为可转动的连接(任一)升降机构。The (multiple) first traveling wheels 511 can be connected with (one) first elevating mechanism 211, or each (multiple) first traveling wheels 511 are correspondingly connected with one described first elevating mechanism 211; The traveling wheels 522 can be connected to (one) second lifting mechanism 222 , or each (multiple) second traveling wheels 522 are correspondingly connected to one of the second lifting mechanisms 222 . Corresponding connection refers to separate connection or respectively corresponding connection. It is also possible to connect all the road wheels by the other end of one or more lifting mechanisms through a bracket, so that all the road wheels can be raised and lowered together. Any elevating mechanism is connected with any traveling wheel, all refers to the axle that elevating mechanism is connected traveling wheel. The traveling wheels are rotatably connected to the output member of the lifting mechanism. The scheme of connecting any rolling type traveling mechanism to the lifting mechanism is: after the connection, the traveling mechanism can walk normally. Arbitrary walking wheel is to be rotatable connection (arbitrary) elevating mechanism.

在本实施例中：第一侧的第一部位(左前)的行走轮051的轴连接于该方位的第一升降机构211L，第二侧的第一部位(右前)的行走轮053的轴连接于右边的第一升降机构211R，第一侧的第二部位(左后)的行走轮052的轴连接于左边的第二升降机构222L，第二侧的第二部位(右后)的行走轮054的轴连接于右边的第二升降机构222R。In this embodiment: the shaft of the road wheel 051 at the first part (front left) on the first side is connected to the first lifting mechanism 211L in this orientation, and the shaft of the road wheel 053 at the first part (front right) on the second side is connected In the first elevating mechanism 211R on the right, the shaft of the road wheel 052 at the second part (left rear) on the first side is connected to the second elevating mechanism 222L on the left, and the road wheel 052 at the second part (right rear) on the second side The shaft of 054 is connected to the second lifting mechanism 222R on the right.

请参阅图15：履带式行走机构07M包括基座、连接于该基座的第一旋转件0721、第二旋转件0722以及带状件070，带状件070套接第一旋转件0721和第二旋转件0722。该基座即支架，该支架分设于第一侧和第二侧。履带式行走机构07M包括第一侧的履带式行走机构和第二侧的履带式行走机构。该第一侧的履带式行走机构所含履带0701和该第二侧的履带式行走机构所含履带0702在俯视方向上的靠外的4角依次连线合围所形成的区域包含该重心O。履带式行走机构的各触地点即该第一侧的履带0701和第二侧的履带0702的4角。第一侧的履带0701套接第一侧的第一旋转件0721和第一侧的第二旋转件0722。第二侧的履带0702套接第二侧的第一旋转件0721和第二侧的第二旋转件0722。旋转件可为辊轮。Please refer to Fig. 15: the crawler-type traveling mechanism 07M includes a base, a first rotating member 0721 connected to the base, a second rotating member 0722 and a belt-shaped member 070, and the belt-shaped member 070 is sleeved on the first rotating member 0721 and the second rotating member 0721 Two rotating parts 0722. The base is the bracket, and the bracket is respectively arranged on the first side and the second side. The crawler running gear 07M includes a crawler running gear on the first side and a crawler running gear on the second side. The area formed by connecting the four corners of the crawler belt 0701 included in the crawler-type traveling mechanism on the first side and the crawler belt 0702 included in the crawler-type traveling mechanism on the second side in sequence in the direction of the plan view, includes the center of gravity O. Each contact point of the crawler-type traveling mechanism is the four corners of the crawler belt 0701 on the first side and the crawler belt 0702 on the second side. The crawler belt 0701 on the first side is sleeved on the first rotating member 0721 on the first side and the second rotating member 0722 on the first side. The crawler belt 0702 on the second side is sleeved on the first rotating member 0721 on the second side and the second rotating member 0722 on the second side. The rotating member can be a roller.

若履带式行走机构设置于该设备的前后部，且该设备中无其他的滚动式行走机构，则与该履带式行走机构07M对应的升降机构也可为第一升降机构211和第二升降机构222。第一侧的履带式行走机构的基座连接于第一侧的第一升降机构211L和/或第一侧的的第二升降机构222L。第二侧的履带式行走机构的基座连接于第二侧的第一升降机构211R和/或第二侧的第二升降机构222R。If the crawler-type traveling mechanism is arranged at the front and rear of the equipment, and there is no other rolling-type traveling mechanism in the equipment, then the lifting mechanism corresponding to the crawler-type traveling mechanism 07M can also be the first lifting mechanism 211 and the second lifting mechanism 222. The base of the crawler-type traveling mechanism on the first side is connected to the first lifting mechanism 211L on the first side and/or the second lifting mechanism 222L on the first side. The base of the crawler-type traveling mechanism on the second side is connected to the first lifting mechanism 211R on the second side and/or the second lifting mechanism 222R on the second side.

在本实施例中，第一侧的履带式行走机构的基座的第一部位(前部)连接第一侧的第一升降机构211L的输出件。第一侧的履带式行走机构的基座的后部连接第一侧的第二升降机构222L的输出件。第二侧的履带式行走机构的基座的第一部位(前部)连接第二侧的第一升降机构211R的输出件。第二侧的履带式行走机构的基座的后部连接第二侧的第二升降机构222R的输出件。In this embodiment, the first part (front part) of the base of the crawler-type traveling mechanism on the first side is connected to the output member of the first lifting mechanism 211L on the first side. The rear part of the base of the crawler-type traveling mechanism on the first side is connected to the output member of the second lifting mechanism 222L on the first side. The first part (front part) of the base of the crawler-type traveling mechanism on the second side is connected to the output member of the first lifting mechanism 211R on the second side. The rear portion of the base of the crawler-type traveling mechanism on the second side is connected to the output member of the second elevating mechanism 222R on the second side.

也可采用其他的连接方式：例如，第一侧的履带式行走机构的基座仅连接左边的第一升降机构211L的输出件，第二侧的履带式行走机构的基座仅连接右边的第二升降机构222R的输出件。Other connection methods can also be used: for example, the base of the crawler-type traveling mechanism on the first side is only connected to the output member of the first lifting mechanism 211L on the left, and the base of the crawler-type traveling mechanism on the second side is only connected to the first lifting mechanism 211L on the right. The output member of the second lifting mechanism 222R.

滚筒式行走机构包括位于可移动的设备的重心前的第一横向滚筒和位于该重心后的第二横向滚筒。该第一横向滚筒和第二横向滚筒在俯视方向上的靠外的4角依次连线合围所形成的区域包含该重心。或，滚筒式行走机构包括位于可移动的设备的重心左边的第一侧的纵向滚筒和位于该重心右边的第二侧的纵向滚筒。该第一侧的纵向滚筒和第二侧的纵向滚筒在俯视方向上的靠外的4角依次连线合围所形成的区域包含该重心。滚筒的4角即滚筒式行走机构的各触地点。纵向滚筒设置有螺纹用于将该纵向滚筒的旋转转化为驱动该设备沿路面行驶的驱动力。该路面可为泥泞路面。该方案只能低速行驶。The roller traveling mechanism includes a first transverse roller located in front of the center of gravity of the movable equipment and a second transverse roller located behind the center of gravity. The center of gravity is contained in the area formed by connecting the four outer corners of the first horizontal drum and the second horizontal drum in a plan view direction and encircled by a line. Or, the roller-type walking mechanism includes a longitudinal roller located on the first side to the left of the center of gravity of the movable equipment and a longitudinal roller located on the second side to the right of the center of gravity. The center of gravity is contained in the area formed by connecting the four outer corners of the vertical drum on the first side and the vertical drum on the second side in the direction of plan view. The four corners of the drum are the contact points of the drum-type traveling mechanism. The longitudinal drum is provided with threads for converting the rotation of the longitudinal drum into a driving force for driving the device along the road surface. The road surface may be a muddy road surface. This scheme can only travel at low speeds.

滚筒式行走机构升降，根据滚筒设置方式而定。滚筒式行走机构的基座即滚筒的轴或连接轴的支架。The lifting and lowering of the drum type walking mechanism depends on the setting method of the drum. The base of the drum-type walking mechanism is the shaft of the drum or the bracket connecting the shaft.

若滚筒式行走机构包括位于该设备的重心前的第一横向滚筒和位于该重心后的第二横向滚筒。If the roller type walking mechanism includes a first transverse roller located in front of the center of gravity of the equipment and a second transverse roller located behind the center of gravity.

该第一横向滚筒的轴的左端连接左边的第一升降机构211L的输出件，该第一横向滚筒的轴的右端连接右边的第一升降机构211R的输出件，该第二横向滚筒的轴的左端连接左边的第二升降机构222L的输出件，该第二横向滚筒的轴的右端连接右边的第二升降机构222R的输出件。The left end of the shaft of the first horizontal drum is connected to the output member of the first lifting mechanism 211L on the left, the right end of the shaft of the first horizontal drum is connected to the output member of the first lifting mechanism 211R on the right, and the shaft of the second horizontal drum is The left end is connected to the output member of the second lifting mechanism 222L on the left, and the right end of the shaft of the second horizontal roller is connected to the output member of the second lifting mechanism 222R on the right.

若滚筒式行走机构包括位于该设备的重心左边的第一纵向滚筒和位于该重心右边的第二纵向滚筒。If the roller type walking mechanism includes a first longitudinal roller located on the left side of the center of gravity of the equipment and a second longitudinal roller located on the right side of the center of gravity.

该左边的第一纵向滚筒的轴的前端连接左边的第一升降机构211L的输出件，该左边的第一纵向滚筒的轴的后端连接左边的第二升降机构222L的输出件，该右边的第二纵向滚筒的轴的前端连接右边的第一升降机构211R的输出件，该右边的第二纵向滚筒的轴的后端连接右边的第二升降机构222R的输出件。The front end of the shaft of the first longitudinal drum on the left is connected to the output member of the first elevating mechanism 211L on the left, the rear end of the shaft of the first longitudinal drum on the left is connected to the output member of the second elevating mechanism 222L on the left, and the right one The front end of the shaft of the second longitudinal roller is connected to the output member of the first lifting mechanism 211R on the right, and the rear end of the shaft of the second longitudinal roller on the right is connected to the output member of the second lifting mechanism 222R on the right.

也可采用其他的连接方式：例如，由一个或多个升降机构的另一端通过支架连接全部的滚筒，使该全部的滚筒一起升降。或：第一纵向滚筒只连接左边的第一升降机构211L或左边的第二升降机构222L的输出件，第二纵向滚筒只连接右边的第二升降机构222R或右边的第一升降机构211R的输出件。或Other connection methods can also be used: for example, the other ends of one or more lifting mechanisms are connected to all the rollers through brackets, so that all the rollers can be raised and lowered together. Or: the first vertical drum is only connected to the output of the first lifting mechanism 211L on the left or the second lifting mechanism 222L on the left, and the second vertical drum is only connected to the output of the second lifting mechanism 222R on the right or the first lifting mechanism 211R on the right pieces. or

该技术方案1中，滚动件升降机构也可为各图中所示的第三升降机构。该第三升降机构可设置至少4个，例如分别为第一部位且第一侧的第三升降机构212L、第一部位且第二侧的第三升降机构212R、第二部位且第一侧的第三升降机构221L和第二部位且第二侧的第三升降机构221R可分别连接滚动式行走机构中位于左前、左后、右前和右后角的基座。In the technical solution 1, the lifting mechanism for rolling elements can also be the third lifting mechanism shown in each figure. The third lifting mechanism can be provided with at least four, for example, the third lifting mechanism 212L at the first position and the first side, the third lifting mechanism 212R at the first position and the second side, and the third lifting mechanism 212R at the second position and the first side. The third elevating mechanism 221L and the third elevating mechanism 221R at the second position and the second side can be respectively connected to the bases at the left front, left rear, right front and right rear corners of the rolling traveling mechanism.

例如，滚动式行走机构中若履带式行走机构07m设置于该设备的中部，该第三升降机构的一端均连接所述机架01，4个第三升降机构的另一端分别连接履带式行走机构07m靠左前、左后、右前和右后角的基座；第三升降机构用于调整履带式行走机构07m相对于所述机架01的距离。第三升降机构(212)与履带式行走机构07m的连接可参见本文其他位置内容。For example, in the rolling traveling mechanism, if the crawler traveling mechanism 07m is arranged in the middle of the equipment, one end of the third elevating mechanism is connected to the frame 01, and the other ends of the four third elevating mechanisms are respectively connected to the crawler traveling mechanism 07m is on the base of the left front, left rear, right front and right rear corners; the third lifting mechanism is used to adjust the distance of the crawler-type traveling mechanism 07m relative to the frame 01. For the connection of the third elevating mechanism (212) and the crawler-type traveling mechanism 07m, please refer to other positions of this paper.

例如，第一侧的履带式行走机构的基座的前端连接第一部位且第一侧的第三升降机构212L的输出件；第一侧的履带式行走机构的基座的后端连接第二部位且第一侧的第三升降机构221L的输出件；第二侧的履带式行走机构的基座的前端连接第一部位且第二侧的第三升降机构212R的输出件；第二侧的履带式行走机构的基座的后端连接第二部位且第二侧的第三升降机构221R的输出件。For example, the front end of the base of the crawler-type traveling mechanism on the first side is connected to the first part and the output member of the third lifting mechanism 212L on the first side; the rear end of the base of the crawler-type traveling mechanism on the first side is connected to the second position and the output part of the third lifting mechanism 221L on the first side; the front end of the base of the crawler-type traveling mechanism on the second side is connected to the first part and the output part of the third lifting mechanism 212R on the second side; The rear end of the base of the crawler-type traveling mechanism is connected to the output member of the third lifting mechanism 221R at the second position and on the second side.

任一种滚动式行走机构与滚动件升降机构的连接均可以此类推得出准确的连接方案。The connection between any kind of rolling traveling mechanism and the rolling element lifting mechanism can be deduced to obtain an accurate connection scheme.

2.本发明还提供一种技术方案2：2. The present invention also provides a technical solution 2:

一种第一可分段升降的滚动式行走机构群，包括(独立的)机架01或连接于(作为该机构驱动行驶的对象的)可移动的设备的机架01，A first group of rolling traveling gears that can be lifted in sections, including (independent) frame 01 or frame 01 connected to movable equipment (as the object driven by the mechanism),

该第一可分段升降的滚动式行走机构群包括第一升降机构211、第二升降机构222、第三升降机构(212)、第一行走机构、第二行走机构和第三行走机构；The first section-liftable rolling traveling mechanism group includes a first lifting mechanism 211, a second lifting mechanism 222, a third lifting mechanism (212), a first traveling mechanism, a second traveling mechanism and a third traveling mechanism;

所述第一升降机构211、所述第二升降机构222以及所述第三升降机构的一端均连接所述机架01；One end of the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism is connected to the frame 01;

所述第一升降机构211的另一端连接第一行走机构；所述第一升降机构211用于调整所述第一行走机构相对于所述机架01在上下方向的距离；The other end of the first lifting mechanism 211 is connected to the first traveling mechanism; the first lifting mechanism 211 is used to adjust the distance of the first traveling mechanism relative to the frame 01 in the vertical direction;

所述第二升降机构222的另一端连接第二行走机构；所述第二升降机构222用于调整所述第二行走机构相对于所述机架01在上下方向的距离；The other end of the second lifting mechanism 222 is connected to the second traveling mechanism; the second lifting mechanism 222 is used to adjust the distance of the second traveling mechanism relative to the frame 01 in the up and down direction;

所述第三升降机构的另一端连接第三行走机构；所述第三升降机构用于调整所述第三行走机构相对于所述机架01在上下方向的距离；The other end of the third lifting mechanism is connected to the third traveling mechanism; the third lifting mechanism is used to adjust the distance of the third traveling mechanism relative to the frame 01 in the vertical direction;

且所述第一行走机构和所述第二行走机构沿行驶方向间隔布置；所述第三行走机构位于所述第一行走机构和所述第二行走机构之间。And the first traveling mechanism and the second traveling mechanism are arranged at intervals along the traveling direction; the third traveling mechanism is located between the first traveling mechanism and the second traveling mechanism.

在该技术方案2中任一处上下方向的距离可简写为距离。调整任一行走机构相对于所述机架01在上下方向的距离即使该行走机构相对于所述机架01升降。该任一行走机构为第一行走机构、第二行走机构或第三行走机构。任一可移动的设备包括第一可分段升降的滚动式行走机构群，该第一可分段升降的滚动式行走机构群连接于该设备的机架01。Any distance in the up and down direction in this technical solution 2 can be abbreviated as distance. Adjusting the distance of any traveling mechanism relative to the frame 01 in the up and down direction means that the traveling mechanism moves up and down relative to the frame 01 . The arbitrary running gear is the first running gear, the second running gear or the third running gear. Any movable equipment includes a group of rolling running gears that can be lifted in sections, and the group of rolling running gears that can be lifted in sections is connected to the frame 01 of the equipment.

第一可分段升降的滚动式行走机构群，所述机架01的中心或所述可移动的设备的重心于地面的正投影位于所述第一行走机构和该第二行走机构的各触地点依次连线合围所形成的区域内。The first rolling walking mechanism group that can be lifted in sections, the center of the frame 01 or the orthographic projection of the center of gravity of the movable equipment on the ground is located at each contact point of the first walking mechanism and the second walking mechanism The locations are in the area formed by connecting lines in turn.

可选的，如技术方案2所述的第一可分段升降的滚动式行走机构群还包括第三前后运动机构183，所述第三前后运动机构183的基座连接所述机架01，所述第三前后运动机构183的输出件连接所述第三行走机构，并用于调整所述第三行走机构沿行驶方向相对所述机架01的中心的距离。Optionally, the group of rolling traveling gears that can be raised and lowered in sections as described in technical solution 2 further includes a third forward and backward movement mechanism 183, the base of the third forward and backward movement mechanism 183 is connected to the frame 01, The output member of the third forward and backward movement mechanism 183 is connected to the third traveling mechanism, and is used to adjust the distance of the third traveling mechanism relative to the center of the frame 01 along the traveling direction.

进一步的，第三前后运动机构183可分第一侧的第三前后运动机构183L、第二侧的第三前后运动机构183R。第一侧的第三前后运动机构183L的输出件连接第一侧的第三行走机构，并用于调整所述第一侧的第三行走机构沿行驶方向相对所述机架01的中心的距离。第二侧的第三前后运动机构183R的输出件连接第二侧的第三行走机构，并用于调整所述第二侧的第三行走机构沿行驶方向相对所述机架01的中心的距离。第一侧的第三前后运动机构183L和第二侧的第三前后运动机构183R的基座连接所述机架01。Further, the third forward and backward movement mechanism 183 can be divided into a third forward and backward movement mechanism 183L on the first side and a third forward and backward movement mechanism 183R on the second side. The output member of the third forward and backward movement mechanism 183L on the first side is connected to the third traveling mechanism on the first side, and is used to adjust the distance of the third traveling mechanism on the first side relative to the center of the frame 01 along the traveling direction. The output member of the third forward and backward movement mechanism 183R on the second side is connected to the third traveling mechanism on the second side, and is used to adjust the distance of the third traveling mechanism on the second side relative to the center of the frame 01 along the traveling direction. The bases of the third forward and backward movement mechanism 183L on the first side and the third forward and backward movement mechanism 183R on the second side are connected to the frame 01 .

具体的，当所述第一行走机构或第二行走机构需要上升离地时，控制所述第三前后运动机构183使所述第三行走机构运动至靠该需要上升离地行走机构的方位。Specifically, when the first traveling mechanism or the second traveling mechanism needs to be lifted off the ground, the third forward and backward movement mechanism 183 is controlled to move the third traveling mechanism to the orientation of the walking mechanism that needs to be lifted off the ground.

包括第一行走机构和第二行走机构的第一行走装置用于驱动可移动的设备沿地面行驶。第一行走装置还包括用于驱动所述第一行走机构的第一驱动器和/或用于驱动第二行走机构的第二驱动器。The first traveling device including the first traveling mechanism and the second traveling mechanism is used to drive the movable equipment to travel along the ground. The first traveling device further comprises a first driver for driving the first traveling mechanism and/or a second driver for driving the second traveling mechanism.

第一行走机构和第二行走机构能支撑该机架离地。第一行走机构和/或第二行走机构均能与第三行走机构配合用于驱动可移动的设备沿地面行驶。第三行走机构573的前边缘能位于该第一行走机构571的前边缘之后，第三行走机构573的后边缘位于该第二行走机构572的后边缘之前。The first running gear and the second running gear can support the frame off the ground. Both the first traveling mechanism and/or the second traveling mechanism can cooperate with the third traveling mechanism to drive the movable equipment to travel along the ground. The front edge of the third traveling mechanism 573 can be located behind the front edge of the first traveling mechanism 571 , and the rear edge of the third traveling mechanism 573 is located in front of the rear edge of the second traveling mechanism 572 .

第一前后运动机构和第二前后运动机构，使轮式车在跨栏时能根据栏宽自由、在踩坑时能根据坑大小调整行走机构的着地点，极大的提升了轮式设备的越障能力。且同时的，该技术方案还使设备的长度能自由调整，也即具有变形功能。当高速行驶时或人员需躺于设备内休息时或上下坡时，增加了设备的安全性与稳定性。机架长度缩短时使该设备能进电梯以回家，或减小了在公共场合、车船飞机内的占地面积。可选的，第一前后运动机构和第二前后运动机构的类型为线性运动机构、由伸缩机构驱动的摆动机构或由涡轮蜗杆机构驱动的摆动机构。优选的，类型为线性运动机构。优选的，该线性运动机构为电动推杆或伸缩式液压缸或伸缩式气缸。The first front and rear movement mechanism and the second front and rear movement mechanism enable the wheeled vehicle to move freely according to the width of the hurdle when stepping on the hurdle, and adjust the landing point of the walking mechanism according to the size of the pit when stepping on the pit, which greatly improves the overtaking of the wheeled equipment. disability. And at the same time, the technical solution also enables the length of the device to be adjusted freely, that is, it has a deformation function. When driving at high speed or when people need to rest in the equipment or when going up and down slopes, the safety and stability of the equipment are increased. When the length of the frame is shortened, the equipment can be put into the elevator to go home, or the occupied area in public places, vehicles, ships and aircrafts is reduced. Optionally, the types of the first forward and backward movement mechanism and the second forward and backward movement mechanism are a linear movement mechanism, a swing mechanism driven by a telescoping mechanism, or a swing mechanism driven by a worm gear mechanism. Preferably, the type is a linear motion mechanism. Preferably, the linear motion mechanism is an electric push rod or a telescopic hydraulic cylinder or a telescopic air cylinder.

本发明还提供：一种第二可分段升降的滚动式行走机构群，包括(独立的)机架01或连接于(作为该机构驱动行驶的对象的)可移动的设备的机架01，The present invention also provides: a second rolling traveling mechanism group that can be lifted in sections, including (independent) frame 01 or frame 01 connected to movable equipment (as the object driven by the mechanism),

该第二可分段升降的滚动式行走机构群包括The second rolling walking gear group that can be lifted in sections includes

第一侧的第一升降机构211L、第二侧的第一升降机构211R、第一侧的第二升降机构222L、第二侧的第二升降机构222R、第一侧的第一行走机构、第二侧的第一行走机构、第一侧的第二行走机构、第二侧的第二行走机构、第一侧的第五前后运动机构185L、第二侧的第五前后运动机构185R、第一侧的第六前后运动机构186L、第二侧的第六前后运动机构186R、第一侧的第五前后运动机构185L、第二侧的第五前后运动机构185R、第一侧的第六前后运动机构186L和第二侧的第六前后运动机构186R的一端均连接所述机架01；且所述第一行走机构和所述第二行走机构沿行驶方向间隔布置；The first elevating mechanism 211L on the first side, the first elevating mechanism 211R on the second side, the second elevating mechanism 222L on the first side, the second elevating mechanism 222R on the second side, the first traveling mechanism on the first side, the The first traveling mechanism on both sides, the second traveling mechanism on the first side, the second traveling mechanism on the second side, the fifth front and rear movement mechanism 185L on the first side, the fifth front and rear movement mechanism 185R on the second side, the first The sixth forward and backward movement mechanism 186L of the first side, the sixth forward and backward movement mechanism 186R of the second side, the fifth forward and backward movement mechanism 185L of the first side, the fifth forward and backward movement mechanism 185R of the second side, the sixth forward and backward movement mechanism of the first side One end of the mechanism 186L and the sixth forward and backward movement mechanism 186R on the second side are both connected to the frame 01; and the first traveling mechanism and the second traveling mechanism are arranged at intervals along the traveling direction;

所述第一侧的第五前后运动机构185L的另一端、所述第一侧的第一升降机构211L、所述第一侧的第一行走机构依次连接；所述第一侧的第一升降机构211L用于使所述第一侧的第一行走机构相对于所述机架升降，所述第一侧的第五前后运动机构185L用于调节所述第一侧的第一行走机构沿行驶方向相对所述机架01的中心的距离；The other end of the fifth front and rear movement mechanism 185L on the first side, the first lifting mechanism 211L on the first side, and the first walking mechanism on the first side are connected in sequence; the first lifting mechanism on the first side The mechanism 211L is used to make the first traveling mechanism on the first side move up and down relative to the frame, and the fifth forward and backward movement mechanism 185L on the first side is used to adjust the first traveling mechanism on the first side to travel along The distance of the direction relative to the center of the rack 01;

所述第二侧的第五前后运动机构185R的另一端、所述第二侧的第一升降机构211R、所述第二侧的第一行走机构依次连接；所述第二侧的第一升降机构211R用于使所述第二侧的第一行走机构相对于所述机架升降，所述第二侧的第五前后运动机构185R用于调节所述第二侧的第一行走机构沿行驶方向相对所述机架01的中心的距离；The other end of the fifth front and rear movement mechanism 185R on the second side, the first lifting mechanism 211R on the second side, and the first walking mechanism on the second side are connected in sequence; the first lifting mechanism on the second side The mechanism 211R is used to make the first traveling mechanism on the second side move up and down relative to the frame, and the fifth front and rear movement mechanism 185R on the second side is used to adjust the first traveling mechanism on the second side to travel along the The distance of the direction relative to the center of the rack 01;

所述第一侧的第六前后运动机构186L的另一端、所述第一侧的第二升降机构222L、所述第一侧的第二行走机构依次连接；所述第一侧的第二升降机构222L用于使所述第一侧的第二行走机构相对于所述机架升降，所述第一侧的第六前后运动机构186L用于调节所述第一侧的第二行走机构沿行驶方向相对所述机架01的中心的距离；The other end of the sixth front and rear movement mechanism 186L on the first side, the second lifting mechanism 222L on the first side, and the second walking mechanism on the first side are connected in sequence; the second lifting mechanism on the first side The mechanism 222L is used to make the second traveling mechanism on the first side move up and down relative to the frame, and the sixth front and rear movement mechanism 186L on the first side is used to adjust the second traveling mechanism on the first side to travel along the The distance of the direction relative to the center of the rack 01;

所述第二侧的第六前后运动机构186R的另一端、所述第二侧的第二升降机构222R、所述第二侧的第二行走机构依次连接；所述第二侧的第二升降机构222R用于使所述第二侧的第二行走机构相对于所述机架升降，所述第二侧的第六前后运动机构186R用于调节所述第二侧的第二行走机构沿行驶方向相对所述机架01的中心的距离。The other end of the sixth front and rear movement mechanism 186R on the second side, the second lifting mechanism 222R on the second side, and the second walking mechanism on the second side are connected in sequence; the second lifting mechanism on the second side The mechanism 222R is used to make the second traveling mechanism on the second side move up and down relative to the frame, and the sixth front and rear movement mechanism 186R on the second side is used to adjust the second traveling mechanism on the second side to travel along the Direction is the distance relative to the center of the Rack 01.

一种可分段升降的滚动式行走机构群或可移动的设备的控制方法：当第一行走机构或第二行走机构中某一行走机构需要离地上升时，控制第三前后运动机构183、第五前后运动机构185或第六前后运动机构186带动该前后运动机构所连接的行走机构前后运动，使除该需要离地上升的行走机构之外的行走机构的在俯视方向各着地点的依次连线合围形成的图形包括该设备的重心。该控制方法用于保持设备平衡、以越障。该机构群或该设备包括该方法中所有的机构。A control method for a rolling traveling mechanism group or movable equipment that can be raised and lowered in sections: when a certain traveling mechanism in the first traveling mechanism or the second traveling mechanism needs to lift off the ground, control the third front and rear movement mechanism 183, The 5th forward and backward motion mechanism 185 or the 6th forward and backward motion mechanism 186 drive the running gear that this forward and backward motion mechanism is connected to move forward and backward, so that the running gears except the running gear that needs to be raised from the ground are in the order of each landing position in the direction of the bird's eye view. The figure formed by the enclosed lines includes the center of gravity of the device. This control method is used to keep the equipment balanced to overcome obstacles. The group of institutions or the facility includes all institutions in the method.

可分段升降的滚动式行走机构群中：行走机构的下表面用于抵地；在相对位置上，前后运动机构沿行驶方向连接于机架01；任一升降机构竖向连接对应的前后运动机构的输出件，任一行走机构连接对应的升降机构的输出件，任一行走机构的下表面用于抵地。可分段升降的滚动式行走机构群能支撑机架01和用于驱动可移动的设备沿路面行驶。In the rolling walking mechanism group that can be lifted in sections: the lower surface of the walking mechanism is used to touch the ground; in the relative position, the front and rear movement mechanisms are connected to the frame 01 along the traveling direction; any lifting mechanism is vertically connected to the corresponding front and rear movement The output part of the mechanism, any running mechanism is connected to the output part of the corresponding lifting mechanism, and the lower surface of any running mechanism is used to touch the ground. The rolling traveling mechanism group that can be lifted in sections can support the frame 01 and be used to drive the movable equipment to travel along the road.

第三前后运动机构183、第五前后运动机构185或第六前后运动机构186，能调整行走机构的着地点，极大的提升了轮式设备的越障能力。可选的，第一前后运动机构和第二前后运动机构的类型为线性运动机构、由伸缩机构驱动的摆动机构或由涡轮蜗杆机构驱动的摆动机构。优选的，类型为线性运动机构。优选的，该线性运动机构为导轨型运动机构或电动推杆或伸缩式液压缸或伸缩式气缸。The third forward and backward motion mechanism 183, the fifth forward and backward motion mechanism 185 or the sixth forward and backward motion mechanism 186 can adjust the landing point of the traveling mechanism, which greatly improves the obstacle-surmounting ability of the wheeled equipment. Optionally, the types of the first forward and backward movement mechanism and the second forward and backward movement mechanism are a linear movement mechanism, a swing mechanism driven by a telescoping mechanism, or a swing mechanism driven by a worm gear mechanism. Preferably, the type is a linear motion mechanism. Preferably, the linear motion mechanism is a guide rail type motion mechanism or an electric push rod or a telescopic hydraulic cylinder or a telescopic air cylinder.

请参阅图1-图5，尤其是图2，Please refer to Figures 1-5, especially Figure 2,

第一侧的第一前后运动机构181L与第二侧的第一前后运动机构181R相对于纵轴间隔布置。The first forward and backward movement mechanism 181L on the first side and the first forward and backward movement mechanism 181R on the second side are arranged at intervals relative to the longitudinal axis.

第一侧的第一前后运动机构181L沿行驶方向连接于机架01的第一侧，The first front and rear movement mechanism 181L on the first side is connected to the first side of the frame 01 along the traveling direction,

第二侧的第一前后运动机构181R沿行驶方向连接于机架01的第二侧，The first front and rear movement mechanism 181R on the second side is connected to the second side of the frame 01 along the traveling direction,

第一侧的第一前后运动机构181L的输出件能带动第一侧第一部位(左前)的第一行走机构051前后运动，以及还可带动设置于该侧和该部位的第四升降机构121L和机械腿021L前后运动；The output part of the first front and rear movement mechanism 181L on the first side can drive the first traveling mechanism 051 at the first part (front left) on the first side to move back and forth, and can also drive the fourth elevating mechanism 121L arranged on this side and this position And the mechanical leg 021L moves back and forth;

第二侧的第一前后运动机构181R的输出件能带动第二侧第一部位(右前)的第一行走机构053前后运动，以及还可带动设置于该侧和该部位的第四升降机构121R和机械腿021R前后运动；The output member of the first forward and backward movement mechanism 181R on the second side can drive the first traveling mechanism 053 at the first part (front right) on the second side to move back and forth, and can also drive the fourth elevating mechanism 121R arranged on this side and this position. And the mechanical leg 021R moves back and forth;

第一侧的第二前后运动机构182L与第二侧的第二前后运动机构182R相对于纵轴间隔布置，The second forward and backward movement mechanism 182L on the first side and the second forward and backward movement mechanism 182R on the second side are arranged at intervals relative to the longitudinal axis,

第一侧的第二前后运动机构182L沿行驶方向连接于机架01的第一侧，The second forward and backward movement mechanism 182L on the first side is connected to the first side of the frame 01 along the traveling direction,

第二侧的第二前后运动机构182R沿行驶方向连接于机架01的第二侧，The second front and rear movement mechanism 182R on the second side is connected to the second side of the frame 01 along the traveling direction,

第一侧的第二前后运动机构182L的输出件能带动第一侧第二部位(左后)的第二行走机构052前后运动，以及还可带动设置于该侧和该部位的第四升降机构122L和机械腿022L前后运动；The output member of the second forward and backward movement mechanism 182L on the first side can drive the second walking mechanism 052 at the second part (left rear) on the first side to move back and forth, and can also drive the fourth lifting mechanism arranged on this side and this position 122L and mechanical leg 022L move back and forth;

第二侧的第二前后运动机构182R的输出件能带动第二侧第二部位(右后)的第二行走机构054前后运动，以及还可带动设置于该侧和该部位的第四升降机构122R和机械腿022R前后运动。The output member of the second forward and backward movement mechanism 182R on the second side can drive the second traveling mechanism 054 at the second part (right rear) on the second side to move back and forth, and can also drive the fourth elevating mechanism arranged at this side and this position. 122R and mechanical leg 022R move back and forth.

第一侧第一部位(左前)的第五前后运动机构185L连接于机架01第一侧第一部位(左前)。The fifth forward and backward movement mechanism 185L at the first part (front left) on the first side is connected to the first part (front left) on the first side of the frame 01 .

第二侧第一部位(右前)的第五前后运动机构185R连接于机架01第二侧第一部位(右前)。The fifth forward and backward movement mechanism 185R at the first part (front right) on the second side is connected to the first part (front right) on the second side of the frame 01 .

第一侧第二部位(左后)的第六前后运动机构186L连接于机架01第一侧第二部位(左后)。The sixth forward and backward movement mechanism 186L at the second part (rear left) on the first side is connected to the second part (rear left) on the first side of the frame 01 .

第二侧第二部位(右后)的第六前后运动机构186R连接于机架01第二侧第二部位(右后)。The sixth forward and backward movement mechanism 186R at the second part (right rear) on the second side is connected to the second part (right rear) on the second side of the frame 01 .

各前后运动机构的基座均连接于机架01的相应侧的相应部位。The bases of each forward and backward motion mechanism are connected to corresponding parts on corresponding sides of the frame 01 .

各第五前后运动机构185或第六前后运动机构186的输出件再连接相应的升降机构的基座，该升降机构的输出件再连接相应的行走机构的基座，以带动相应的行走机构进行前后和/或升降运动。The output parts of the fifth front and back movement mechanism 185 or the sixth front and rear movement mechanism 186 are connected to the base of the corresponding lifting mechanism, and the output parts of the lifting mechanism are connected to the base of the corresponding walking mechanism to drive the corresponding walking mechanism Back and forth and/or up and down motions.

第一侧的第三前后运动机构183L与第二侧的第三前后运动机构183R相对于纵轴间隔布置。可选的，第三前后运动机构设置于机架01前后两端之间的中部。如图2所示，可选的，第一侧的第三前后运动机构183L设置于第一侧的第四前后运动机构184L所示的位置。第二侧的第三前后运动机构183R可设置于第二侧的第四前后运动机构184R所示的位置。The third forward and backward movement mechanism 183L on the first side and the third forward and backward movement mechanism 183R on the second side are arranged at intervals relative to the longitudinal axis. Optionally, the third forward and backward movement mechanism is arranged in the middle between the front and rear ends of the frame 01 . As shown in FIG. 2 , optionally, the third forward and backward movement mechanism 183L on the first side is set at the position shown by the fourth forward and backward movement mechanism 184L on the first side. The third forward and backward movement mechanism 183R on the second side may be disposed at the position shown by the fourth forward and backward movement mechanism 184R on the second side.

请参阅图8、图9，Please refer to Figure 8, Figure 9,

第一前后运动机构181的输出件还连接载人舱的第一边部111且带动该第一边部111前后运动；The output member of the first forward and backward movement mechanism 181 is also connected to the first edge portion 111 of the manned compartment and drives the first edge portion 111 to move forward and backward;

第二前后运动机构182的输出件还连接载人舱的第二边部112且带动该第二边部112前后运动。The output part of the second forward and backward movement mechanism 182 is also connected to the second side portion 112 of the passenger cabin and drives the second side portion 112 to move forward and backward.

任一运动机构的的输出件能带动某一部件运动，指该运动机构的的输出件连接该部件。该运动机构的基座连接于机架01。The output part of any movement mechanism can drive a certain part to move, which means that the output part of the movement mechanism is connected to the part. The base of the kinematic mechanism is connected to the frame 01.

一种包含前后运动机构的可分段升降的滚动式行走机构群或可移动的设备的控制方法2.2：控制除需上升离地的行走机构之外的若干个行走机构所对应连接的前后运动机构调节该若干个行走机构的各自着地位置，使该滚动式行走机构群的重心或由该滚动式行走机构群搭载行驶的可移动的设备的重心于地面的正投影不超出除该需上升离地的行走机构之外的多个行走机构的着地点依次连线合围所形成的区域。该机构群或该设备包括该方法中所有的机构。A control method for a rolling walking mechanism group or movable equipment including a front and rear movement mechanism that can be lifted in sections Adjust the respective landing positions of the plurality of running gears so that the orthographic projection of the center of gravity of the rolling running gear group or the center of gravity of the movable equipment carried by the rolling running gear group on the ground does not exceed the required lifting distance. The area formed by enclosing the landing points of multiple running gears other than the running gear in turn. The group of institutions or the facility includes all institutions in the method.

可选的，该控制方法中，还包括步骤：控制与该多个行走机构对应连接的升降机构使该多个行走机构着地。Optionally, the control method further includes the step of: controlling the lifting mechanism correspondingly connected to the multiple running gears to land the multiple running gears.

可选的，包含前后运动机构的可分段升降的滚动式行走机构群为第二可分段升降的滚动式行走机构群。则该若干个行走机构为至少三个行走机构。Optionally, the group of rolling walking gears that can be raised and lowered in sections including the forward and backward motion mechanism is the second group of rolling walking gears that can be lifted in sections. Then the several running gears are at least three running gears.

该包含前后运动机构的可分段升降的滚动式行走机构群和该控制方法2.1，均用于使该滚动式行走机构群或由该滚动式行走机构群搭载行驶的可移动的设备越障。任一行走机构的着地点，均指该行走机构在俯视方向的靠外的着地点。靠外的着地点指前后左右的各方位中与机架01中心的水平方向距离最远的着地点。The group of rolling traveling gears that can be raised and lowered in sections including the forward and backward movement mechanism and the control method 2.1 are both used to make the group of rolling traveling gears or the movable equipment carried by the group of rolling traveling gears overcome obstacles. The landing site of any running gear refers to the outer landing site of the running gear in the overlooking direction. The outer landing point refers to the farthest landing point in the horizontal direction from the center of the rack 01 in all directions, front, rear, left, and right.

3.本发明还提供：一种可移动的设备，该设备包括机架01、连接于该机架01的可分段升降的滚动式行走机构群，该可分段升降的滚动式行走机构群为第一可分段升降的滚动式行走机构群或第二可分段升降的滚动式行走机构群。3. The present invention also provides: a movable device, which includes a frame 01, a group of rolling traveling mechanisms that can be lifted and lowered in sections connected to the frame 01, and the group of rolling traveling mechanisms that can be lifted and lowered in sections It is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections.

可选的，该设备还包括用于使该设备沿路面行驶的第四行走机构15、用于作业的机械臂或多功能的机械腿02或载人舱11或水中推进装置。Optionally, the equipment also includes a fourth traveling mechanism 15 for driving the equipment along the road, a mechanical arm or a multifunctional mechanical leg 02 for operation, a manned cabin 11 or an underwater propulsion device.

本发明中，任一设备或任一可分段升降的滚动式行走机构群中，通过该设备或该可分段升降的滚动式行走机构群的机架01中心的沿行驶方向的轴线为纵轴。该纵轴的一侧为第一侧，该纵轴的另一侧为第二侧。第一侧与第二侧位于该纵轴相对的两侧。一种具体的实施例为，行驶方向为前，第一侧为左侧，第二侧为右侧。当然其他的实施例也可第一侧为右侧，第二侧为左侧。任一侧，并非限定于该侧的外表面。任一侧的内外方向指：靠纵轴的方向为内，远离纵轴的方向为外。以机架01中心为界，靠前的部位为第一部位，靠后的部位为第二部位。机架01中心位于第一行走机构和第二行走机构之间。第三行走机构位于第一行走机构和第二行走机构之间。在俯视方向上，机架01中心与构造重心O点的偏差值在预设的标准范围内。可选的，机架01中心与构造重心O点重合。第二部位即第二部。第一部位即第一部。纵向指前后方向。横向只左右方向。In the present invention, in any equipment or any segmented lifting rolling walking mechanism group, the axis along the traveling direction passing through the center of the equipment or the segmental lifting rolling traveling mechanism group's frame 01 is axis. One side of the longitudinal axis is the first side and the other side of the longitudinal axis is the second side. The first side and the second side are located on opposite sides of the longitudinal axis. A specific embodiment is that the driving direction is the front, the first side is the left side, and the second side is the right side. Of course, in other embodiments, the first side may be the right side, and the second side may be the left side. Either side, not limited to the outer surface of that side. The internal and external directions on either side refer to: the direction close to the longitudinal axis is inward, and the direction away from the longitudinal axis is external. With the center of the frame 01 as the boundary, the front part is the first part, and the rear part is the second part. The frame 01 center is located between the first running gear and the second running gear. The third running gear is located between the first running gear and the second running gear. In the direction of looking down, the deviation between the center of the frame 01 and the center of gravity O of the structure is within a preset standard range. Optionally, the center of the rack 01 coincides with the point O of the construction center of gravity. The second part is the second part. The first part is the first part. Longitudinal refers to the front-to-back direction. Horizontal direction only left and right.

本文中，任一设备、任一可分段升降的滚动式行走机构群中，任一升降机构均、任一前后运动机构可为竖向连接于机架01的线性运动机构、由伸缩机构驱动的摆动机构或由涡轮蜗杆机构驱动的摆动机构。优选的，任一升降机构为竖向连接于机架01的线性运动机构。优选的，该线性运动机构为电动推杆、伸缩式液压缸或伸缩式气缸。导轨型运动机构。In this paper, in any equipment and any rolling walking mechanism group that can be lifted and lowered in sections, any lifting mechanism and any forward and backward movement mechanism can be a linear movement mechanism vertically connected to the frame 01, driven by a telescopic mechanism The swing mechanism or the swing mechanism driven by the worm mechanism. Preferably, any lifting mechanism is a linear motion mechanism vertically connected to the frame 01 . Preferably, the linear motion mechanism is an electric push rod, a telescopic hydraulic cylinder or a telescopic air cylinder. Rail type motion mechanism.

本文中，任一设备、任一可分段升降的滚动式行走机构群中，任一前后运动机构可为沿行驶方向连接于机架01的线性运动机构、由伸缩机构驱动的摆动机构或由涡轮蜗杆机构驱动的摆动机构。优选的，任一前后运动机构为沿行驶方向连接于机架01的线性运动机构。优选的，该线性运动机构为导轨型运动机构、电动推杆、伸缩式液压缸或伸缩式气缸。Herein, in any equipment, in any rolling traveling gear group that can be raised and lowered in sections, any forward and backward motion mechanism can be a linear motion mechanism connected to the frame 01 along the travel direction, a swing mechanism driven by a telescopic mechanism, or a swing mechanism driven by a telescopic mechanism. Swing mechanism driven by worm gear mechanism. Preferably, any forward and backward motion mechanism is a linear motion mechanism connected to the frame 01 along the traveling direction. Preferably, the linear motion mechanism is a guide rail type motion mechanism, an electric push rod, a telescopic hydraulic cylinder or a telescopic air cylinder.

更具体的，例如，第一升降机构211沿竖直方向连接机架01，第一行走机构位于机架01的下方并连接第一升降机构211，从而第一升降机构211沿竖直方向伸缩或升降，以调整第一升降机构211的支撑长度，从而调节机架01的竖直高度，或机架01的高度保持不变，而第一升降机构211可以使第一行走机构相对机架01靠近预定距离，以使第一行走机构脱离地面，使第一行走机构可以从障碍物的上方越过障碍物，即第一行走机构的下表面的高度，不小于障碍物的上表面的高度；或第一升降机构211可以使第一行走机构相对机架01远离预定距离，以使第一行走机构抵接地面。本文中其他升降机构与相应的行走机构的连接，均可依次方案进行。More specifically, for example, the first elevating mechanism 211 is connected to the frame 01 in the vertical direction, and the first traveling mechanism is located below the frame 01 and connected to the first elevating mechanism 211, so that the first elevating mechanism 211 stretches or retracts in the vertical direction. Lifting, to adjust the support length of the first lifting mechanism 211, thereby adjusting the vertical height of the frame 01, or the height of the frame 01 remains constant, and the first lifting mechanism 211 can make the first traveling mechanism approach the relative frame 01 Predetermined distance, so that the first traveling mechanism is separated from the ground, so that the first traveling mechanism can cross the obstacle from above the obstacle, that is, the height of the lower surface of the first traveling mechanism is not less than the height of the upper surface of the obstacle; or A lifting mechanism 211 can make the first traveling mechanism far away from the frame 01 by a predetermined distance, so that the first traveling mechanism touches the ground. In this paper, the connection of other lifting mechanisms and corresponding running mechanisms can be carried out sequentially.

待越障的行走机构，指：在该可移动的设备沿路面行驶时遇到障碍的行走机构。遇到障碍也称为靠近障碍。该行走机构为该第一行走机构、第二行走机构或第三行走机构。使行走机构上升以越障，指：使该行走机构的下表面上升至不低于障碍物上表面的高度，以使该行走机构越障。使行走机构越障指使该行走机构位于该障碍物之上或使该行走机构从该障碍物上方经过。越障是目的。使行走机构上升是越障的手段。使该行走机构上升，并非使该设备中所有的行走机构上升，而使靠近该障碍物的(一个或两)行走机构升降。The walking mechanism to overcome obstacles refers to the walking mechanism that encounters obstacles when the movable equipment is running along the road. Encountering an obstacle is also known as approaching an obstacle. The running gear is the first running gear, the second running gear or the third running gear. Raising the traveling mechanism to overcome obstacles means: raising the lower surface of the traveling mechanism to a height not lower than the upper surface of the obstacle so that the traveling mechanism can overcome obstacles. Enabling the running gear to overcome obstacles refers to placing the running gear on the obstacle or making the running gear pass above the obstacle. Overcoming obstacles is the goal. Making the traveling mechanism rise is the means of surmounting obstacles. The traveling mechanism is raised, not all the traveling mechanisms in the equipment are raised, but the (one or two) traveling mechanisms close to the obstacle are raised and lowered.

可分段升降的滚动式行走机构群所含的行走机构称为可升降的行走机构。第一行走机构、和第二行走机构和第三行走机构均为可升降的行走机构。同一设备中，可分段升降的滚动式行走机构群和该第四行走机构配置为不相互干涉。同理中，本文中，虽然包括多种可选方案，但所有部件均配置为不相互干涉。The walking mechanism contained in the rolling walking mechanism group that can be lifted in sections is called the lifting walking mechanism. The first running gear, the second running gear and the third running gear are liftable running gears. In the same equipment, the rolling traveling mechanism group that can be lifted in sections and the fourth traveling mechanism are configured not to interfere with each other. In the same way, in this paper, although various optional solutions are included, all components are configured not to interfere with each other.

同一设备中，该可升降的行走机构和该第四行走机构配置为不相互干涉。可选的，该可升降的行走机构和该第四行走机构能共同的撑地和共同的使该设备沿路面行驶。可升降的行走机构在与其对应连接的升降机构驱动下，该可升降的行走机构的底部和该第四行走机构的底部能等高。可升降的行走机构的底部可位于该机架01的底部的上方。任一行走机构的底部的可位于该机架01的下方。In the same device, the liftable traveling mechanism and the fourth traveling mechanism are configured not to interfere with each other. Optionally, the liftable traveling mechanism and the fourth traveling mechanism can jointly support the ground and jointly enable the equipment to travel along the road surface. Driven by the lifting mechanism correspondingly connected with the lifting traveling mechanism, the bottom of the lifting traveling mechanism and the bottom of the fourth traveling mechanism can be equal in height. The bottom of the liftable running gear can be positioned above the bottom of the frame 01 . The bottom of any running gear can be positioned under the frame 01.

该第四行走机构由输出件连接第四行走机构的动力输入件的第四驱动器驱动，以使该设备沿路面行驶。该可升降的行走机构可由输出件连接可升降的行走机构(的动力输入件)的驱动器驱动，以使该设备沿路面行驶。可分段升降的滚动式行走机构群行驶速度慢但能越障，第四行走机构行驶速度快且承载能力大但不能越障，两者结合能弥补各自的缺点，发挥各自优点，使设备整体性能由大幅提高。The fourth traveling mechanism is driven by a fourth driver whose output part is connected to the power input part of the fourth traveling mechanism, so that the equipment travels along the road surface. The liftable traveling mechanism can be driven by a driver whose output part is connected to (the power input part of) the liftable traveling mechanism, so that the device can travel along the road surface. The rolling traveling mechanism group that can be raised and lowered in sections travels slowly but can overcome obstacles. The fourth traveling mechanism travels fast and has a large carrying capacity but cannot overcome obstacles. The combination of the two can make up for their respective shortcomings and give full play to their respective advantages. Performance has been greatly improved by .

该第四行走机构15的参数，高于可升降的行走机构的参数。该参数包括最高行驶速度、最大输出功率、最大载荷能力或抗冲击能力。第四行走机构也称为主行走机构。该第一车轮15A和第二车轮15B均为快速轮或主轮。第四行走机构15连接于该可移动的平台的机身01上，以提高可靠性。第四行走机构用于使该可移动的设备沿路面快速行驶。快速指行驶速度快于可升降的行走机构的行驶速度。The parameters of the fourth traveling mechanism 15 are higher than those of the movable traveling mechanism. This parameter includes maximum driving speed, maximum output power, maximum load capacity or impact resistance. The fourth running gear is also called the main running gear. Both the first wheel 15A and the second wheel 15B are fast wheels or main wheels. The fourth traveling mechanism 15 is connected on the fuselage 01 of this movable platform, to improve reliability. The fourth running mechanism is used to make the movable equipment run quickly along the road surface. Fast refers to that the traveling speed is faster than the traveling speed of the lifting traveling mechanism.

可升降的行走机构也称为辅助的行走机构。可升降的行走机构及与其对应连接的升降机构中任一种均属于该可移动的设备的越障装置。可升降的行走机构用于使该可移动的设备沿路面慢速行驶和越障。Liftable running gear is also called auxiliary running gear. Any one of the liftable traveling mechanism and the correspondingly connected lifting mechanism belongs to the obstacle-surmounting device of the movable equipment. The liftable traveling mechanism is used to make the movable equipment run slowly along the road surface and overcome obstacles.

可选的，第四行走机构(15)的类型为轮式行走机构。该第四行走机构包括用于使可移动的设备以轮式移动的两第一车轮15A和两第二车轮15B。可选的，两第一车轮15A沿行驶方向横向布置，且分别为位于左前的第一车轮15A和位于右前的第一车轮15A，和/或，且两第二车轮15B沿沿行驶方向横向布置，且分别为位于左后的第二车轮15B和位于右后的第二车轮15B。可选地，两第一车轮15A位于第一行走机构和第三行走机构之间，两第二车轮15B位于第二行走机构和第三行走机构之间。Optionally, the type of the fourth traveling mechanism (15) is a wheeled traveling mechanism. The fourth traveling mechanism includes two first wheels 15A and two second wheels 15B for moving the movable equipment in a wheeled manner. Optionally, the two first wheels 15A are arranged laterally along the traveling direction, and are respectively the first wheel 15A located at the left front and the first wheel 15A located at the right front, and/or, and the two second wheels 15B are arranged laterally along the traveling direction , and are respectively the second wheel 15B located at the left rear and the second wheel 15B located at the right rear. Optionally, the two first wheels 15A are located between the first traveling mechanism and the third traveling mechanism, and the two second wheels 15B are located between the second traveling mechanism and the third traveling mechanism.

在一些实施例中，可移动的设备还包括传感器模块，传感器模块连接机架01，传感器模块用于朝控制装置传输检测信号，控制装置根据检测信号而控制第一行走机构、第二行走机构和第三行走机构。以及，控制装置根据检测信号而控制第一升降机构211、第二升降机构222和第三升降机构212。In some embodiments, the movable equipment further includes a sensor module, the sensor module is connected to the frame 01, the sensor module is used to transmit a detection signal to the control device, and the control device controls the first traveling mechanism, the second traveling mechanism and the The third walking mechanism. And, the control device controls the first lifting mechanism 211 , the second lifting mechanism 222 and the third lifting mechanism 212 according to the detection signal.

可选地，传感器模块可以获取包括通过人机交互模块获取人员的控制指令、基于环境感知模块获取路况信息、根据该路况信息选择相应的运动装置控制可移动的设备的移动。Optionally, the sensor module may obtain control instructions from personnel through the human-computer interaction module, obtain road condition information based on the environment perception module, and select a corresponding motion device to control the movement of the movable device according to the road condition information.

可选地，环境感知模块的处理，可由人工智能模块进行人工智能处理所得。该人工智能处理包括图像识别也即可移动的设备视觉识别、语音识别、语义识别、自然语言识别等。环境信息包括目标信息。目标信息包括：目标状况和/或目标位置。本实施例中，环境指可移动的设备所在环境或该设备所在环境。环境信息包括该设备或可移动的设备行驶方向的视觉信息、路况、二维地图、三维地图、导航信息等。Optionally, the processing by the environment perception module may be obtained by artificial intelligence processing by the artificial intelligence module. The artificial intelligence processing includes image recognition, that is, mobile device visual recognition, speech recognition, semantic recognition, natural language recognition, etc. The environment information includes target information. The target information includes: target status and/or target location. In this embodiment, the environment refers to the environment where the movable device is located or the environment where the device is located. The environmental information includes visual information of the device or the moving direction of the device, road conditions, two-dimensional map, three-dimensional map, navigation information, and the like.

本发明还提供：一种可移动的设备的控制方法2，该设备包括机架01、连接于该机架01的可分段升降的滚动式行走机构群，该可分段升降的滚动式行走机构群为第一可分段升降的滚动式行走机构群或第二可分段升降的滚动式行走机构群，该控制方法包括步骤Y1和/或Y2：The present invention also provides: a control method 2 for movable equipment, the equipment includes a frame 01, a group of rolling walking mechanisms that can be lifted and lowered in sections connected to the frame 01, and the rolling walking mechanism that can be lifted and lowered in sections The mechanism group is the first rolling traveling mechanism group that can be lifted in sections or the second rolling walking mechanism group that can be lifted in sections, and the control method includes steps Y1 and/or Y2:

Y1：控制该设备行驶，控制与待越障的行走机构对应的升降机构，使该待越障的行走机构相对于该机架01上升以越障，和/或，控制与除待越障的行走机构之外的若干个行走机构对应的升降机构，使该若干个行走机构相对于该机架01下降以撑地，以使该待越障的行走机构上升以越障。Y1: Control the device to travel, control the lifting mechanism corresponding to the walking mechanism to be overcome, so that the walking mechanism to be overcome is raised relative to the frame 01 to overcome obstacles, and/or, control and remove the obstacle to be overcome The lifting mechanisms corresponding to several traveling mechanisms other than the traveling mechanism make the several traveling mechanisms descend relative to the frame 01 to support the ground, so that the traveling mechanism to be overcome the obstacle is raised to overcome the obstacle.

Y2：控制该设备朝下台阶的方向行驶，控制与已悬空于台阶下方路段的上方的行走机构对应的升降机构，使该行走机构相对于该机架01下降以使该行走机构的在该台阶下方路段撑地。该控制方法用于使该可移动的设备越障。Y2: Control the device to move in the direction of the lower step, control the lifting mechanism corresponding to the traveling mechanism above the section below the step, and make the traveling mechanism descend relative to the frame 01 so that the walking mechanism is on the step The lower part of the road supports the ground. The control method is used to enable the movable device to overcome obstacles.

可选的，在使该待越障的行走机构相对于该机架01上升的步骤之前还包括包含前后运动机构的可分段升降的滚动式行走机构群的控制方法2.2中所含步骤。Optionally, before the step of raising the walking mechanism to be overcome with respect to the frame 01, it also includes the steps contained in the control method 2.2 of the rolling walking mechanism group that can be raised and lowered in sections including the forward and backward movement mechanism.

本发明还提供：一种可移动的设备的控制方法3，该设备包括机架01、连接于该机架01的第四行走机构15、连接于该机架01的可分段升降的滚动式行走机构群，该可分段升降的滚动式行走机构群为第一可分段升降的滚动式行走机构群或第二可分段升降的滚动式行走机构群，和；该控制方法包括步骤S1和/或S2：The present invention also provides: a control method 3 for movable equipment, the equipment includes a frame 01, a fourth traveling mechanism 15 connected to the frame 01, a rolling rolling mechanism 15 connected to the frame 01 that can be raised and lowered in sections. The walking mechanism group, the rolling walking mechanism group that can be lifted and lowered in sections is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections, and; the control method includes step S1 and/or S2:

S1：控制该可分段升降的滚动式行走机构群使其所包含的可升降的滚动式行走机构相对于所述机架01升高以使所述第四行走机构15撑地；S1: Control the group of rolling traveling gears that can be raised and lowered in sections so that the raised and lowering rolling running gears contained therein are raised relative to the frame 01 so that the fourth running gear 15 supports the ground;

S2：控制该可分段升降的滚动式行走机构群使该设备越障。S2: Control the group of rolling traveling gears that can be raised and lowered in sections to make the equipment overcome obstacles.

可选的，控制方法3中，在该步骤S2中，在使待越障的行走机构相对于该机架01上升的步骤之前还包括包含前后运动机构的可分段升降的滚动式行走机构群的控制方法2.2中所含步骤。Optionally, in the control method 3, in the step S2, before the step of raising the traveling mechanism to be overcome with respect to the frame 01, it also includes a group of rolling traveling mechanisms that can be lifted and lowered in sections including a forward and backward movement mechanism The steps contained in the control method 2.2.

S1方案能使该可分段升降的滚动式行走机构群不阻碍第四行走机构的行驶。第四行走机构的行驶可搭载该第一可分段升降的滚动式行走机构群该行驶。可选的，该步骤S1中还包括步骤：控制所述第四行走机构15使所述可移动的设备沿路面行驶。The S1 scheme can make the rolling traveling mechanism group that can be raised and lowered in sections not hinder the running of the fourth traveling mechanism. The traveling of the 4th running gear can carry this first rolling type running gear group that can lift in sections. Optionally, this step S1 further includes the step of: controlling the fourth traveling mechanism 15 to make the movable equipment travel along the road.

可选的，该控制方法2或控制方法3中还包括步骤：控制该第一前后运动机构18051调整该第一行走机构在前后方向相对所述机架01的中心的距离，和/或，控制该第二前后运动机构18052182调整该第二行走机构在前后方向相对所述机架01的中心的距离。该步骤用于：根据障碍物的宽度调整第一行走机构和/或该第二行走机构的着地点。以更好的跨栏、越障。Optionally, the control method 2 or control method 3 further includes the step of: controlling the first forward and backward movement mechanism 18051 to adjust the distance of the first traveling mechanism relative to the center of the frame 01 in the front and rear directions, and/or, controlling The second forward and backward movement mechanism 18052182 adjusts the distance of the second traveling mechanism relative to the center of the frame 01 in the front and rear direction. This step is used for: adjusting the landing point of the first running gear and/or the second running gear according to the width of the obstacle. With better hurdles and obstacles.

该步骤S1用于使该可移动的设备在无障碍的路段行驶。也即：当该可移动的设备在无障碍的路段时，执行该步骤S1。该步骤S2解决该机架01遇到障碍需越障的难题或该第四行走机构15遇到障碍需越障的难题。This step S1 is used to make the movable device travel on an unobstructed road section. That is: when the movable device is on an unobstructed road section, step S1 is executed. This step S2 solves the difficult problem that the frame 01 needs to overcome an obstacle or the fourth traveling mechanism 15 needs to overcome an obstacle.

该控制方法3的实施方案：The embodiment of this control method 3:

控制该第一可分段升降的滚动式行走机构群指控制该第一可分段升降的滚动式行走机构群中所包括的升降机构，即控制第一升降机构211和/或控制第二升降机构222和/或控制第三升降机构(212)。在无限定说明时，控制该设备行驶指控制该设备中所包括的滚动式行走机构使该设备沿路面行驶。行驶指沿路面行驶。控制该设备中所包括的滚动式行走机构指控制第一行走机构和/或控制第二行走机构和/或控制第三行走机构和/或控制第四行走机构。Controlling the first rolling walking mechanism group that can be lifted in sections refers to controlling the lifting mechanism included in the first rolling walking mechanism group that can be lifted in sections, that is, controlling the first lifting mechanism 211 and/or controlling the second lifting mechanism. mechanism 222 and/or control the third lift mechanism (212). When there is no limitation, controlling the equipment to run refers to controlling the rolling traveling mechanism included in the equipment to make the equipment run along the road. To drive means to drive along the road. Controlling the rolling traveling mechanism included in the device refers to controlling the first traveling mechanism and/or controlling the second traveling mechanism and/or controlling the third traveling mechanism and/or controlling the fourth traveling mechanism.

上述步骤S1、S2，是在不同的时候分开执行的。控制指令的来源可为设备内的操控人员或网络或自动驾驶模块。控制可移动的设备的所述第一升降机构211、所述第二升降机构222以及所述第三升降机构212的升/降分别使相应的第一行走机构、第二行走机构以及第三行走机构升/降，即是由第一升降机构、第二升降机构以及第三升降机构分别控制第一行走机构、第二行走机构以及第三行走机构的升/降。该步骤S2中所述越障，该越障方法可使用本文中任一处所述的越障方法进行。The above steps S1 and S2 are performed separately at different times. The source of the control command can be the operator in the device, the network or the automatic driving module. Control the lifting/lowering of the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism 212 of the movable equipment to make the corresponding first traveling mechanism, the second traveling mechanism and the third walking mechanism Mechanism up/down means that the first lifting mechanism, the second lifting mechanism and the third lifting mechanism respectively control the raising/lowering of the first traveling mechanism, the second traveling mechanism and the third traveling mechanism. For the obstacle surmounting described in step S2, the obstacle surmounting method can be performed using any of the obstacle surmounting methods described herein.

可分段升降的滚动式行走机构群的实施说明：The implementation description of the rolling walking mechanism group that can be lifted and lowered in sections:

可分段升降的滚动式行走机构群包括第一可分段升降的滚动式行走机构群或第二可分段升降的滚动式行走机构群。The rolling traveling mechanism group that can be lifted in sections includes a first rolling walking mechanism group that can be lifted in sections or a second rolling walking mechanism group that can be lifted in sections.

在任一技术方案中，若该可分段升降的滚动式行走机构群未连接于(作为该机构驱动行驶的对象的)可移动的设备的机架01，则该可分段升降的滚动式行走机构群包括(隶属于自身的)机架01，此时该可分段升降的滚动式行走机构群即可移动的设备。即使该可分段升降的滚动式行走机构群连接于(作为该机构驱动行驶的对象的)可移动的设备的机架01，该可分段升降的滚动式行走机构群也可包含自己的机架A，机架01连接机架A，任一机构连接机架A即该机构连接机架01。In any technical solution, if the rolling traveling mechanism group that can be raised and lowered in sections is not connected to the frame 01 of the movable equipment (as the object driven by the mechanism), the rolling walking mechanism group that can be lifted in sections The mechanism group includes (belonging to itself) frame 01, and this moment, the rolling traveling mechanism group that can be lifted in sections can be mobile equipment. Even if the rolling traveling mechanism group that can be raised and lowered in sections is connected to the frame 01 of the movable equipment (the object that is driven by the mechanism), the rolling traveling mechanism group that can be lifted in sections can also include its own machine. Rack A, Rack 01 is connected to Rack A, and any mechanism is connected to Rack A, that is, the mechanism is connected to Rack 01.

可分段升降的滚动式行走机构群既可隶属于(作为该机构驱动行驶的对象的)可移动的设备，也可作为一种模块化的产品独立的成为一种可移动的设备。可分段升降的滚动式行走机构群包括(隶属于自身的)机架01，能脱离于作为该机构驱动行驶的对象的可移动的设备独立行驶。该方案具有重要的意义。该可分段升降的滚动式行走机构群脱离于该可移动的设备还用于驱动其他的的可移动的设备行驶。在没有限定说明时，行驶指沿路面行驶。The rolling traveling mechanism group that can be raised and lowered in sections can be attached to the movable equipment (as the object driven by the mechanism), and can also be used as a modular product to independently become a movable equipment. The rolling traveling mechanism group that can be raised and lowered in sections includes a frame 01 (belonging to itself), which can run independently from the movable equipment that is the object of driving and traveling of the mechanism. This program is of great significance. The group of rolling traveling gears that can be raised and lowered in sections is separated from the movable equipment and is also used to drive other movable equipment to travel. When not specified otherwise, running refers to running along a road surface.

可分段升降的滚动式行走机构群，包括滚动式行走机构和滚动件升降机构。第一可分段升降的滚动式行走机构群包括第一行走机构、第二行走机构和第三行走机构，即该滚动式行走机构包括第一行走机构、第二行走机构和第三行走机构。第一可分段升降的滚动式行走机构群包括第一升降机构211、第二升降机构222和第三升降机构(212)，即该滚动件升降机构包括第一升降机构211、第二升降机构222和第三升降机构(212)。A group of rolling traveling mechanisms that can be raised and lowered in sections, including a rolling traveling mechanism and a rolling element lifting mechanism. The first section-liftable rolling traveling mechanism group includes a first traveling mechanism, a second traveling mechanism and a third traveling mechanism, that is, the rolling traveling mechanism includes a first traveling mechanism, a second traveling mechanism and a third traveling mechanism. The rolling traveling mechanism group that the first segmental lift can comprise the first lifting mechanism 211, the second lifting mechanism 222 and the 3rd lifting mechanism (212), promptly this rolling element lifting mechanism comprises the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism (212).

任一可移动的设备包括可分段升降的滚动式行走机构群，即：该可移动的设备包括滚动式行走机构和滚动件升降机构；且，该滚动式行走机构和该滚动件升降机构配置为可分段升降的滚动式行走机构群。Any movable equipment includes a rolling traveling mechanism group that can be lifted in sections, that is: the movable equipment includes a rolling traveling mechanism and a rolling lifting mechanism; and, the rolling traveling mechanism and the rolling lifting mechanism are configured It is a rolling walking mechanism group that can be lifted and lowered in sections.

例如，该可移动的设备包括第一升降机构211、第二升降机构222、第三升降机构(212)、第一行走机构、第二行走机构和第三行走机构，且该第一升降机构211、第二升降机构222、第三升降机构(212)、第一行走机构、第二行走机构和第三行走机构配置为第一可分段升降的滚动式行走机构群。For example, the movable equipment includes a first lifting mechanism 211, a second lifting mechanism 222, a third lifting mechanism (212), a first traveling mechanism, a second traveling mechanism and a third traveling mechanism, and the first lifting mechanism 211 , the second elevating mechanism 222, the third elevating mechanism (212), the first traveling mechanism, the second traveling mechanism and the third traveling mechanism are configured as a first rolling traveling mechanism group that can be lifted in sections.

可分段升降的滚动式行走机构群中滚动式行走机构、滚动件升降机构、前后运动机构均连接用于驱动该机构的驱动器，该可分段升降的滚动式行走机构群和该驱动器即可分段升降的滚动式行走装置。任一设备包括可分段升降的滚动式行走机构群，即该设备包括可分段升降的滚动式行走装置。The rolling walking mechanism, the rolling element lifting mechanism, and the front and rear movement mechanism in the rolling walking mechanism group that can be lifted and lowered in sections are all connected to the driver used to drive the mechanism. The rolling walking mechanism group that can be lifted and lowered in sections and the driver can be Segmented lifting rolling walking device. Any equipment includes a group of rolling traveling gears that can be raised and lowered in sections, that is, the equipment includes a rolling walking device that can be lifted in sections.

第一行走机构、第三行走机构和第二行走机构指该各机构在可移动的设备中设置于不同的部位。也即该各机构在第一可分段升降的滚动式行走机构群中设置于不同的部位。例如，第一行走机构为第一部位(前部)的行走机构，第三行走机构为中部的行走机构，第二行走机构为后部的行走机构。中部指第一部位(前部)和后部之间的部位。或例如，第一行走机构为后部的行走机构，第二行走机构为第一部位(前部)的行走机构。The first traveling mechanism, the third traveling mechanism and the second traveling mechanism refer to that the respective mechanisms are arranged in different positions in the movable equipment. That is to say, the various mechanisms are arranged in different positions in the group of rolling traveling gears that can be lifted and lowered in sections. For example, the first running gear is the running gear of the first part (front part), the third running gear is the running gear of the middle part, and the second running gear is the running gear of the rear part. The middle part refers to the part between the first part (front part) and the rear part. Or for example, the first running gear is the running gear of the rear part, and the second running gear is the running gear of the first part (front part).

本发明中，同一设备中，各部位的行走机构，既可为同一类型的行走机构也可为不同类型的的行走机构。例如该第一行走机构、第三行走机构和第二行走机构均为行走轮，或均为履带机构，或均为滚筒。或例如，该第一行走机构和第二行走机构为行走轮，第三行走机构为履带式行走机构或滚筒式行走机构。在行走轮机构的外圈套接履带即成为履带机构。或，将履带式行走机构中履带去除，该履带式行走机构中两侧的第一旋转件0721和两侧的第二旋转件0722用于着地行走，该两侧的第一旋转件0721和该两侧的第二旋转件0722均构成行走轮。In the present invention, in the same equipment, the running gears of each part can be the same type of running gears or different types of running gears. For example, the first traveling mechanism, the third traveling mechanism and the second traveling mechanism are all traveling wheels, or all are crawler mechanisms, or are all rollers. Or for example, the first traveling mechanism and the second traveling mechanism are traveling wheels, and the third traveling mechanism is a crawler-type traveling mechanism or a roller-type traveling mechanism. The crawler belt is socketed on the outer ring of the traveling wheel mechanism to form a crawler belt mechanism. Or, remove the crawler belts in the crawler-type traveling mechanism, the first rotating member 0721 on both sides and the second rotating member 0722 on both sides in the crawler-type traveling mechanism are used for walking on the ground, the first rotating member 0721 on both sides and the The second rotating member 0722 on both sides constitutes a road wheel.

第四行走机构的最高行驶速度高于可分段升降的滚动式行走机构群的最高行驶速度。The maximum traveling speed of the fourth traveling mechanism is higher than the maximum traveling speed of the rolling traveling mechanism group that can be raised and lowered in sections.

作为现有技术的汽车，采用本发明的技术方案2有多种实施方案增加汽车的越障能力。汽车中，底盘即机架。As an automobile of the prior art, technical scheme 2 of the present invention has multiple implementations to increase the obstacle-surmounting ability of the automobile. In a car, the chassis is the frame.

例如方案一：将现有的前车轮和后车轮中一种通过(一或多个)第一升降机构211连接机架01使该前车轮相应的成为第一行走机构，将现有的前车轮和后车轮中另一种通过(一或多个)第二升降机构222连接机架01使该前车轮相应的成为第二行走机构，然后再在前车轮后和后车轮之间增设第三升降机构(212)和第三行走机构，从而构建出第一可分段升降的滚动式行走机构群。第三行走机构可包括履带式行走机构。For example scheme one: a kind of in existing front wheel and rear wheel is connected frame 01 by (one or more) first elevating mechanism 211 and makes this front wheel correspondingly become the first running gear, and existing front wheel The other is connected to the frame 01 by (one or more) second elevating mechanism 222 in the rear wheel so that the front wheel becomes the second traveling mechanism accordingly, and then the third elevating mechanism is added between the front wheel and the rear wheel. Mechanism (212) and the 3rd traveling mechanism, thereby construct the rolling type traveling mechanism group of the first segmental lift. The third running gear may include a crawler running gear.

例如方案二：将现有的前车轮和后车轮各自通过(多个或一个)第三升降机构(212)连接机架01，使现有的前车轮和后车轮成为第三行走机构；再在前车轮和后车轮之外的一端增设第一升降机构211和第一行走机构，再前车轮和后车轮之外的另一端增设第二升降机构222和第二行走机构，从而构建出第一可分段升降的滚动式行走机构群。For example scheme two: existing front wheel and rear wheel are connected frame 01 by (multiple or one) the 3rd elevating mechanism (212) respectively, make existing front wheel and rear wheel become the 3rd running mechanism; An end other than the front wheel and the rear wheel adds the first lifting mechanism 211 and the first running mechanism, and the other end other than the front wheel and the rear wheel adds the second lifting mechanism 222 and the second running mechanism, thereby constructing the first possible Segmented lifting rolling walking gear group.

例如方案三：将现有的前车轮和后车轮中一种通过(多个或一个)第三升降机构(212)连接机架01，使该车轮成为第三行走机构；再将前车轮和后车轮中另一种通过(多个或一个)第一升降机构211连接机架01，使该车轮成为第一行走机构；再在与第一行走机构相对的另一端增设第二升降机构222和第二行走机构，从而构建出第一可分段升降的滚动式行走机构群。因为第三行走机构偏离了汽车的重心导致不完美，但已经可以使汽车上下台阶，相对于现有技术是重大突破。例如，控制第一行走机构和第三行走机构相对于机架01下降撑地和控制(新增的)的第二行走机构相对于机架01上升以越障；再控制汽车使第二行走机构朝上台阶方向行驶使第二行走机构位于台阶上；再控制第三行走机构相对于机架01上升以越障，再控制汽车继续行驶使第三行走机构位于台阶上；再控制第一行走机构相对于机架01上升以越障，再控制汽车继续行驶使第一行走机构位于台阶上。For example scheme three: a kind of in existing front wheel and rear wheel is connected frame 01 by (multiple or one) the 3rd elevating mechanism (212), makes this wheel become the 3rd running mechanism; Another kind of is connected frame 01 by (multiple or one) first elevating mechanism 211 in the wheel, makes this wheel become the first running gear; Two walking mechanisms, thereby constructing the first rolling walking mechanism group that can be lifted and lowered in sections. Because the third running mechanism deviates from the center of gravity of the car, it is not perfect, but it can already make the car go up and down steps, which is a major breakthrough compared with the prior art. For example, control the first running gear and the 3rd running gear relative to the frame 01 to descend to support the ground and the second running gear of the control (newly added) to rise with respect to the frame 01 to overcome obstacles; Drive toward the direction of the steps so that the second traveling mechanism is located on the steps; then control the third traveling mechanism to rise relative to the frame 01 to overcome obstacles, and then control the car to continue driving so that the third traveling mechanism is located on the steps; then control the first traveling mechanism Rising relative to the frame 01 to overcome obstacles, then control the car to continue driving so that the first traveling mechanism is positioned on the steps.

如果下台阶，则可以倒过来，使(新增的)的第二行走机构先下台阶，然后再使第三行走机构、第一行走机构相继下台阶。If the step is down, it can be reversed so that the (newly added) second running gear goes down the step first, and then the third running gear and the first running gear go down the step successively.

例如方案四：保留汽车现有的前车轮和后车轮作为第四行走机构15，增设第一可分段升降的滚动式行走机构群，使第四行走机构15用于驱动汽车高速行驶，使第一可分段升降的滚动式行走机构群用于驱动汽车越障和低速行驶。For example scheme four: retain the existing front wheel and rear wheel of automobile as the 4th running gear 15, set up the rolling type running gear group that the first can be segmented and lifted, make the 4th running gear 15 be used for driving automobile high-speed running, make the 4th running gear A group of rolling traveling gears that can be raised and lowered in sections is used to drive the vehicle to overcome obstacles and run at low speed.

也可将汽车中车轮的主动悬挂***作为作为第一可分段升降的滚动式行走机构群中升降机构(212)。若主动悬挂***的升降行程不够，可改良、增大升降的行程以提高越障性能。The active suspension system of the wheels in the automobile can also be used as the hoisting mechanism (212) in the rolling traveling gear group that can be lifted in sections. If the lifting stroke of the active suspension system is not enough, the lifting stroke can be improved and increased to improve the obstacle-crossing performance.

4.本发明还提供：一种可移动的设备的控制方法4，该设备包括机架01、连接于该机架01的履带式行走机构07m和连接于该机架01的可升降的行走机构，该可升降的行走机构为机械腿02或通过升降机构连接该机架01的滚动式行走机构，其特征在于，该控制方法包括步骤C1和/或C2：4. The present invention also provides: a control method 4 for movable equipment, the equipment includes a frame 01, a crawler-type traveling mechanism 07m connected to the frame 01, and a liftable traveling mechanism connected to the frame 01 , the liftable traveling mechanism is a mechanical leg 02 or a rolling traveling mechanism connected to the frame 01 through a lifting mechanism, characterized in that the control method includes steps C1 and/or C2:

C1：在该可移动的设备通过该履带式行走机构07m行驶将从平路进入下倾路段时，控制该可移动的设备中后方的可升降的行走机构在该平路抵地,以使该履带式行走机构07m的后部抬高；C1: When the movable equipment travels 07m through the crawler-type walking mechanism and enters a downhill road section from a flat road, control the rear liftable walking mechanism of the movable equipment to reach the ground on the flat road so that the The rear of the crawler running gear 07m is raised;

C2：在该可移动的设备通过该履带式行走机构07m行驶从上倾路段进入平路且该履带式行走机构中履带07m还处于后倾状态时，控制该可移动的设备的后方的可升降的行走机构在该上倾路段抵地,以减小该履带式行走机构07m的倾斜角度。C2: When the movable equipment travels through the crawler-type traveling mechanism 07m and enters the flat road from the uphill section and the crawler belt 07m of the crawler-type traveling mechanism is still in the backward tilting state, control the rear of the movable equipment to be able to lift The traveling mechanism of the crawler-type traveling mechanism reaches the ground on this up-tilt road section, so as to reduce the inclination angle of the crawler-type traveling mechanism 07m.

该控制方法4的实施方案：The embodiment of this control method 4:

可升降的行走机构为通过升降机构连接该机架01的滚动式行走机构，指该升降机构的一端连接于该机架01，该升降机构的另一端连接该滚动式行走机构。控制该可移动的设备中后方的可升降的行走机构在该平路抵地，指控制连接该设备中后方的该滚动式行走机构的升降机构，使后方的该滚动式行走机构相对于所述机架01下降。The liftable traveling mechanism is a rolling traveling mechanism connected to the frame 01 through a lifting mechanism, which means that one end of the lifting mechanism is connected to the frame 01, and the other end of the lifting mechanism is connected to the rolling traveling mechanism. Controlling the liftable traveling mechanism at the rear of the movable equipment to reach the ground on the flat road refers to controlling the lifting mechanism connected to the rolling traveling mechanism at the rear of the equipment so that the rolling traveling mechanism at the rear is relatively Rack 01 descends.

平、上倾、下倾均是相对的。平路指该路与水平面的夹角在设定的标准范围内。下倾指相较于平路下倾。上倾指相较于平路上倾。下倾路段即下坡路段，下倾路段尤其指下楼梯的路段。上倾路段即上坡路段，上倾路段尤其指上楼梯的路段。从平路进入下倾路段或从从上倾路段进入平路时，存在很容易发生履带式行走机构07m前端悬空而砸地的危险情况的问题。Flat, upslope, and downslope are all relative. A flat road means that the angle between the road and the horizontal plane is within the set standard range. Decline refers to a decline compared to a flat road. Uphill refers to an inclination compared to a flat road. The downhill road section is the downhill road section, especially the downhill road section. The uphill road section is the uphill road section, especially the uphill road section. When entering a downhill road section from a flat road or entering a flat road from an uphill road section, there is a problem that the front end of the crawler-type traveling mechanism 07m is suspended in the air and the dangerous situation of hitting the ground is likely to occur.

路段与水平面的路面夹角取锐角。平路与水平面的第一路面夹角为0度。例如，下倾路段向下倾斜30度，则该下倾路段与水平面的第二夹角为30度。本文中所述平路与上下倾路段的切换的方案，排除路面夹角大于90度的情形。The angle between the road section and the horizontal plane is an acute angle. The angle between the flat road and the first road surface of the horizontal plane is 0 degrees. For example, if the downhill road section is inclined downward by 30 degrees, the second included angle between the downhill road section and the horizontal plane is 30 degrees. The plan for switching between flat roads and up-and-down slopes described in this article excludes the situation where the angle between the road surfaces is greater than 90 degrees.

滚动式行走机构越障，指使该滚动式行走机构的下表面抬高至不低于凸起于路面的障碍物的高度以越过该障碍物或使指使滚动式行走机构不坠入低于路面的下陷部。例如，凸起于路面的障碍物为高于路面的台阶。低于路面的下陷部为台阶之下。障碍位于行驶方向的前方。路面指设备当前所在位置的路面。Rolling running gear over obstacles means raising the lower surface of the rolling running gear to the height not lower than the obstacle protruding from the road surface so as to cross the obstacle or make the rolling running gear not fall below the road surface sunken part. For example, an obstacle protruding from the road surface is a step higher than the road surface. The sunken portion lower than the road surface is under the steps. The obstacle is ahead in the direction of travel. The road surface refers to the road surface where the device is currently located.

5.本发明还提供：一种可移动的设备的控制方法5，该可移动的设备包括机架01和多条连接于该机架01的机械腿，且该多条机械腿中至少一条机械腿配置为多功能的机械腿02，该多功能包括用于特定的作业和步行，其特征在于，该控制方法包括步骤M1：5. The present invention also provides: a control method 5 of a movable device, the movable device includes a frame 01 and a plurality of mechanical legs connected to the frame 01, and at least one of the plurality of mechanical legs is mechanically The leg is configured as a multifunctional mechanical leg 02, the multifunction includes being used for specific operations and walking, and it is characterized in that the control method includes step M1:

控制该多功能的机械腿02以从人员下方托住人员的方式搬运人员；和/或，控制该多功能的机械腿02带动该机械腿02末端所连接的作业工具17以抓取连接人员的柔性物体的方式搬运人员；和/或，控制该多功能的机械腿02带动该机械腿02末端所连接的作业工具17进行特定的作业，该特定的作业为切割物品或挖掘或铲物或采摘物品、耕种、涂刷物品或取砖砌墙、焊接、抓取及投掷灭火弹以灭火、旋转紧固件以安装或拆卸物品、抓取带状件且带动其环绕物体中至少一种。Control the multifunctional mechanical leg 02 to carry the personnel in a manner of supporting the personnel from below; and/or, control the multifunctional mechanical leg 02 to drive the working tool 17 connected to the end of the mechanical leg 02 to perform a specific operation, the specific operation is cutting objects or digging or shoveling or picking At least one of items, farming, painting items or taking bricks, welding, grabbing and throwing a fire bomb to put out a fire, rotating a fastener to install or remove an item, grabbing a strip and bringing it around an item.

多功能的机械腿指具有臂功能的机械腿。多功能的机械腿即腿臂融合的肢体机构。A multifunctional mechanical leg refers to a mechanical leg with an arm function. The multifunctional mechanical leg is the body mechanism of leg-arm fusion.

实施方案：implementation plan:

该切割物品为收割中药材、收割庄稼、割草、剪枝、砍树、对泥土和/或矿物质和/或石料进行切割或切割其他固体。该其他固体指金属件和/或塑料和/或橡胶制品和/或陶瓷材料。The cutting object is harvesting Chinese medicinal materials, harvesting crops, mowing, pruning, cutting trees, cutting soil and/or minerals and/or stones, or cutting other solids. The other solids are metal parts and/or plastic and/or rubber products and/or ceramic materials.

控制多功能的机械腿02也称为控制多功能的机械腿02运动。末端所连接的作业工具即连接于末端的作业工具。Controlling the multifunctional mechanical leg 02 is also referred to as controlling the movement of the multifunctional mechanical leg 02 . The work tool attached to the end is the work tool attached to the end.

该多功能的机械腿02构造为能承载该多功能的机械腿02进行特定的作业所产生的作用力。构造为为机械强度构造为。该多功能的机械腿02的末端设置有用于连接作业工具的连接部。该连接为安装和/或抓取。若连接为安装，该连接部为安装部；若连接为抓取，该连接部为抓取装置06。抓取装置也称为抓取部。该多功能的机械腿02的末端具有用于连接取物装置(062)的连接部或具有用于连接作业工具的连接部，该取物装置(062)构造为具有抓取作业工具17进行特定的作业的能力。The multifunctional mechanical leg 02 is configured to bear the force generated by the multifunctional mechanical leg 02 performing a specific operation. Constructed for mechanical strength. The end of the multifunctional mechanical leg 02 is provided with a connecting portion for connecting a working tool. The connection is install and/or fetch. If the connection is installation, the connection part is the installation part; if the connection is grabbing, the connecting part is the grabbing device 06 . Gripping devices are also referred to as grippers. The end of the multifunctional mechanical leg 02 has a connecting portion for connecting to an object fetching device (062) or has a connecting portion for connecting a work tool, and the fetching device (062) is configured to have a grasping work tool 17 for specific ability to work.

该多条多功能的机械腿既可为该可移动的设备内置的器件，也可为该可移动的设备的外接器件。该可移动的设备的机架01设置有用于连接该多条多功能的机械腿的(第二)连接部件。该多条多功能的机械腿与该机架01连接。The plurality of multifunctional mechanical legs can be built-in components of the movable device, or can be external components of the movable device. The frame 01 of the mobile device is provided with (second) connection means for connecting the plurality of multifunctional mechanical legs. The plurality of multifunctional mechanical legs are connected with the frame 01.

当该多功能的机械腿02用于特定的作业时，该多功能的机械腿02作为手臂使用。该第一关节部101配置为具有肩关节部的功能，该第一连杆102配置为具有大臂的功能，该第二关节部103配置为具有肘关节部的功能，该第二连杆104配置为具有小臂的功能。该第三关节部105中部分关节或全部关节为腕关节部或作为腕关节部使用或具有腕关节部的功能。When the multifunctional mechanical leg 02 is used for a specific operation, the multifunctional mechanical leg 02 is used as an arm. The first joint part 101 is configured to function as a shoulder joint, the first link 102 is configured to function as a large arm, the second joint part 103 is configured to function as an elbow joint, and the second link 104 Configured to function as an arm. Some or all of the joints in the third joint 105 are wrist joints or used as wrist joints or have the function of wrist joints.

因此时可移动的设备的作业(也即任务)为特定的作业，相应的，控制装置用控制手臂运动的方法控制该多功能的机械腿02动作。控制装置给该多功能的机械腿02的关节的驱动器所发出的驱动指令，均为用于驱动手臂运动的指令。Therefore, the operation (that is, the task) of the movable equipment is a specific operation. Correspondingly, the control device controls the action of the multifunctional mechanical leg 02 by controlling the movement of the arm. The driving commands sent by the control device to the drivers of the joints of the multifunctional mechanical leg 02 are all commands for driving the arm to move.

当该多功能的机械腿02用于步行时，该多功能的机械腿02作为机械腿使用。因此时可移动的设备的作业(也即任务)为步行，相应的，控制装置控制该多功能的机械腿02的方法均为控制(普通)机械腿运动的方法。控制装置给该多功能的机械腿02的关节的驱动器所发出的驱动指令，均为用于驱动(普通)多功能的机械腿运动的指令。同一硬体，实现不同的功能，对成本节约、性能提高有巨大的好处。When the multifunctional mechanical leg 02 is used for walking, the multifunctional mechanical leg 02 is used as a mechanical leg. Therefore, the operation (that is, the task) of the movable equipment is walking, and correspondingly, the method of controlling the multifunctional mechanical leg 02 by the control device is the method of controlling the motion of the (ordinary) mechanical leg. The driving instructions sent by the control device to the drivers of the joints of the multifunctional mechanical leg 02 are all instructions for driving (ordinary) multifunctional mechanical legs to move. The same hardware can realize different functions, which is of great benefit to cost saving and performance improvement.

该多功能的机械腿02用于步行，指：该第三关节部105中部分关节或全部关节作为踝关节部使用或具有踝关节部的功能。机械腿也可无踝关节部和无脚掌，由第二连杆的末端着地行走。本文中，任一处步行均指使该可移动的设备沿路面步行。The multifunctional mechanical leg 02 is used for walking, which means that some or all of the joints in the third joint part 105 are used as ankle joints or have the function of ankle joints. The mechanical leg also has no ankle joint and no sole, and walks on the ground by the end of the second connecting rod. Herein, walking anywhere refers to making the movable device walk along the road.

该多功能的机械腿02构造为具有用于特定的作业和用于步行的能力、属性。该多功能的机械腿02的内部结构特性满足该两种需求，该多功能的机械腿02非普通的机械腿。在用于步行的场合，该多功能的机械腿02具有机械腿的特征和能力。且该多功能的机械腿02构造为能实现手臂的功能。实现手臂的功能也称为作为手臂使用。在用于特定的作业的场合，该多功能的机械腿02作为手臂使用，也即具有手臂的功能。配置也称为构造。配置为也称为构造为。配置等同构造。The multifunctional robotic leg 02 is designed with capabilities and properties for specific tasks and for walking. The internal structural characteristics of the multifunctional mechanical leg 02 meet the two requirements, and the multifunctional mechanical leg 02 is not an ordinary mechanical leg. In the case of walking, the multifunctional mechanical leg 02 has the characteristics and capabilities of a mechanical leg. And the multifunctional mechanical leg 02 is configured to realize the function of an arm. Realizing the function of an arm is also referred to as using as an arm. In the case of specific operations, the multifunctional mechanical leg 02 is used as an arm, that is, it has the function of an arm. Configuration is also known as construction. Configured As is also known as Constructed As. Configure equivalent constructs.

(一)用多功能的机械腿02进行作业的实施方案的概述：(1) An overview of the implementation of the operation with the multifunctional mechanical leg 02:

作业工具的类型与作业的种类对应。任一特定的作业的名称后是否加“作业”名词均指同一内容。例如：切割物品的作业也可称为切割物品。挖掘作业也称为挖掘。铲物作业也称为铲物。The type of work tool corresponds to the kind of work. Whether the name of any particular job is followed by the term "job" refers to the same content. For example: the operation of cutting items can also be called cutting items. Excavation operations are also known as digging. Shoveling is also called shoveling.

任一种作业，都有与该作业种类相应的作业要素。该作业要素为控制方法、作业对象、作业工具或作业位置。方法即规律，方法包括逻辑和/或算法。该规律中包括运动参数的规划和状况参数的获取与监控。规划也即目标值设定。运动参数包括运动的目标方位和/或运动路径和/或运动速度和/或角度和/或姿态和/或力和/或力矩。运动参数尤其指运动的目标方位和/或运动路径。可选的，运动参数的设定可由人工设定或由控制装置设定。状况参数的获取尤其指通过传感器采集。带动该多功能的机械腿02末端连接的作业工具，也称为调整该多功能的机械腿02末端连接的作业工具的位姿。任一作业，基于作业对象所在位置、可移动的设备自身位姿、作业工具(大小、运动路径)，就能得出作业区域。For any kind of work, there are work elements corresponding to the kind of work. The operation element is a control method, an operation object, an operation tool or an operation location. A method is a law, and a method includes logic and/or algorithm. The law includes the planning of motion parameters and the acquisition and monitoring of status parameters. Planning is also target value setting. The motion parameters include motion target orientation and/or motion path and/or motion speed and/or angle and/or posture and/or force and/or moment. The motion parameters refer in particular to the target orientation and/or the motion path of the motion. Optionally, the setting of motion parameters can be set manually or by a control device. Acquisition of status parameters refers in particular to acquisition by sensors. Driving the work tool connected to the end of the multifunctional mechanical leg 02 is also referred to as adjusting the pose of the work tool connected to the end of the multifunctional mechanical leg 02 . For any operation, the operation area can be obtained based on the location of the operation object, the pose of the movable equipment itself, and the operation tools (size, motion path).

任一作业，其作业工具、作业对象、作业工具与作业对象是否需要接触和作业位姿等任一作业要素，均可由现有公知技术得知。通常，在没有限定说明时，默认作业种类为作业工具与作业对象需接触的类型。不同的是，本文发明点为用腿作业。比用手作业更有益处。For any operation, any operation elements such as the operation tool, the operation object, whether the operation tool and the operation object need to be in contact, the operation posture, etc., can be known from the existing known technology. Usually, when there is no limitation, the default operation type is the type that the operation tool and the operation object need to contact. The difference is that the point of this invention is to work with legs. More beneficial than working by hand.

任一作业中，若该作业的作业工具为抓取部件。该抓取部件(的尺寸、型号或规格)构造为与该作业中待抓取的物体(的尺寸、型号或规格)相对应。抓取包括夹持、握、勾、挂、吸附中至少一种。可选的，抓取部件为多指关节的机械手或卡爪或钩。可选的，或抓取部件为电磁吸盘。In any operation, if the operation tool of this operation is a grabbing part. The grasping component (size, model or specification) is configured to correspond to the object (size, model or specification) to be grasped in the operation. Grasping includes at least one of clamping, gripping, hooking, hanging and adsorption. Optionally, the grasping component is a multi-fingered manipulator or claws or hooks. Optionally, or the gripping part is an electromagnetic chuck.

(二)用肢体机构进行作业的实施方案的概述：(2) An overview of the implementation plan for working with limb mechanisms:

本发明中，任一作业中，任一处所述肢体机构用于作业Z或肢体机构进行作业Z，该作业Z的作业的方法、步骤Z均为：控制肢体机构由该肢体机构带动该肢体机构末端连接的作业工具进行作业。该肢体机构为多功能的机械腿02或机械臂。位姿即位置和姿态。In the present invention, in any operation, the limb mechanism in any place is used for operation Z or the limb mechanism performs operation Z, and the operation method and step Z of the operation Z are: control the limb mechanism and drive the limb by the limb mechanism The operation tool connected to the end of the mechanism is used for operation. The limb mechanism is a multifunctional mechanical leg 02 or a mechanical arm. Pose is position and attitude.

作业包括带动该作业工具处理作业对象的作业、将作业物料投放至目标空间的作业。该用作业工具处理作业对象的作业也称为第一类作业。该处理也称为加工。将作业物料投放至目标空间的作业也称为第二类作业。第二类作业中，作业物料由作业工具装载或携带。目标空间也称为待投放的空间。The job includes the job of driving the job tool to process the job object, and the job of putting the job material into the target space. The job that uses the job tool to process the job object is also referred to as the first type of job. This treatment is also called processing. Jobs that drop job materials into target spaces are also referred to as second-class jobs. In the second type of work, work materials are loaded or carried by work tools. The target space is also called the space to be released.

该第一类作业为搬运人员、存取物品、切割物品、挖掘、铲物、耕地、采摘物品、焊接、打磨、旋转紧固件以安装或拆卸物品或抓取带状件且带动其环绕物体。This first type of operation is moving people, accessing objects, cutting objects, digging, shoveling, plowing, picking objects, welding, grinding, rotating fasteners to install or remove objects, or grabbing strips and driving them around objects .

该第一类作业的作业步骤为步骤Z11。可选的，在该步骤Z11之前还可执行步骤Z10。The operation step of the first type of operation is step Z11. Optionally, step Z10 may also be executed before step Z11.

Z10：控制肢体机构由该肢体机构带动该肢体机构末端所连接的作业工具，使该作业工具由该作业工具的当前位姿运动至作业位姿。Z10: Control the limb mechanism. The limb mechanism drives the working tool connected to the end of the limb mechanism, so that the working tool moves from the current posture of the working tool to the working posture.

Z11为：控制肢体机构由该肢体机构带动该肢体机构末端所连接的作业工具处理作业对象。Z11 is: control the limb mechanism, and the limb mechanism drives the working tool connected to the end of the limb mechanism to process the work object.

该肢体机构为多功能的机械腿02或机械臂。例如：该处理作业对象为搬运人员、存取物品、切割物品、挖掘、铲物、耕地、采摘物品、焊接物品、打磨物品、旋转紧固件或抓取带状件且带动其环绕物体。耕为锄或犁或耙。作业工具即用于处理的工具。作业对象即待处理的物品。The limb mechanism is a multifunctional mechanical leg 02 or a mechanical arm. For example: the object of the processing operation is moving people, accessing objects, cutting objects, digging, shoveling objects, plowing land, picking objects, welding objects, grinding objects, rotating fasteners or grabbing strips and driving them around objects. Plowing is done with a hoe or a plow or a harrow. A job tool is a tool used for processing. Job objects are items to be processed.

该作业位姿即第一作业位姿即第一目标位姿。该第一目标位姿即作业工具进入作业区时的位姿。在该处理过程中，该作业工具位于作业区内。作业区指用作业工具处理作业对象的区域。作业区也称为作业位置。在该处理过程中，作业工具从第一目标位姿运动至第二目标位姿。该第二目标位姿即作业终止的位姿。在该处理过程中，该作业工具的加工部位与作业对象相接触。例如，作业种类为切割物品，该作业的作业工具为含刃的工具，该加工部位即刃。The working pose is the first working pose, which is the first target pose. The first target pose is the pose when the working tool enters the work area. During this process, the work tool is located within the work area. The work area refers to the area where work objects are processed with work tools. The working area is also called the working location. During this process, the work tool moves from the first target pose to the second target pose. The second target pose is the pose at which the job ends. During this process, the processing portion of the work tool is in contact with the work object. For example, the type of operation is cutting an article, the working tool for this operation is a tool with a blade, and the processing part is the blade.

第二类作业为灭火、插苗、浇水或施肥或播种、喷物、涂刷物品、取砖砌墙、射击。目标空间即目标物体所在的空间。目标空间也可指目标物体。The second type of work is fire extinguishing, seedling transplanting, watering or fertilizing or sowing, spraying, painting, taking bricks and building walls, and shooting. The target space is the space where the target object is located. A target space may also refer to a target object.

该第二类作业的作业步骤为Z21。可选的，在该步骤Z21之前还可执行步骤Z20。The operation step of this second type of operation is Z21. Optionally, step Z20 may also be executed before step Z21.

Z20：控制肢体机构运动和/或控制该肢体机构的末端所连接作业工具动作，以装载或抓取作业物料。Z20: Control the movement of the limb mechanism and/or control the action of the working tool connected to the end of the limb mechanism to load or grab the working materials.

Z21：控制肢体机构运动，以：将该肢体机构末端连接的作业工具所携带的作业物料投放至目标空间，或将该肢体机构末端连接的作业工具所携带的作业物料处理至作业对象。携带即装载。Z21: Control the movement of the limb mechanism to: put the working materials carried by the working tool connected to the end of the limb mechanism into the target space, or process the working materials carried by the working tool connected to the end of the limb mechanism to the work object. Carry and load.

该作业对象即待处理的物品。该目标空间为待投放作业物料的空间。该作业对象位于目标空间内。目标空间即作业对象所在的空间。该投放或处理，包括喷、投掷、涂、插、射、打开容器的开口让作业物料下落、将容器倾倒让作业物料下落、控制抓取部件将所抓取的作业物料释放中任意一种或任意多种。可选的：该肢体机构为多功能的机械腿02或机械臂。该投放也称为处理。The job object is the item to be processed. The target space is the space of the job materials to be placed. The job object is located in the target space. The target space is the space where the job object is located. The putting or processing includes spraying, throwing, painting, inserting, shooting, opening the opening of the container to let the working materials fall, dumping the container to let the working materials fall, controlling the grasping parts to release the grasped working materials, or Any variety. Optional: the limb mechanism is a multifunctional mechanical leg 02 or a mechanical arm. This delivery is also called a treatment.

该步骤Z21也即：控制肢体机构运动，使该肢体机构末端所连接的且装载或携带有作业物料的作业工具由当前位姿运动至作业位姿，以将该作业物料投放至目标空间。该当前位姿指该作业工具的当前位姿。作业位姿即投放作业物料的位姿。The step Z21 is to control the movement of the limb mechanism, so that the working tool connected to the end of the limb mechanism and loaded or carrying the working material moves from the current posture to the working posture, so as to drop the working material into the target space. The current pose refers to the current pose of the working tool. The job pose is the pose where the job materials are placed.

目标空间即待投放作业物料的空间。作业工具即用于装载作业物料的容器或用于携带作业物料的工具。作业物料即待投放的物料。作业对象即待投放的作业物料。该流程中包括：使该作业工具到达作业位置。The target space is the space where the job materials are to be placed. Work tools are containers used to load work materials or tools used to carry work materials. Job materials are materials to be released. The job object is the job material to be delivered. The process includes: making the working tool arrive at the working position.

可选的，在该步骤Z11或该步骤Z21之后，还包括步骤Z_3。该步骤Z_3用于使作业工具归位或进行下一轮处理。Optionally, after the step Z11 or the step Z21, a step Z_3 is also included. This step Z_3 is used to homing the working tool or performing the next round of processing.

Z_3：控制肢体机构由该肢体机构带动该肢体机构末端连接的作业工具，使作业工具由当前位姿运动至第三目标位姿。该当前位姿即该作业工具的当前位姿。第三目标位姿即使作业工具归位的位姿或进行下一轮作业的起点的位姿。Z_3: Control the limb mechanism. The limb mechanism drives the working tool connected to the end of the limb mechanism, so that the working tool moves from the current pose to the third target pose. The current pose is the current pose of the working tool. The third target pose is the pose of the working tool returning to its original position or the pose of the starting point for the next round of operations.

该步骤Z10、步骤Z11、步骤Z20、步骤Z21、步骤Z3中所述运动指按设定的运动参数运动。各步骤中的运动参数可不同。The exercise described in Step Z10, Step Z11, Step Z20, Step Z21, and Step Z3 refers to exercise according to the set exercise parameters. The motion parameters in each step can be different.

任一任务，均包括：接收任务指令，当接收到作业指令时执行作业步骤S。任一步骤前，还可包括设置该步骤的运动参数的步骤。控制肢体机构也称为控制肢体机构运动，该运动也称为运行或动作。肢体机构为多功能的机械腿02或机械臂。移动装置也称为行驶装置或行走装置。行驶装置尤其指行驶机构。行驶机构也即行走机构。在空中行驶也称为飞行。Any task includes: receiving the task instruction, and executing the operation step S when receiving the operation instruction. Before any step, a step of setting the motion parameters of this step may also be included. Controlling the body mechanism is also known as controlling the movement of the body mechanism, which is also known as running or acting. The limb mechanism is a multifunctional mechanical leg 02 or a mechanical arm. Mobile devices are also called traveling devices or running devices. The running gear refers in particular to the running gear. The running mechanism is also the walking mechanism. Traveling through the air is also known as flying.

可选的，该肢体机构的末端连接取物装置06，该作业工具为取物装置06所抓取的作业工具。可选的，在执行步骤Z前，还包括：获取作业对象的位姿信息或获取目标空间的方位信息；和/或，控制肢体机构和控制该肢体机构的末端所连接取物装置06抓取作业工具。Optionally, the end of the limb mechanism is connected to the fetching device 06 , and the working tool is the working tool grabbed by the fetching device 06 . Optionally, before performing step Z, it also includes: obtaining the pose information of the work object or obtaining the orientation information of the target space; and/or, controlling the limb mechanism and controlling the fetching device 06 connected to the end of the limb mechanism to grab homework tools.

在上述作业Z可为本文中任一作业。将本文中任一作业替换为上述段落Z中所述的作业Z，可得到任一种作业的作业方案。例如，按照本文中段落Z所述通用的作业技术方案Z、作业步骤Z，能实现本文中所述的任一种肢体机构(或线性运动机构)用于某作业、由肢体机构(或线性运动机构)进行某作业的方案、任一种作业的步骤。The above operation Z can be any operation in this paper. Replace any job in this paper with the job Z described in the above paragraph Z, and the job scheme of any job can be obtained. For example, according to the general operation technical scheme Z and operation steps Z described in paragraph Z in this paper, any limb mechanism (or linear motion mechanism) described herein can be used for a certain operation, and the limb mechanism (or linear motion mechanism) can be used for a certain operation. Institution) plan for performing a certain operation, and the steps of any type of operation.

5.0、搬运人员物品的实施方案：5.0. Implementation plan for moving personnel and items:

搬运人员或存取物品，均可称为搬运人员物品。搬运人员物品，指将人员物品由原位置移动至目标位置。该移动包括升降和/或平移。人员物品指人员和/或物品。搬运人员或存取物品，该作业可选第一类作业的方式。该作业的方式为：带动该作业工具搬运作业对象。该作业工具为抓取部件。该作业对象为待搬运的人员或物品。该目标空间为搬运后的人员或物品的存放空间。存取物品，指向储物仓内存物品和/或从储物仓内取物品。向储物仓内存物品指：抓取待存物品且将该物品由储物仓外搬运至该储物仓内。该目标空间为该储物仓内的空间。从储物仓内取物品指：抓取待取物品且将该物品由储物仓内搬运至该储物仓外。该目标空间为该储物仓外的空间。储物仓尤其指快递柜。Porters or access items can be referred to as porter items. Moving personnel and objects refers to moving personnel and objects from the original position to the target position. This movement includes lifting and/or translation. Person Item refers to a person and/or item. Moving people or accessing items, this operation can be done in the first type of operation. The operation method is: driving the operation tool to carry the operation object. The working tool is a grabbing part. The operation object is the person or item to be transported. The target space is a storage space for transported people or objects. Access Items, point to and/or retrieve items from a storage bin. Storing items into the storage bin refers to grabbing the item to be stored and moving the item from outside the storage bin to the storage bin. The target space is the space in the storage bin. Taking an item from the storage bin refers to grabbing the item to be picked up and moving the item from the storage bin to the outside of the storage bin. The target space is the space outside the storage bin. The storage bin especially refers to the express cabinet.

搬运人员或存取物品，还可包括步骤：控制可移动的设备(1)的行走机构驱动该设备(1)行驶。该行驶指由源位置移动至目的位置。码垛指将物品整齐堆放。The method of carrying people or accessing articles may further include the step of: controlling the traveling mechanism of the movable equipment (1) to drive the equipment (1) to travel. The travel refers to moving from a source location to a destination location. Palletizing refers to neatly stacking items.

该技术方案2的有益效果：The beneficial effect of this technical scheme 2:

同等情况下，用通过该可移动的设备的通讯模块与储物仓通讯以控制该储物仓开关门，使可移动的设备具备完整、智能的用腿取快递、存快递的功能。Under the same circumstances, use the communication module of the mobile device to communicate with the storage compartment to control the opening and closing of the storage compartment, so that the mobile device has a complete and intelligent function of picking up and storing express delivery with legs.

以从人员下方托住人员的方式搬运人员，为：先将该多功能的机械腿02的活动部件放置于待搬运人员的下方托住人员再使该人员升降和/或平移。托，指由支撑物从下方支撑。若该支撑物为可移动的设备的手臂，则该托为抱或举。该活动部件指该多功能的机械腿02的第一连杆102和/或第二连杆和/或该第二连杆的末端的关节和/或该多功能的机械腿的末端所连接的工具。Carrying the person by holding the person from below is as follows: first place the movable part of the multifunctional mechanical leg 02 under the person to be carried to support the person, and then make the person lift and/or translate. Support means to be supported from below by a support. If the support is the arm of a movable device, the support is held or lifted. The movable part refers to the first connecting rod 102 and/or the second connecting rod of the multifunctional mechanical leg 02 and/or the joint at the end of the second connecting rod and/or the joint connected to the end of the multifunctional mechanical leg. tool.

5.1、切割、挖掘、铲物的实施方案：5.1. Implementation plan for cutting, digging and shoveling:

5.1.1、切割物品的实施方案：切割物品可选第一类作业的方式。该作业的方式为：控制该多功能的机械腿02由该多功能的机械腿02带动该多功能的机械腿02末端连接的作业工具切割作业对象。切割物品的作业工具为刀。刀的工作部为刃部。该刃部用于切割作业对象。5.1.1. The implementation plan of cutting objects: the first type of operation can be selected for cutting objects. The operation method is as follows: the multifunctional mechanical leg 02 is controlled, and the multifunctional mechanical leg 02 drives the working tool connected to the end of the multifunctional mechanical leg 02 to cut the work object. The working tool for cutting objects is a knife. The working portion of the knife is the blade portion. The cutting edge is used to cut the work object.

该切割物品为收割中药材、收割庄稼、割草、剪枝、砍树、对泥土和/或矿物质和/或石料进行切割或切割其他固体。该其他固体指金属件和/或塑料和/或橡胶制品和/或陶瓷材料。该庄稼包括稻子和/或麦子和/或玉米。砍树优选为锯树。收即往怀里收。收割指往机架所在的方向切割或割后即收。树指扎根于地的树类植物。砍树指砍树干或树根使其整体砍断。木料未扎根于地。木料指树被砍后形成的制品或离树的木枝。剪枝为剪树或花的枝叶。剪枝非砍树干。切割树即砍树。切割物品也称为切割机械件。该物品也称为机械件。该物品非流体和非气体，且具有一定的机械强度。The cutting object is harvesting Chinese medicinal materials, harvesting crops, mowing, pruning, cutting trees, cutting soil and/or minerals and/or stones, or cutting other solids. The other solids are metal parts and/or plastic and/or rubber products and/or ceramic materials. The crop comprises rice and/or wheat and/or corn. The felling of trees is preferably sawing. Receive it and put it in your arms. Harvesting refers to cutting or harvesting in the direction of the rack. A tree refers to arboreal plants that are rooted in the ground. To cut down a tree means to cut down the trunk or roots of a tree so that it is cut off as a whole. The wood is not rooted to the ground. Timber refers to the products formed after the tree is cut or the branches from the tree. Pruning is to cut the branches and leaves of trees or flowers. Pruning is not cutting the trunk. To cut a tree is to cut it down. Cutting items are also called cutting machinery parts. This item is also known as a Mechanism. The item is non-fluid and non-gas, and has some mechanical strength.

用于收割中药材、收割庄稼、割草的作业工具为刀或锯。该作业的作业对象为待切割的中药材、庄稼或草。用于剪枝的作业工具为刀。该作业的作业对象为待剪的枝。用于砍树的作业工具为刀。该作业的作业对象为待砍的树。用于锯树的作业工具为锯、水刀、激光切割机或电动砂轮切割机。该作业的作业对象为待锯的树。用于切割其他固体的作业工具为锯、水刀、激光刀或电动砂轮切割机。该作业的作业对象为待切割的其他固体。金属刀、水刀、激光切割机或电动砂轮切割机，均属于刀。本文中所述切割为面切割。The operating tools used for harvesting Chinese herbal medicines, harvesting crops, and mowing grass are knives or saws. The operation object of this operation is Chinese medicinal materials, crops or grasses to be cut. The work tool used for pruning is a knife. The job object of this job is the branch to be pruned. The work tool used for cutting trees is a knife. The job object of this job is the tree to be cut. Work tools for sawing trees are saws, water jets, laser cutters or electric abrasive cutters. The job object of this job is the tree to be sawed. Work tools for cutting other solids are saws, water jets, laser knives, or powered abrasive cutters. The job object of this job is other solids to be cut. Metal knives, water jets, laser cutters, or powered abrasive cutters are all knives. The cuts described herein are facet cuts.

对泥土和/或矿物质和/或石料进行切割，指，带动该多功能的机械腿02末端连接的面切割工具对泥土和/或矿物质和/或石料进行切割，或带动该多功能的机械腿02末端连接的点切割工具对泥土和/或矿物质和/或石料进行横向切割。该面切割工具为锯、电动砂轮切割机、水流成面射出的水刀。锯的切割面具有一定宽度。面切割工具指切割时切割位置为面。该点切割工具指水流成线射出的水刀或激光成线射出的激光刀。纵向指水刀的水流射出方向、激光刀的激光的射出方向。横向与纵向交叉。对泥土和/或矿物质和/或石料进行切割，该切割为面切割。可选的，本文中任一切割均为面切割。相对于点切割，面切割能大幅提高切割效率。钻为点切割方法。Cutting soil and/or minerals and/or stones refers to driving the surface cutting tool connected to the end of the multifunctional mechanical leg 02 to cut soil and/or minerals and/or stones, or driving the multifunctional The point cutting tool connected to the end of the mechanical leg 02 cuts the soil and/or mineral matter and/or stone material laterally. The surface cutting tool is a saw, an electric grinding wheel cutting machine, and a water jet for surface injection by water flow. The cutting surface of the saw has a certain width. The surface cutting tool means that the cutting position is the surface when cutting. The point cutting tool refers to a water jet that shoots water in a line or a laser knife that shoots a laser in a line. Longitudinal refers to the jetting direction of the water jet and the jetting direction of the laser of the laser knife. Horizontal and vertical intersection. Cutting of earth and/or minerals and/or stone, which is a face cut. Optionally, any cut in this paper is a face cut. Compared with point cutting, surface cutting can greatly improve cutting efficiency. Drilling is a point-cut method.

本发明中，锯优选为链锯。锯包括圆锯、往复锯、链锯。圆锯指锯齿分布于安装于锯的基座的可旋转的圆形锯体的外圈。该锯体相对于该基座能旋转，该锯体旋转时该锯齿用于切割物体。往复锯，指锯齿分布于相对于锯的基座的能往复运动的锯体上。该锯体相对于该基座往复运动时该锯齿用于切割物体。In the present invention, the saw is preferably a chain saw. Saws include circular saws, reciprocating saws, and chain saws. A circular saw means that the teeth are distributed on the outer circle of a rotatable circular saw body mounted on the base of the saw. The saw body can rotate relative to the base, and the saw teeth are used to cut objects when the saw body rotates. A reciprocating saw means that the saw teeth are distributed on a reciprocating saw body relative to the base of the saw. When the saw body reciprocates relative to the base, the saw teeth are used to cut objects.

链锯包括：锯链、用于支撑锯链的支架、与锯链配合的至少一个链轮、用于驱动链轮旋转的驱动器。链轮旋转用于带动锯链转动以切割物体。锯链指设置有用于切割物体的锯齿的链条。用于支撑锯链的支架也称为导板。驱动器的基座连接于运动机构的输出件。驱动器的动力输出件连接驱动链轮。The chain saw includes: a saw chain, a bracket for supporting the saw chain, at least one sprocket cooperating with the saw chain, and a driver for driving the sprocket to rotate. The rotation of the sprocket is used to turn the saw chain to cut the object. A saw chain refers to a chain provided with teeth for cutting objects. The bracket used to support the saw chain is also known as the guide bar. The base of the driver is connected to the output of the kinematic mechanism. The power output of the drive is connected to the drive sprocket.

5.2、挖掘的方案：该作业可选第一类作业的方式。该作业的方式为：带动该作业工具挖掘作业对象。该作业工具为挖掘工具。该工作部为挖掘部。例如，该挖掘工具为铲。该作业对象为待挖掘的物品。挖掘指挖矿或挖农产品或挖中药材或挖土或挖沙或挖淤泥中任一种或任意多种。5.2. Excavation scheme: the first type of operation can be selected for this operation. The operation method is: driving the operation tool to excavate the operation object. The work tool is a digging tool. The work department is the excavation department. For example, the digging tool is a shovel. The operation object is the item to be excavated. Excavation refers to any one or any combination of mining or digging of agricultural products or digging of Chinese medicinal materials or digging of soil or sand or silt.

5.3、铲物的方案：该作业可选第一类作业的方式。该作业的方式为：带动该作业工具铲作业对象。该作业工具为铲物工具。该工作部为挖掘部。例如，该铲物工具为铲。该作业对象为待铲的物品。铲指铲松散物体。铲的载荷、功率比挖掘小。载荷尤其指冲击载荷。5.3. The scheme of shoveling: the first type of operation can be selected for this operation. The operation method is: driving the operation tool to shovel the operation object. The work tool is a shovel tool. The work department is the excavation department. For example, the shovel tool is a shovel. The operation object is the item to be shoveled. Shovel refers to shoveling loose objects. The load and power of the shovel are smaller than that of digging. Loads are in particular shock loads.

5.4、采摘物品为摘菜或采摘水果或采摘棉花或拔植株或拔草，植株包括菜类植株、树类植株、秧苗、中药类植株中任一种或任意多种。5.4. Picking items include picking vegetables or fruits or picking cotton or pulling plants or weeds. Plants include any one or more of vegetable plants, tree plants, seedlings, and traditional Chinese medicine plants.

采摘物品的方案：该作业可选第一类作业的方式。该作业的方式为：带动该作业工具采摘作业对象。该作业工具为采摘工具。该工作部为采摘部。该作业对象为待采摘的物品。采摘工具为根据待采摘物品所设计的采摘器。例如采摘器为拔草梳、抓果器、拔苗器等。对于菜或水果，可选的，采摘工具还包括用于剪切待采摘物品的刀。采摘为先切割瓜果蔬菜与植株的连接物再采集。The scheme of picking items: This operation can be done in the first type of operation. The operation method is: driving the operation tool to pick the operation object. The working tool is a picking tool. The work department is the picking department. The operation object is the item to be picked. The picking tool is a picker designed according to the items to be picked. For example, the picker is a weed comb, a fruit grabber, a seedling puller, and the like. For vegetables or fruits, optionally, the picking tool also includes a knife for cutting items to be picked. Picking is to first cut the connection between fruits, vegetables and plants and then collect.

5.5、耕种指耕地或插苗或浇水或施肥或播种。5.5. Cultivation refers to plowing the land or inserting seedlings or watering or fertilizing or sowing.

5.5.1、耕地的方案：该作业可选第一类作业的方式。该作业的方式为：带动该作业工具耕地。该作业工具为耕地工具。该工作部为耕地部。耕地为锄地或犁地或耙地。锄地用的作业工具为锄。犁地用的作业工具为犁。耙地用的作业工具为耙。该作业对象为待耕的地。5.5.1. Cultivated land scheme: the first type of operation can be selected for this operation. The mode of the operation is: driving the operation tool to plow the land. The operating tool is a farming tool. The working department is the Ministry of Cultivation. Cultivated land is hoeed or plowed or harrowed. The working tool used for hoeing is a hoe. The working tool used for plowing is a plow. The working tool used for harrowing is a harrow. The operation object is the land to be cultivated.

5.5.2、插苗，该作业可选第二类作业的方式。该作业的方式为：带动该作业工具，将该作业工具所装载的作业物料投放至目标空间。该投放为插。该作业工具为插苗器。该作业物料为苗。该苗为庄稼苗或中药苗或树苗。该目标空间为待插苗的空间。5.5.2. Transplanting seedlings, the second type of operation can be selected for this operation. The operation method is: driving the operation tool, and dropping the operation materials loaded by the operation tool into the target space. This delivery is an interjection. The operating tool is a seedling inserter. The operation material is seedling. The seedlings are crop seedlings or traditional Chinese medicine seedlings or tree seedlings. The target space is the space to be planted.

5.5.3、浇水或施肥或播种，该作业可选第二类作业的方式。该作业的方式为：带动该作业工具，将该作业工具所装载的作业物料投放至目标空间。该作业工具为用于装载作业物料的容器。该作业物料为水或肥或种。该种为庄稼种或中药种或树种。该目标空间为待浇水或施肥或播种的空间。5.5.3. For watering or fertilizing or sowing, the second type of operation can be selected for this operation. The operation method is: driving the operation tool, and dropping the operation materials loaded by the operation tool into the target space. The work tool is a container for carrying work materials. The operation material is water or fertilizer or seed. The species is a crop species or a traditional Chinese medicinal species or a tree species. The target space is the space to be watered or fertilized or sown.

该容器也称为料盒。例如，播种或施肥的作业工具为设置有开口的储料盒。例如，浇水的作业工具为能装水的容器。该类容器的开口可为由电磁阀控制开闭的水龙头，可设置于容器的下部。浇水为以非加压的方式出水。浇水指将将水从装水的容器内倒至待浇水的位置。This container is also called a cartridge. For example, the operating tool for sowing or fertilizing is a material storage box provided with an opening. For example, the working tool for watering is a container capable of holding water. The opening of this type of container can be a water tap controlled by an electromagnetic valve, which can be arranged at the bottom of the container. Watering is water in a non-pressurized manner. Watering refers to pouring water from a container filled with water to a position to be watered.

5.6、涂刷物品或持砖砌墙的实施方案：5.6. Implementation plan for painting objects or holding brick walls:

5.6.1、涂刷物品，该物品为漆或颜料或粉或浆。该作业可选第二类作业的方式。该作业的方式为：带动该作业工具，将该作业工具携带的作业物料投放至目标空间或将该作业工具携带的作业物料处理至作业对象。该投放或处理均为涂刷。该作业工具为涂刷工具。例如，该涂刷工具为刷子或滚筒或刮板或泥刀或铲。该作业物料为漆或颜料或粉或浆。该目标空间为待涂刷物品的空间。该作业对象指待涂刷的物体。例如该物体为墙或地面或设备表面。5.6.1. Painted articles, which are paints or pigments or powders or pastes. This job can be done in the second type of job. The operation method is: driving the operation tool, putting the operation material carried by the operation tool into the target space or processing the operation material carried by the operation tool to the operation object. This delivery or treatment is painting. The work tool is a paint tool. For example, the application tool is a brush or a roller or a scraper or a trowel or a shovel. The working material is paint or pigment or powder or paste. The target space is the space of the object to be painted. The job object refers to the object to be painted. For example, the object is a wall or a floor or a device surface.

5.6.2、取砖砌墙，该作业可选第二类作业的方式。该作业的方式为：带动该作业工具，将该作业工具携带的作业物料投放至目标空间。该投放为砌。该作业工具为抓取部件。该作业物料为砖。该目标空间为待砌墙的空间。砌墙，指：将砖从地基上开始逐个挨边放置、逐层上垒。逐层上垒也即将砖一层层的往上堆。5.6.2. Taking bricks to build walls, this operation can be done in the second type of operation. The operation method is: driving the operation tool, and dropping the operation materials carried by the operation tool into the target space. This delivery is a puzzle. The working tool is a grabbing part. The job material is brick. The target space is the space to be walled. Building a wall refers to placing bricks from the foundation one by one side by side and building up layer by layer. Layer by layer means that bricks are piled up layer by layer.

5.7、焊接，该作业可选第一类作业的方式。该作业的方式为：带动该作业工具焊接作业对象。该作业工具为焊接工具。该工作部为焊接部。该作业对象为待焊接的物品。5.7. Welding, the first type of operation can be selected for this operation. The operation method is: driving the operation tool to weld the operation object. The work tool is a welding tool. The working part is the welding part. The job object is the item to be welded.

焊接包括用焊机产生电弧的方式焊接金属件或用烙铁融化锡的方式焊接导电体。用焊机产生电弧的方式焊接金属件，该焊接工具为能产生电弧的电焊机。用烙铁融化锡的方式焊接导电体，该焊接工具为烙铁。Welding involves welding metal parts by using a welding machine to create an arc or welding electrical conductors by melting tin with a soldering iron. Metal parts are welded by means of a welding machine that generates an arc, and the welding tool is an electric welding machine that can generate an arc. Solder the conductor by melting tin with a soldering iron, and the soldering tool is a soldering iron.

5.8、旋转紧固件以安装或拆卸物品，该作业可选第一类作业的方式。该作业的方式为：带动该作业工具旋转作业对象以安装或拆卸物品。该作业工具为用于套接该紧固件的工具或抓取部件。用于套接该紧固件的工具为扳手或螺丝刀。螺丝刀也称为改锥。该工作部为套接部或抓取部。该作业对象为待旋转的紧固件。5.8. Rotate fasteners to install or remove items. This operation can be done in the first type of operation. The operation method is: driving the operation tool to rotate the operation object to install or disassemble the article. The work tool is a tool or grabber used to socket the fastener. The tool used to socket the fastener is a wrench or a screwdriver. A screwdriver is also called a screwdriver. The working part is a socket part or a grabbing part. The job object is the fastener to be rotated.

5.9、抓取带状件且带动其环绕物体，该作业可选第一类作业的方式。该作业的方式为：带动该作业工具抓取作业对象且带动该作业对象环绕物体。该作业工具为抓取部件。该工作部为抓取部。该作业对象为待抓取的带状件。该带状件与该物体非同一物体。环绕物体也称为绕接物体。该环绕尤其指环绕多圈。该作业还可进一步的包括将带状件打结的步骤。该作业用于捆绑物体。或，该带状件为绝缘体和该物体为导电体，该作业用于为该导电体包扎绝缘体。或，该带状件为导电线和该物体也为导电体，该作业用于接导电线。5.9. Grab the strip and drive it around the object. This operation can be done in the first type of operation. The operation method is: driving the operation tool to grab the operation object and driving the operation object to surround the object. The working tool is a grabbing part. The working part is the grabbing part. The job object is the strip to be grabbed. The strip is not the same object as the object. Orbiting objects are also known as wrapping objects. The wrapping around is in particular a multiple turn around. The operation may further include the step of tying the ribbon. This job is used to bind objects. Alternatively, the strip is an insulator and the object is an electrical conductor, and the operation is to wrap the electrical conductor with the insulator. Alternatively, the strip is a conductive thread and the object is also a conductive body, and the operation is for connecting the conductive thread.

5.10、喷物，该物为药或漆或粉或浆或灭火物质。该作业可选第二类作业的方式。该作业的方式为：带动该作业工具，将该作业工具所装载的作业物料投放至目标空间或将该作业工具装载的作业物料处理至作业对象。该作业工具为喷射器。该作业物料为药或漆或粉或浆。该目标空间为待喷物的空间。该投放和处理为喷射。喷指将加压的待喷射物质喷出。该作业对象指待喷作业物料的物体。例如该作业物料为漆或粉或浆或灭火物质，该物体为墙或地面或设备表面。例如该作业物料为杀害虫的药，该物体为庄稼或菜或植株。例如该作业物料为除草剂，该物体为草。5.10. Spray, which is medicine or paint or powder or slurry or fire extinguishing substance. This job can be done in the second type of job. The way of the operation is: drive the operation tool, put the operation material loaded by the operation tool into the target space or process the operation material loaded by the operation tool to the operation object. The working tool is a sprayer. The operating material is medicine or paint or powder or slurry. The target space is the space of objects to be sprayed. This delivery and treatment is jetting. Injection refers to ejecting the pressurized substance to be injected. The operation object refers to an object to be sprayed with an operation material. For example, the working material is paint or powder or slurry or fire extinguishing substance, and the object is wall or ground or equipment surface. For example, the working materials are insecticides, and the objects are crops or vegetables or plants. For example, the working material is a herbicide, and the object is grass.

该方案5的有益效果：The beneficial effect of this scheme 5:

现有技术中，机械腿主要用于走路，作业则需要另行配置机械臂，带来成本升高的问题；且机械臂通常安装于高位、对地作业时需要设置腰关节、进行弯腰控制；更进一步推高了成本、控制复杂度。In the existing technology, the mechanical legs are mainly used for walking, and the operation needs to be equipped with a mechanical arm, which brings about the problem of high cost; and the mechanical arm is usually installed at a high position, and the waist joint needs to be installed to control the bending when working on the ground; Further push up the cost and control complexity.

本发明方案，使用该多功能的机械腿带动作业工具进行任一种特定的作业，便于解决上述问题。便于降低设备成本、作业成本或提高作业效率，具有重要的经济和社会价值。According to the solution of the present invention, the multifunctional mechanical legs are used to drive the working tool to perform any specific operation, which is convenient for solving the above-mentioned problems. It is convenient to reduce equipment cost, operation cost or improve operation efficiency, and has important economic and social value.

例如，用该多功能的机械腿带动作业工具收割庄稼或收割中药材或割草、挖掘、铲物有益于农林建筑业。尤其用机械腿在养殖业中铲动物粪便，机器人作业比人作业更舒适。For example, using the multifunctional mechanical legs to drive working tools to harvest crops or harvest Chinese herbal medicines or mow, dig, and shovel is beneficial to the agricultural and forestry construction industry. In particular, using mechanical legs to shovel animal waste in the breeding industry, robot operations are more comfortable than human operations.

例如，在火灾现场烟雾缭绕、建筑物损毁、物体杂乱、路面会有诸多意向不到的障碍物，传统的轮式行驶越障能力差或履带行驶可移动的设备重量过重容易碾压伤害人员，多功能的机械腿式行驶可移动的设备更适合现场。机械腿用于步行+灭火，替代了传统技术的多功能的机械腿步行+机械手(灭火)作业方案，不仅仅直接成本、体积、重量大幅度降低；效率高具有非常重要的社会和经济价值。For example, at the scene of a fire, smoky, damaged buildings, cluttered objects, and many unexpected obstacles on the road surface, the traditional wheeled driving has poor obstacle-surpassing ability or the crawler-driven movable equipment is too heavy to crush and hurt people. , The multi-functional mechanical leg-type mobile device is more suitable for the scene. The mechanical legs are used for walking + fire extinguishing, replacing the multifunctional mechanical leg walking + manipulator (fire extinguishing) operation scheme of the traditional technology, not only the direct cost, volume, and weight are greatly reduced; the high efficiency has very important social and economic value.

该特定的作业的作业工具为抓取部件，指：该特定的作业为搬运人员、存取物品、抓取及投掷灭火弹以灭火的作业或抓取阻燃布以隔离火源与需防火的人员物品的作业或、采摘物品、持砖砌墙、旋转紧固件以安装或拆卸物品或抓取带状件且带动其环绕物体。The operating tools of this specific operation are grabbing parts, which means: the specific operation is the operation of carrying people, accessing items, grabbing and throwing fire extinguishing bombs to extinguish the fire, or grabbing flame-retardant cloth to isolate the fire source from the fire-resistant environment. Working with people or objects, picking objects, holding bricks to build walls, rotating fasteners to install or remove objects, or grabbing strips and driving them around objects.

该技术方案2的有益效果：该取物装置(062)不仅仅用于直接的抓取作业物料进行作业(例如投掷灭火弹)，该取物装置(062)用于抓取其他作业工具17，因为无论怎么设计单一的取物装置(062)自身完成任务的能力都是有限的，例如用收割中药材、喷药，这是完全不同特性(但现场又必须的)的作业，单一的取物装置(062)很难完成该任务。但是如果通过取物装置(062)去抓取各种作业工具(例如抓取镰刀收割中药材，去抓取喷射器喷射)，将极大的扩展可移动的设备的作业能力。尤其是，该特定的作业的作业工具为抓取部件，由该抓取装置(062)抓取该作业工具再通过该作业工具去抓取作业对象或作业物料进行作业，该方案为在多功能的机械腿02的末端，再通过大手抓小手的方案作业，将意想不到的、极大的扩展可移动的设备的作业能力。可选的，本文中，任一处所述机械腿配置为多功能的机械腿。Beneficial effects of the technical solution 2: the pick-up device (062) is not only used for directly grabbing work materials for operations (such as throwing fire bombs), the pick-up device (062) is used for grabbing other working tools 17, Because no matter how you design a single extraction device (062), the ability to complete the task itself is limited, such as harvesting Chinese medicinal materials and spraying medicines. This is an operation with completely different characteristics (but necessary on site), and a single extraction The device (062) is difficult to accomplish this task. However, if the fetching device (062) is used to grab various operating tools (such as grabbing a sickle to harvest Chinese herbal medicines, and grabbing an injector to spray), the operating capacity of the movable equipment will be greatly expanded. In particular, the working tool for this specific operation is a grabbing part, and the grabbing device (062) grabs the working tool and then uses the working tool to grab the working object or the working material to carry out the operation. The end of the mechanical leg 02, and then through the plan operation of big hands and small hands, will unexpectedly and greatly expand the working capacity of the movable equipment. Optionally, in this article, the mechanical legs mentioned anywhere are configured as multifunctional mechanical legs.

实施方案：implementation plan:

例如，4机械腿可移动的设备(机器虎),有1-4条多功能的机械腿02，在该多功能的机械腿02的末端连接有铲物工具。该设备用于铲养殖场的动物粪便。该可移动的设备也可沿路面步行。For example, a movable device (robot tiger) with 4 mechanical legs has 1-4 multifunctional mechanical legs 02, and a shovel tool is connected to the end of the multifunctional mechanical legs 02. This equipment is used to shovel animal manure in farms. The mobile device can also be walked along the road.

例如，4机械腿可移动的设备(机器虎),有4条多功能的机械腿02，既能步行，在1条多功能的机械腿02的末端连接有收割中药材工具(镰刀)，在1条多功能的机械腿02的末端连接有挖掘工具(铲斗)，在另外的2条多功能的机械腿02的末端连接有取物装置(062)，For example, a mobile device with 4 mechanical legs (robot tiger) has 4 multifunctional mechanical legs 02, which can walk, and a tool for harvesting Chinese medicinal materials (sickle) is connected to the end of 1 multifunctional mechanical leg 02. A digging tool (bucket) is connected to the end of one multifunctional mechanical leg 02, and a pick-up device (062) is connected to the ends of the other two multifunctional mechanical legs 02,

该设备的控制方法：控制1条多功能的机械腿能用收割中药材工具(镰刀)收割地上的中药材，控制1条多功能的机械腿02挖掘工具(铲斗)挖地里的药材，控制另外的2条多功能的机械腿用取物装置(062)搬运所采集到药材。4多功能的机械腿配合，能大幅提高采集中药材的效率。The control method of the equipment: control 1 multifunctional mechanical leg to harvest the Chinese herbal medicine on the ground with harvesting Chinese medicinal material tool (sickle), control 1 multifunctional mechanical leg 02 digging tool (bucket) to dig the medicinal material in the ground, Control another 2 multi-functional mechanical legs to collect medicinal materials with the fetching device (062) carrying place. 4 The combination of multifunctional mechanical legs can greatly improve the efficiency of collecting Chinese medicinal materials.

作业工具即用于特定的作业的工具。工具也称为用具。取物装置也称为抓取装置也称为取物部件。取物也称为抓取也称为把持也称为握持。A job tool is a tool used for a specific job. Tools are also called utensils. The retrieval device is also referred to as the gripping device and also as the retrieval part. Fetching is also known as grabbing, also known as holding, also known as holding.

在一些实施例中，前述任一控制方法中还包括步骤：In some embodiments, any one of the aforementioned control methods also includes the steps of:

M2：控制该多功能的机械腿02使该可移动的设备沿路面步行，或，M2: Control the multifunctional mechanical leg 02 to make the mobile device walk along the road, or,

M4：控制与该机身01连接的第四行走机构驱动该可移动的设备行驶；M4: control the fourth traveling mechanism connected to the fuselage 01 to drive the movable equipment;

M5：控制该多功能的机械腿02使该可移动的设备沿外部物体攀爬，或，M5: Control the multifunctional mechanical leg 02 to make the movable device climb along external objects, or,

M6：控制与该机身01连接的滚动式行走机构驱动该可移动的设备行驶，或，M6: Control the rolling traveling mechanism connected with the fuselage 01 to drive the movable equipment, or,

M7：控制与该机身01连接的可分段升降的滚动式行走机构群驱动该可移动的设备行驶。M7: Control the segmented lifting rolling traveling gear group connected to the fuselage 01 to drive the movable equipment to travel.

在一些实施例中，前述任一控制方法中：In some embodiments, in any of the aforementioned control methods:

该步骤M1中，为：该至少一种为至少两种，根据特定的作业的种类，选择与该作业的种类对应的控制方式，抓取与该作业的种类相对应作业工具以进行作业；或In the step M1, the at least one type is at least two types, according to the specific type of operation, select the control mode corresponding to the type of operation, and grab the operation tool corresponding to the type of operation to perform the operation; or

在该步骤M1前还包括步骤：获取待作业的种类信息，Before the step M1, a step is also included: obtaining the type information to be operated,

若该作业的种类信息为用该多功能机械腿搬运人员则执行该步骤：控制该多功能的机械腿搬运人员；If the type information of the operation is to use the multifunctional mechanical leg to carry the person, perform this step: control the multifunctional mechanical leg to carry the person;

若该作业的种类信息为用该多功能的机械腿进行特定的作业，则执行该步骤：控制该多功能的机械腿带动该机械腿末端连接的作业工具进行该特定的作业；If the type information of the operation is to use the multifunctional mechanical leg to perform a specific operation, perform this step: control the multifunctional mechanical leg to drive the working tool connected to the end of the mechanical leg to perform the specific operation;

若该作业的种类信息为步行，则执行该步骤M2；If the type information of the operation is walking, execute the step M2;

若该作业的种类信息为用第四行走机构行驶，则执行该步骤M4；If the type information of the operation is traveling with the fourth traveling mechanism, then execute the step M4;

若该作业的种类信息为用该多功能的机械腿攀爬，则执行该步骤M5；If the type information of the operation is climbing with the multifunctional mechanical leg, then perform the step M5;

若该作业的种类信息为用滚动式行走机构行驶，则执行该步骤M6；If the type information of the operation is traveling with a rolling traveling mechanism, then execute the step M6;

若该作业的种类信息为用可分段升降的滚动式行走机构群行驶，则执行该步骤M7。If the type information of the operation is traveling with a group of rolling traveling gears that can be raised and lowered in stages, then step M7 is executed.

6、请参阅图1-图9，尤其是图8和图9：6. Please refer to Figures 1-9, especially Figures 8 and 9:

如技术方案6中所，一种载人舱11的实施方案：As stated in technical scheme 6, a kind of embodiment of manned cabin 11:

一种载人舱11：该载人舱11包括底部116、顶部115和顶部升降机构1315，该顶部升降机构1315用于调整该顶部115相对于该底部116的高度，该顶部升降机构1315的两端分别连接该底部116和该顶部115。该顶部升降机构1315用于使该载人舱内的高度能在站立高度与小于站立高度的高度中调整。可选的站立高度为1.6米。载人舱、取物装置、可分段升降的滚动式行走机构群均为可移动的设备的附件。A manned cabin 11: the manned cabin 11 includes a bottom 116, a top 115 and a top lifting mechanism 1315, the top lifting mechanism 1315 is used to adjust the height of the top 115 relative to the bottom 116, the two top lifting mechanisms 1315 Ends connect the bottom 116 and the top 115, respectively. The top elevating mechanism 1315 is used to make the height in the manned compartment adjustable between the standing height and the height less than the standing height. Optional standing height is 1.6m. The manned cabin, the pick-up device, and the rolling traveling gear group that can be raised and lowered in sections are all accessories of movable equipment.

在一些实施例中，如技术方案6所述的载人舱11，该载人舱11包括坐具位姿调整用的运动机构1317，用于使该坐具117调整为乘坐位姿或撤出乘坐位姿，该运动机构1317的基座和输出件分别连接该坐具117和该载人舱的的基座110。乘坐位姿指该坐具117上表面平置处于供人乘坐的位姿。撤离乘坐位姿指使坐具117从乘坐位姿靠边。撤离乘坐位姿用于使人能站立于乘坐位姿时坐具117所在部分或全部区域。In some embodiments, the manned cabin 11 as described in the technical solution 6, the manned cabin 11 includes a motion mechanism 1317 for adjusting the posture of the seat, which is used to adjust the seat 117 to the sitting posture or withdraw from the seating position posture, the base and the output member of the motion mechanism 1317 are respectively connected to the seat 117 and the base 110 of the passenger compartment. The sitting position refers to the position in which the upper surface of the seat 117 is placed flat for people to ride. Evacuation from the sitting posture indicates that the seat 117 is pulled aside from the riding posture. The evacuated sitting posture is used to enable the person to stand in the sitting posture when the seat 117 is in part or all of the area.

在一些实施例中，如技术方案6所述的载人舱11，该载人舱11包括靠背角度调整机构1318，用于调整坐具117后部的靠背118相对于该载人舱的的基座110的角度。该运动机构1318的基座和输出件分别连接该靠背118和该载人舱的的基座110。该运动机构1318使该靠背118相对于该载人舱的的基座110后倾(以配置为床)或使该靠背118竖立(以供人靠背)。In some embodiments, as in the manned cabin 11 described in technical solution 6, the manned cabin 11 includes a backrest angle adjustment mechanism 1318 for adjusting the base of the backrest 118 at the rear of the seat 117 relative to the manned cabin 110 angles. The base and output of the kinematic mechanism 1318 are respectively connected to the backrest 118 and the base 110 of the passenger compartment. The motion mechanism 1318 makes the backrest 118 tilt backward relative to the base 110 of the passenger compartment (to be configured as a bed) or makes the backrest 118 stand upright (for people to lean back).

在一些实施例中，如技术方案6所述的载人舱11，该载人舱11包括载人舱边距调整用运动机构，用于调整该载人舱的至少一边的边部相对于该载人舱的的基座110在水平方向上距离，该运动机构的基座和输出件分别连接该载人舱的的基座110和该载人舱的至少一边的边部。该运动机构使该载人舱在该水平方向的两边的距离在躺乘距离于小于躺乘距离的距离之间调整，躺乘距离指使人能躺于该载人舱内的距离。可选的，躺乘距离为1.6米。In some embodiments, as described in the manned cabin 11 of the technical solution 6, the manned cabin 11 includes a movement mechanism for adjusting the side distance of the manned cabin, which is used to adjust the edge of at least one side of the manned cabin relative to the The base 110 of the manned cabin is separated in the horizontal direction, and the base and the output member of the motion mechanism are respectively connected to the base 110 of the manned cabin and at least one edge of the manned cabin. The movement mechanism adjusts the distance between the two sides of the passenger compartment in the horizontal direction between the lying distance and a distance smaller than the lying distance. The lying distance refers to the distance that people can lie in the passenger compartment. Optionally, the lying distance is 1.6 meters.

一种可移动的设备的控制方法6或一种载人舱11的控制方法6，该控制方法6包括步骤1、步骤2、步骤3中至少一种。A control method 6 of a movable device or a control method 6 of a manned cabin 11, the control method 6 includes at least one of step 1, step 2, and step 3.

步骤1：通过传感器采集与载人空间内人员由坐姿变为站姿相关的信息，当识别模块基于该信息判断该载人空间内人员由坐姿变为站姿时，控制顶部升降机构1315动作使顶部115相对于该载人空间的底部116升高和/或控制坐具位姿调整用的运动机构1317动作使该坐具117撤离乘坐位姿。Step 1: Use the sensor to collect information related to the person in the manned space changing from a sitting posture to a standing posture. When the identification module judges that the person in the manned space changes from a sitting posture to a standing posture based on the information, control the top lifting mechanism 1315 to move to make The top 115 is raised relative to the bottom 116 of the manned space and/or the motion mechanism 1317 for adjusting the posture of the seat is controlled to move so that the seat 117 withdraws from the sitting posture.

步骤2：控制该载人舱11的载人舱边距离调整用运动机构调整该载人舱的至少一边的边部相对于该载人舱的的基座110在水平方向的距离，使该载人舱在该水平方向的两边的距离在躺乘距离于小于躺乘距离的距离之间调整。Step 2: Control the manned cabin side distance adjustment of the manned cabin 11 to adjust the distance between at least one side of the manned cabin and the base 110 of the manned cabin in the horizontal direction with a motion mechanism, so that the manned cabin The distance between the two sides of the human cabin in the horizontal direction is adjusted between the lying-riding distance and the distance less than the lying-riding distance.

步骤3：控制该载人舱11的靠背角度调整机构1318，使该靠背118相对于该载人舱的的基座110后倾(配置为床)或使该靠背118竖立(供人靠背118)。Step 3: Control the backrest angle adjustment mechanism 1318 of the manned cabin 11, so that the backrest 118 is tilted backward relative to the base 110 of the manned cabin (configured as a bed) or the backrest 118 is erected (the backrest 118 for people) .

步骤4：关联控制该载人舱11的靠背角度调整机构1318和该载人舱11的载人舱靠背后方的边距调整用运动机构，使该靠背118的动作和该靠背后方的边部的动作互不干涉。Step 4: Associatively control the backrest angle adjustment mechanism 1318 of the manned cabin 11 and the motion mechanism for adjusting the margin behind the backrest of the manned cabin 11, so that the movement of the backrest 118 and the edge of the backrest of the manned cabin 11 The actions of the departments do not interfere with each other.

该载人舱11用于本文中任一可移动的设备。可移动的设备包括机架01。该载人舱11的的基座110连接可移动的设备的机架01。该可移动的设备构造为能载人移动。该载人舱11的基座指该载人舱11中连接设备的机架01的部件。该载人舱11的基座可为机架01的一部分。该部件即框架。The manned cabin 11 is used for any movable equipment herein. The movable equipment includes Rack01. The base 110 of the manned cabin 11 is connected to the rack 01 of the movable equipment. The mobile device is configured to move a person. The base of the manned cabin 11 refers to the components of the rack 01 of the connected equipment in the manned cabin 11 . The base of the passenger cabin 11 can be a part of the frame 01 . This part is the frame.

该载人舱11包括底部116，该底部116上留有载人空间。该载人空间四周或顶部可设有边部。该边部即载人舱11的边部。顶部即顶边。该载人舱11包括第一边部111、第二边部112、第三边部113、第四边部114、顶部115中至少一种。第一边部111与第二边部112设置于该载人空间相对的两边。第三边部113与第四边部114设置于该载人空间相对的两边。。第一边部111与第三边部113相邻。第二边部112与第四边部114相邻。The passenger compartment 11 includes a bottom 116 on which a space for people is left. Edges can be provided around or on the top of the manned space. This edge is the edge of the manned cabin 11 . The top is the top edge. The passenger compartment 11 includes at least one of a first side portion 111 , a second side portion 112 , a third side portion 113 , a fourth side portion 114 , and a top 115 . The first side portion 111 and the second side portion 112 are disposed on opposite sides of the passenger space. The third side portion 113 and the fourth side portion 114 are disposed on opposite sides of the passenger space. . The first side portion 111 is adjacent to the third side portion 113 . The second side portion 112 is adjacent to the fourth side portion 114 .

可选的，该载人舱11包括底部、第一边部111、第二边部112、第三边部113、第四边部114、顶部115。载人舱11中至少一边的边部设有能开闭的门或窗。载人舱边距调整用运动机构，用于调整该载人舱的至少一边的边部相对于该载人舱的的基座110在水平方向上距离，可选的，该至少一边的边部为相对的第一边部111和第二边部112。Optionally, the manned cabin 11 includes a bottom, a first side 111 , a second side 112 , a third side 113 , a fourth side 114 , and a top 115 . At least one side of the passenger cabin 11 is provided with a door or window that can be opened and closed. The movement mechanism for adjusting the edge distance of the manned cabin is used to adjust the distance between the edge of at least one side of the manned cabin and the base 110 of the manned cabin in the horizontal direction. Optionally, the edge of the at least one side These are the opposite first side portion 111 and the second side portion 112 .

可选的，第一边部111与第二边部112可沿可移动的设备的行驶方向设置，第二边部112与第四边部114沿可移动的设备的的行驶方向横向布置。Optionally, the first side 111 and the second side 112 may be arranged along the traveling direction of the movable equipment, and the second side 112 and the fourth side 114 are arranged transversely along the traveling direction of the movable equipment.

一种具体的实施方式可为：第一边部111设置于可移动的设备的第一部位(前部)，第二边部112设置于可移动的设备的后部，第三边部113设置于可移动的设备的左部，第四边部114设置于可移动的设备的右部。A specific implementation manner may be: the first edge 111 is arranged on the first part (front) of the movable device, the second edge 112 is arranged on the rear of the movable device, and the third edge 113 is arranged on the On the left part of the movable device, the fourth side part 114 is disposed on the right part of the movable device.

载人舱内的高度指该载人舱的底部116的上表面和该载人舱的顶部115的下表面之间在上下方向的距离。站立高度指使人能站立于该设备中高度。本文中人均指标准身高的成年人。The height inside the manned compartment refers to the distance in the vertical direction between the upper surface of the bottom 116 of the manned compartment and the lower surface of the top 115 of the manned compartment. Standing height refers to the height at which a person can stand on the device. In this article, the average person refers to an adult of standard height.

如图8、图9所示：该载人舱11包括底部116、第一边部111、第二边部112、顶部升降机构1315、坐具位姿调整用的运动机构1317、靠背角度调整机构1318。(其他部件未显示)As shown in Fig. 8 and Fig. 9: the manned cabin 11 includes a bottom 116, a first side 111, a second side 112, a top lifting mechanism 1315, a motion mechanism 1317 for seat posture adjustment, and a backrest angle adjustment mechanism 1318 . (other parts not shown)

可选的，该顶部升降机构1315的基座连接该载人舱11的底部116，该顶部升降机构1315的输出件连接该载人舱11的顶部115。Optionally, the base of the top lifting mechanism 1315 is connected to the bottom 116 of the manned cabin 11 , and the output part of the top lifting mechanism 1315 is connected to the top 115 of the manned cabin 11 .

坐具位姿调整用的运动机构1317为第三摆动机构，第三摆动机构的基座连接载人舱的基座110，该第三摆动机构的输出件连接坐具117的后端；该坐具117的后端与该基座110铰接于旋转轴心1170，该第三摆动机构的驱动器为伸缩机构13171，该伸缩机构13171一端铰接于坐具117，另一端铰接于基座110，伸缩机构伸缩能调整坐具117的前端相对于该基座的角度。The kinematic mechanism 1317 used for seat posture adjustment is the third swing mechanism, the base of the third swing mechanism is connected to the base 110 of the manned cabin, and the output part of the third swing mechanism is connected to the rear end of the seat 117; The rear end and the base 110 are hinged to the rotation axis 1170. The driver of the third swing mechanism is a telescopic mechanism 13171. One end of the telescopic mechanism 13171 is hinged to the seat 117, and the other end is hinged to the base 110. The telescopic mechanism can adjust the seat The angle of the front end of 117 relative to the base.

靠背角度调整机构1318为第二摆动机构，该第二摆动机构的基座连接载人舱的基座110，该第二摆动机构的输出件连接靠背118的下部；靠背118的下部与基座110铰接于旋转轴心1180，该第二摆动机构的驱动器为旋转驱动器(此处未显示)，例如该旋转驱动器为旋转马达，旋转驱动器一端连接于输出件，另一端连接于基座，旋转驱动器旋转能调整靠背118相对于该基座110的角度。The backrest angle adjustment mechanism 1318 is a second swing mechanism, the base of the second swing mechanism is connected to the base 110 of the manned cabin, and the output part of the second swing mechanism is connected to the bottom of the backrest 118; the bottom of the backrest 118 is connected to the base 110 Hinged to the rotation axis 1180, the driver of the second swing mechanism is a rotary driver (not shown here), for example, the rotary driver is a rotary motor, one end of the rotary driver is connected to the output member, and the other end is connected to the base, and the rotary driver rotates The angle of the backrest 118 relative to the base 110 can be adjusted.

载人舱11的第一边部111连接于第一前后运动机构181的输出件，该第一前后运动机构181的输出件能带动第一边部111前后运动；用于调整该载人舱的第一边部111相对于该载人舱的的基座110在前后方向上距离。The first edge portion 111 of the manned cabin 11 is connected to the output member of the first forward and backward movement mechanism 181, and the output member of the first forward and backward movement mechanism 181 can drive the first edge portion 111 to move forward and backward; The first side portion 111 is at a distance from the base 110 of the passenger compartment in the front-rear direction.

载人舱11的第二边部112连接于第二前后运动机构182的输出件，第二前后运动机构182的输出件能带动第二边部112前后运动；用于调整该载人舱的第二边部112相对于该载人舱的的基座110在前后方向上距离。该第一前后运动机构181和第二前后运动机构182的基座连接该载人舱的的基座110。The second edge portion 112 of the manned cabin 11 is connected to the output member of the second forward and backward movement mechanism 182, and the output member of the second forward and backward movement mechanism 182 can drive the second edge portion 112 to move forward and backward; The two side portions 112 are separated from the base 110 of the passenger compartment in the front-rear direction. The bases of the first forward and backward movement mechanism 181 and the second forward and backward movement mechanism 182 are connected to the base 110 of the passenger compartment.

请参阅图8，在控制装置的控制下：See Figure 8, under the control of the control unit:

顶部升降机构1315的输出件能下降使顶部115相对于该载人空间的底部116降低；The output member of the top lifting mechanism 1315 can descend to lower the top 115 relative to the bottom 116 of the manned space;

(伸缩机构13171的输出件外伸驱动)坐具位姿调整用的运动机构1317动作该坐具117运动至乘坐位姿；靠背角度调整机构1318使该靠背118相对于该载人舱的的基座110后倾(用于配置为床)。(The output part of telescoping mechanism 13171 stretches out and drives) the kinematic mechanism 1317 action that seat tool position adjustment is used this seat tool 117 moves to seat position; Backrest angle adjustment mechanism 1318 makes this backrest 118 relative to the base 110 of this manned cabin Reclining (for configuration as a bed).

第一前后运动机构181的输出件带动第一边部111向前运动，第二前后运动机构182的输出件带动第二边部112向后运动；使在前后方向上该载人舱的第一边部和第二边部112的距离不小于躺乘距离。此时，载人舱11已变为躺姿。The output part of the first forward and backward movement mechanism 181 drives the first side part 111 to move forward, and the output part of the second front and rear movement mechanism 182 drives the second side part 112 to move backward; The distance between the side portion and the second side portion 112 is not less than the lying distance. Now, the manned cabin 11 has become the lying position.

请参阅图9：由传感器0801采集与载人空间内人员由坐姿变为站姿相关的信息，当识别模块基于该信息判断该载人空间内人员由坐姿变为站姿时，在控制装置的控制下：Please refer to Figure 9: The sensor 0801 collects the information related to the person in the manned space changing from a sitting posture to a standing posture. under control:

顶部升降机构1315的输出件上升，使顶部115相对于该载人空间的底部116升高；The output member of the top lifting mechanism 1315 rises, so that the top 115 is raised relative to the bottom 116 of the manned space;

(伸缩机构13171的输出件内缩驱动)坐具位姿调整用的运动机构1317动作使该坐具117撤离乘坐位姿(例如使坐具117前端下垂)；(The output part of telescoping mechanism 13171 is retracted and driven) The kinematic mechanism 1317 for adjusting the position of the seat is acted to make the seat 117 withdraw from the sitting position (for example, the front end of the seat 117 is drooped);

靠背角度调整机构1318使该靠背118相对于该载人舱的的基座110或竖立；The backrest angle adjustment mechanism 1318 makes the backrest 118 stand upright relative to the base 110 of the passenger compartment;

第一前后运动机构181的输出件带动第一边部111向后运动，第二前后运动机构182的输出件带动第二边部112向前运动；使在前后方向上该载人舱的第一边部和第二边部112的距离小于躺乘距离。此时，载人舱11已变为立姿。The output part of the first forward and backward movement mechanism 181 drives the first side part 111 to move backward, and the output part of the second front and back movement mechanism 182 drives the second side part 112 to move forward; The distance between the side portion and the second side portion 112 is smaller than the lying distance. Now, the manned cabin 11 has become a standing posture.

其他可选的方案：坐具位姿调整用的运动机构1317可为平置的伸缩机构，该伸缩机构使该坐具117相对于该载人舱的边部伸出至乘坐位姿或缩回以撤离乘坐位姿。Other optional solutions: the kinematic mechanism 1317 for seat posture adjustment can be a flat telescopic mechanism, and the telescopic mechanism makes the seat 117 stretch out to the seating position relative to the side of the manned cabin or retract to evacuate Ride pose.

或，该坐具位姿调整用的运动机构1317为摆动机构，该坐具117的一边铰接该载人舱的左边部113或右边部114。可选的，该载人舱的的基座110与该坐具117的活动端分别设置有电动插销和与该插销相配的孔，当该坐具117处于乘坐位姿时，该电动插销***该孔增强该坐具117的承载能力。Or, the motion mechanism 1317 for adjusting the posture of the seat is a swing mechanism, and one side of the seat 117 is hinged to the left side 113 or the right side 114 of the passenger cabin. Optionally, the base 110 of the manned cabin and the movable end of the seat 117 are respectively provided with an electric bolt and a hole matched with the bolt, and when the seat 117 is in the seating position, the electric bolt is inserted into the hole to enhance The carrying capacity of the seat 117.

请参阅图4，可移动的设备的顶部升降机构1315使顶部115相对于该载人空间的底部116降低；清参阅图1、图2、图3、图5，设备的顶部升降机构1315使顶部115相对于该载人空间的底部116升高。Referring to Fig. 4, the top elevating mechanism 1315 of the movable equipment lowers the top 115 relative to the bottom 116 of the manned space; 115 is elevated relative to the bottom 116 of the manspace.

一种包括载人舱11或连接载人舱11的可移动的设备的控制装置或一种载人舱11的的控制装置，该控制装置用于实现该控制方法。A control device comprising the manned cabin 11 or a movable device connected to the manned cabin 11 or a control device of the manned cabin 11, the control device is used to implement the control method.

该控制装置包括用于获取与该载人舱内人员由坐姿变为站姿相关的信息的信息获取模块。信息获取模块包括用于采集该信息的传感器或连接该传感器。该控制装置包括识别模块或通过通讯模块连接该识别模块，该识别模块用于分析该信息判断该载人舱内人员是否由坐姿变为站姿。该传感器为用于识别人对坐具117压力的力传感器或用于采集图像信息的视觉传感器或用于采集人体与坐具117距离传感器。人体运动趋势识别模块为用于分析人体运动趋势的软件和/或硬件模块。The control device includes an information acquisition module for acquiring information related to the change of the people in the manned cabin from a sitting posture to a standing posture. The information acquisition module includes a sensor for collecting the information or is connected to the sensor. The control device includes an identification module or is connected to the identification module through a communication module, and the identification module is used to analyze the information to determine whether the personnel in the manned cabin change from a sitting position to a standing position. The sensor is a force sensor for identifying the pressure of the person on the seat 117 or a visual sensor for collecting image information or a sensor for collecting the distance between the human body and the seat 117 . The human body movement trend identification module is a software and/or hardware module for analyzing the human body movement trend.

该控制装置包括运动机构控制模块，当该载人舱内人员由坐姿变为站姿时，该运动机构控制模块控制顶部升降机构1315动作使该载人舱的顶部115相对于该载人舱的底部116升高和/或控制坐具位姿调整用的运动机构1317动作使该坐具117撤离乘坐位姿。The control device includes a motion mechanism control module. When the personnel in the manned cabin changes from a sitting posture to a standing posture, the motion mechanism control module controls the top lifting mechanism 1315 to make the top 115 of the manned cabin relative to the height of the manned cabin. The bottom 116 is raised and/or the kinematic mechanism 1317 for controlling the posture adjustment of the seat is actuated to make the seat 117 withdraw from the sitting posture.

本文中，可移动的设备的控制装置包括信息获取模块，用于获取环境信息，根据该环境信息控制设备的行驶和/或越障，或根据该环境信息控制控制设备的机械腿作业，或根据该环境信息控制控制设备的机械臂作业。信息获取模块包括传感器或用于连接外部传感器的通讯模块。本文中，步行指多腿交替步行。本文中，任一处所述腿即机械腿。水中推进装置为螺旋桨或能执行划水动作的机械腿。In this paper, the control device of the mobile equipment includes an information acquisition module, which is used to acquire environmental information, control the driving and/or obstacle surmounting of the equipment according to the environmental information, or control the operation of the mechanical legs of the equipment according to the environmental information, or control the operation of the mechanical legs of the equipment according to the environmental information The environmental information controls the operation of the robotic arm of the control device. The information acquisition module includes sensors or a communication module for connecting external sensors. Herein, walking refers to multi-leg alternating walking. Herein, the legs mentioned anywhere are mechanical legs. The underwater propulsion device is a propeller or a mechanical leg capable of performing a stroke.

可选地，机架01呈镂空状设置，机架01相对水平面水平布置，并包括多根纵梁和多根横梁，各横梁的两端分别连接对应两纵梁。可以理解的是，可以多根纵梁沿竖直方向层叠设置，而多根横梁沿竖直方向层叠设置。本实施例中，纵梁和横梁由金属材料或其他具有标准强度材料制成，比如不锈钢方管或铝型材，多根方管焊接而形成机舱。纵向指前后方向。横向指左右方向。镂空即中空。Optionally, the frame 01 is hollowed out, arranged horizontally relative to the horizontal plane, and includes a plurality of longitudinal beams and a plurality of cross beams, and two ends of each cross beam are respectively connected to two corresponding longitudinal beams. It can be understood that a plurality of longitudinal beams may be stacked in a vertical direction, and a plurality of cross beams may be stacked in a vertical direction. In this embodiment, the longitudinal beams and cross beams are made of metal materials or other materials with standard strength, such as stainless steel square tubes or aluminum profiles, and multiple square tubes are welded to form the nacelle. Longitudinal refers to the front-to-back direction. Horizontal refers to the left-right direction. Hollow is hollow.

如图1、图2、图3、图4、图5所示；机架01的组成部分还可包括相互连接的运动机构的基座。As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5; the components of the frame 01 may also include the base of the kinematic mechanism connected to each other.

第一侧或第二侧的纵梁可由该侧纵向设置的运动机构的基座构成。纵向设置的第一部前后运动用的运动机构181的基座、第二部前后运动用的运动机构182的基座均为机架01的纵梁。The longitudinal beam of the first side or the second side can be formed by the base of the kinematic mechanism arranged longitudinally on this side. The base of the first part of the kinematic mechanism 181 used for the forward and backward movement and the base of the second part of the kinematic mechanism 182 used for the forward and backward movement are longitudinal beams of the frame 01.

靠第一部的第三升降机构212和靠第二部的第三升降机构221的基座均竖向连接于机架01。The bases of the third lifting mechanism 212 on the first part and the third lifting mechanism 221 on the second part are vertically connected to the frame 01 .

第三升降机构的输出件连接第三行走机构的基座。The output member of the third lifting mechanism is connected with the base of the third traveling mechanism.

第一部位第四升降机构121的基座竖向连接于第一部；第一升降机构211的基座竖向连接于第一部。第一升降机构211的输出件连接第一行走机构的基座。The base of the fourth lifting mechanism 121 is vertically connected to the first part at the first part; the base of the first lifting mechanism 211 is vertically connected to the first part. The output member of the first lifting mechanism 211 is connected to the base of the first traveling mechanism.

第二部位腿上下运动用的运动机构122的基座竖向连接于第二部；第二升降机构222的基座竖向连接于第二部；第二升降机构222的输出件连接第二行走机构的基座。The base of the kinematic mechanism 122 that the second position leg moves up and down is vertically connected to the second part; the base of the second lifting mechanism 222 is vertically connected to the second part; The foundation of the institution.

第一部及连接于该部的第一升降机构211和第一部位腿上下运动用的运动机构121，通过纵向设置的第一部前后运动用的运动机构181连接机架01。具体的可为：第一部前后运动用的运动机构181基座连接机架01，该运动机构181的输出件连接第一部。The first part and the first elevating mechanism 211 connected to this part and the moving mechanism 121 for the up and down movement of the legs of the first part are connected to the frame 01 through the longitudinally arranged moving mechanism 181 for the first part to move forward and backward. Specifically, the base of the motion mechanism 181 for the first part to move back and forth is connected to the frame 01, and the output part of the motion mechanism 181 is connected to the first part.

第二部及连接于该部的第二升降机构222和第二部位腿上下运动用的运动机构122，通过纵向设置的第二部前后运动用的运动机构182连接机架01。具体的可为：第二部前后运动用的运动机构182基座连接机架01，该运动机构182的输出件连接第二部。The second part and the second elevating mechanism 222 connected to the part and the moving mechanism 122 for moving the legs of the second part up and down are connected to the frame 01 by the moving mechanism 182 for the longitudinally arranged second part moving forward and backward. Specifically, the base of the motion mechanism 182 for the second part to move back and forth is connected to the frame 01, and the output part of the motion mechanism 182 is connected to the second part.

请参阅图5：且该设备还包括若干导向机构，导向机构用于导向和增加结构强度。Please refer to Figure 5: and the device also includes several guiding mechanisms, which are used for guiding and increasing structural strength.

上方的第一导向机构1611纵向设置于该运动机构181之上，该第一导向机构1611的输出件连接该第一部的上部。下方的第一导向机构1612纵向设置于该运动机构181之下，该第一导向机构1612的输出件连接该第一部的下部。上方的第二导向机构1621纵向设置于该运动机构182之上，该第二导向机构 1621的输出件连接该第二部的上部。下方的第二导向机构1622纵向设置于该运动机构182之下，该第二导向机构1622的输出件连接该第二部的下部。该第一导向机构和该第二导向机构的基座连接机架01。The upper first guiding mechanism 1611 is longitudinally arranged on the moving mechanism 181 , and the output part of the first guiding mechanism 1611 is connected to the upper part of the first part. The lower first guiding mechanism 1612 is arranged longitudinally under the moving mechanism 181 , and the output part of the first guiding mechanism 1612 is connected to the lower part of the first part. The second guiding mechanism 1621 above is vertically arranged on the moving mechanism 182, and the output member of the second guiding mechanism 1621 is connected to the top of the second part. The lower second guiding mechanism 1622 is arranged longitudinally under the moving mechanism 182 , and the output part of the second guiding mechanism 1622 is connected to the lower part of the second part. The bases of the first guiding mechanism and the second guiding mechanism are connected to the frame 01 .

第一侧或第二侧的纵梁之间设有预定的宽度。第一侧或第二侧的纵梁的底部由横梁和/或板连接。第一侧或第二侧的纵梁的两端。若该设备构造为能载人移动。则该宽度设置为不小于标准成人的双肩的宽度。该底部用于承载载人舱或该底部为载人舱的底部。可选的，具有载人舱的设备，设备的底部即载人舱的底部。设备的顶部即载人舱的顶部。无载人舱的设备，底部机设备的底部。顶部即设备的顶部。A predetermined width is provided between the stringers on the first side or the second side. The bottoms of the stringers on the first side or the second side are connected by beams and/or plates. Both ends of the stringer on the first or second side. If the device is constructed to be able to move people. Then the width is set to be not smaller than the width of the shoulders of a standard adult. The bottom is used to carry the manned cabin or the bottom is the bottom of the manned cabin. Optionally, for equipment with a manned cabin, the bottom of the equipment is the bottom of the manned cabin. The top of the equipment is the top of the manned compartment. For equipment without a manned compartment, the bottom of the machine equipment is at the bottom. The top is the top of the device.

本发明中，任一处的描述，可用于本文中任一方案中：该任一方案尤其指在任一可移动的设备方案。本文中：设备即机器即机器人，该三者等同。In the present invention, the description at any place can be used in any scheme in this paper: the any scheme especially refers to any mobile equipment scheme. In this article: equipment is a machine or a robot, and the three are equivalent.

1、方位即方向即角位置即取向。在没有限定说明时，前后左右上下内外中任一方位，参照物为可移动的设备的的机架01的中心。前方，指；可移动的设备行驶的方向；指附图中X1所指的方向。1. Azimuth means direction, means angular position, means orientation. When there is no limitation, the reference object is the center of the rack 01 of the movable equipment in any orientation of front, rear, left, right, up, down, inside, and outside. Front refers to the direction in which the movable equipment travels; it refers to the direction indicated by X1 in the attached drawing.

前包括正前、左前、右前。后包括正后、左后、右后。左包括正左、左前、左后。右包括正右、右前、右后。纵向即X向即前后方向。横向即Y向即左右方向。上方包括正上方、侧上方即斜上方。顶即上方。下方包括正下方、侧下方即斜下方。竖向即Z向，指上下方向。地指设备的底面尤其指地面。Front includes straight front, left front, and right front. The rear includes positive rear, left rear, and right rear. Left includes positive left, left front and left rear. Right includes front right, front right and rear right. The longitudinal direction is the X direction, which is the front-to-back direction. The horizontal direction is the Y direction, which is the left-right direction. Above includes directly above, and side above is obliquely above. The top is above. Below includes directly below, and side below is obliquely below. The vertical direction is the Z direction, which refers to the up and down direction. Ground refers to the underside of the device, in particular the ground.

任一部件均具有两端，一端为根部，其另一端指末端。在连接关系上：根部指靠近机架的部位。末端指远离机架的部位。根部即基座即固定端即固定件即首端即内端，该六者等同。末端即活动端即活动件即输出端即输出件即外端，该六者等同。本文中，任一机构的一端指该机构的基座，该机构的另一端指该机构的输出件。任一部件相对于另一部件的位置关系，以该两部件的中心为比较基准。Any part has two ends, one being the root and the other being the tip. In the connection relationship: the root refers to the part close to the rack. The end refers to the part away from the rack. The root is the base, the fixed end is the fixture, the head end is the inner end, and the six are equal. The end is the movable end, the movable part is the output end, the output part is the outer end, and the six are equal. Herein, one end of any mechanism refers to the base of the mechanism, and the other end of the mechanism refers to the output of the mechanism. The positional relationship of any component relative to another component is based on the center of the two components.

2、本文中，任一处所述相同均指大体相同。大体相同可为完全相同。大体为即接近于。大体为包括为，尤其指为。接近于包括等于。例如，平指大体为水平。平可为水平。直指大体为直。2. In this article, the same anywhere refers to substantially the same. Substantially identical may be identical. roughly that is close to. Generally includes as, especially refers to. close to includes equal to. For example, flat means roughly horizontal. Flat can be level. Straight pointing is generally straight.

3、常用名词(方案、能、可、设置、具有、包括)的意义：3. The meanings of commonly used nouns (plan, can, can, set, have, include):

本文中任一方案中如包括“能”或“可”或“以”的词，则该方案均包含将该“能”或“可”或“以”的词去掉后的方案。默认，指在没有限定说明时的选择。若干可为一个或多个。驱动即带动，两者等同。If the word "can" or "may" or "with" is included in any of the schemes herein, the scheme includes the scheme after the word "can" or "may" or "with" is removed. Default, refers to the choice when there is no qualification specification. Several can be one or more. To drive is to drive, and the two are equivalent.

本文中，任一功能物体的命名为功能+物体。任一功能物体均指该物体配置为具有实现该功能的属性。例如，升降机构即用于实现升降功能的运动机构。A包括B，包括：A连接有B或A为B的情况。包括可为：仅仅包括。仅仅包括即为。该A和B可为本文中任一方案或任一器件。移动平台即可移动的平台。In this article, the name of any functional object is function+object. Any functional object means that the object is configured to have the property of realizing the function. For example, the lifting mechanism is the motion mechanism used to realize the lifting function. A includes B, including: A is connected to B or A is B. Include can be: include only. Just include it. The A and B can be any scheme or any device herein. A mobile platform is a platform that is mobile.

4、连接，包括：(机械部件之间的)机械连接、(电气部件之间)电连接等。电连接包括有线连接、无线连接。直接连接，例如焊接或压接或螺纹连接或勾住或挂接或卡扣式连接等。在无限定时，连接均指串接。默认的，连接为机械连接。(机械)连接的种类，包括：固定连接、活动连接、可拆卸连接。两者连接还可为两者一体化。4. Connection, including: mechanical connection (between mechanical components), electrical connection (between electrical components), etc. Electrical connection includes wired connection and wireless connection. Direct connection, such as welding or crimping or screwing or hooking or hooking or snap-in connection, etc. In infinite timing, connection refers to concatenation. By default, the connection is mechanical. Types of (mechanical) connections, including: fixed connections, movable connections, and detachable connections. The connection of the two can also be the integration of the two.

本文中，任一连接部，指设备中用于连接待连接部件的部件。连接部位指用于支承、连接待连接部件的部位。例如，待连接部件为运动机构。连接部，指该部构造为具有用于连接待连接部件的属性或已进行用于连接的处理。连接部指该部位构造为能承载待连接部件所产生的力连接部还可指连接部件。该部件为孔、槽或销或加固件。连接部件可为设备的机架01中一部分。连接部件也可为独立于机架01机架但与该机架01机架连接的部件。在无限定说明时，连接部设置于设备的机架上。Herein, any connecting part refers to a part used to connect the parts to be connected in the device. The connection part refers to the part used to support and connect the parts to be connected. For example, the components to be connected are kinematic mechanisms. A connection part means a part configured to have properties for connecting parts to be connected or has undergone processing for connection. The connection part means that the part is configured to bear the force generated by the parts to be connected. The connection part can also refer to the connection part. The part is a hole, slot or pin or reinforcement. The connection part can be a part of the rack 01 of the equipment. The connection part can also be a part that is independent from the rack 01 but connected with the rack 01 . When no limitation is specified, the connection part is arranged on the rack of the equipment.

5、单元即装置即***即模块即部件即元件即器件即组件，该八者等同。任一部件可分布于多个物理实体或单个物体实体中；多个部件也可布置在同一物体实体中。驱动装置也称为驱动器。驱动装置也称为致动器。致动器可以负责机器臂、腿部、手部和头部等的移动。运动机构与其驱动器可一体化。例如一体化关节指该关节与该关节的驱动装置一体。运动装置的输出端即运动机构的输出端。驱动器也称为驱动组件。5. A unit is a device, a system is a module, a component is a component, a device is a component, and these eight are equivalent. Any component can be distributed in multiple physical entities or a single physical entity; multiple components can also be arranged in the same physical entity. Drives are also referred to as drives. Drives are also referred to as actuators. Actuators can be responsible for the movement of robotic arms, legs, hands, heads, etc. The kinematic mechanism and its drive can be integrated. For example, an integrated joint means that the joint is integrated with the driving device of the joint. The output end of the motion device is the output end of the motion mechanism. Drives are also called drive components.

6、机架即本体即躯体也即躯干即机身，该五者等同。任一可移动的设备均具有机架。外部物体，指可移动的设备外部的物体。在没有限定或附加说明时：可移动的设备移动指可移动的设备的机架的移动。机架，即可移动的设备中相互固定连接的部件，且该相互固定连接的部件在可移动的设备的所有部件中质量最大。该质量即重量。6. The frame is the body, the body, the torso, the fuselage, and the five are equal. Any movable piece of equipment has a rack. An external object refers to an object external to a movable device. When there is no limitation or additional description: the movement of the movable equipment refers to the movement of the rack of the movable equipment. Rack, that is, parts of mobile equipment that are fixedly connected to each other, and the parts that are fixedly connected to each other have the largest mass among all parts of mobile equipment. This mass is weight.

7、本文中，任一处所述设备均包括实现作业所需要的所有装置。本文中任一设备均包括：控制装置、作业装置和能源供应装置。可知的，可移动的设备还可包括需要的电气部件和/或机械件。电气部件(例如导线)用于电连接各部件。机械件用于连接、支撑各部件。本文中，该可移动的设备、控制装置、作业装置和能源供应装置，均配置为：用于实现本文中任一处所描述的方法、步骤和功能。7. In this article, the equipment mentioned anywhere includes all the devices needed to realize the operation. Any equipment herein includes: a control device, an operation device and an energy supply device. It is known that the movable equipment may also include necessary electrical components and/or mechanical parts. Electrical components such as wires are used to electrically connect the various components. Mechanical parts are used to connect and support various components. Herein, the movable equipment, control device, working device and energy supply device are all configured to realize the methods, steps and functions described anywhere in this paper.

7.1、作业包括使设备移动、特定作业。作业装置包括特种作业装置、移动装置。移动装置用于使可移动的设备移动。该移动指在动力***的驱动下移动。7.1. Operations include moving equipment and specific operations. Operating devices include special operating devices and mobile devices. Mobile devices are used to move mobile equipment. The movement refers to movement driven by the power system.

行走机构可为滚动式行走机构或步行机构。步行机构即腿。任一种行走机构均连接有驱动器，该驱动器用于产生驱动该设备沿路面行驶的动力。任一种行走机构与所连接的用于驱动该机构的驱动器，称为行走装置。行走装置包括轮式行走装置和/或履带式行走装置和/或滚筒式行走装置。行走即行驶。行走装置也称为移动装置。任一设备包括该种行走机构，则该设备包括该种行走装置。The running gear can be a rolling running gear or a walking gear. The walking mechanism is the leg. Any running mechanism is connected with a driver, and the driver is used to generate power to drive the device to travel along the road. Any kind of walking mechanism and the connected driver for driving the mechanism are called walking gear. The running gear includes wheeled running gear and/or crawler running gear and/or roller running gear. To walk is to drive. Walking gear is also called mobile gear. Any equipment includes this kind of running gear, then the equipment includes this kind of running gear.

任一机构，该机构的输入端连接用于驱动该机构的驱动器的输出端。该设备的控制装置连接该驱动器。由该控制装置该驱动器，由控制装置控制机构的动作。本文中，任一处所述升降机构均连接有用于驱动该升降机构的驱动器，该升降机构及该驱动器均属于升降装置，该升降装置属于包含该升降机构的设备。Any mechanism whose input is connected to the output of a driver for driving the mechanism. The control unit of the device is connected to the drive. The drive is controlled by the control device, and the action of the mechanism is controlled by the control device. Herein, any lifting mechanism mentioned above is connected with a driver for driving the lifting mechanism, the lifting mechanism and the driver both belong to the lifting device, and the lifting device belongs to the equipment including the lifting mechanism.

本文中，任一处能接受控制装置控制的运动机构均连接有用于驱动该运动机构的驱动器，该运动机构及该驱动器均属于运动装置，该运动装置属于包含该运动机构的设备。控制任一机构均指控制用于驱动该机构的驱动器。该机构的动力输入端连接该驱动器的动力输出端。该驱动器电连接控制装置。Herein, any kinematic mechanism that can be controlled by the control device is connected with a driver for driving the kinematic mechanism. Both the kinematic mechanism and the driver belong to the kinematic device, and the kinematic device belongs to the equipment including the kinematic mechanism. Controlling any mechanism refers to controlling the actuators used to drive the mechanism. The power input end of the mechanism is connected with the power output end of the driver. The driver is electrically connected to the control device.

运动的类型包括升降、水平距离调整、腿式行走、轮式行走、履带式行走、飞行、水中推进。与运动的类型相应的，运动机构可分为升降机构、水平距离调整机构、腿式行走机构、轮式行走机构、履带式行走机构、飞行机构、水中推进机构。与运动的类型相应的，运动装置可分为升降装置、水平距离调整装置、腿式行走装置、轮式行走装置、履带式行走装置、飞行装置、水中推进装置。腿式行走即步行。行走也称为行驶或移动。行走指地面移动。行走装置均为地面移动装置。The types of motion include lifting, horizontal distance adjustment, leg walking, wheel walking, crawler walking, flying, and propulsion in water. Corresponding to the type of movement, the movement mechanism can be divided into lifting mechanism, horizontal distance adjustment mechanism, leg-type walking mechanism, wheel-type walking mechanism, crawler-type walking mechanism, flying mechanism, and underwater propulsion mechanism. Corresponding to the type of movement, moving devices can be divided into lifting devices, horizontal distance adjustment devices, leg-type walking devices, wheel-type walking devices, crawler-type walking devices, flying devices, and underwater propulsion devices. Leg walking is walking. Walking is also called driving or moving. To walk means to move on the ground. The walking devices are all ground mobile devices.

可移动的设备的重心O指该设备的构造重心O。标准指国家标准或行业标准或厂家标准或市场内产品的均值。在没有限定说明时，本文中所述的中部指第一行走机构和第二行走机构之间的部位。The center of gravity O of a movable device refers to the center of gravity O of the device. The standard refers to the national standard or industry standard or manufacturer standard or the average value of products in the market. When there is no limitation, the middle part mentioned herein refers to the position between the first running gear and the second running gear.

本文中，在没有限定或附加说明时：可移动的设备指可移动的设备的机架01。设备的移动指该机架01的移动。本体即躯体也即躯干即机身即机架，该五者等同。本文中，地面即路面。地面指设备下方用于支承该设备的底面。Herein, when there is no limitation or additional description: the movable equipment refers to the rack 01 of the movable equipment. The movement of the equipment refers to the movement of the rack 01 . The body is the body, the torso, the fuselage, and the frame, and these five are equal. In this paper, the ground is the road surface. Floor means the bottom surface under the equipment used to support the equipment.

当作业为移动时，作业执行器件为移动用具。例如该移动用具包括脚、攀爬用具、轮、翼(例如旋翼、平翼或扑翼)等。当作业为特种作业时，作业用具包括取物装置和/或作业工具。可选的，作业用具还包括用于作业的附件。When the job is mobile, the job execution device is a mobile tool. For example, the mobile equipment includes feet, climbing equipment, wheels, wings (such as rotors, flat wings or flapping wings) and the like. When the operation is a special operation, the work tool includes a pick-up device and/or a work tool. Optionally, the working tool also includes accessories for working.

能源供应装置包括电源或为电源。本文中任一设备中，电源连接控制装置，为控制装置供电。本文中任一设备中，能源供应装置连接作业装置，为作业提供能源。进一步的为，该能源供应装置连接该作业装置中驱动装置，为该作业提供能源。提供能源尤其指供电。能源供应装置可为燃料供应***，例如油箱。电源可为电池。The energy supply device includes or is a power source. In any of the devices in this article, the power supply is connected to the control device to supply power to the control device. In any of the devices in this paper, the energy supply device is connected to the operation device to provide energy for the operation. Further, the energy supply device is connected to the driving device in the working device to provide energy for the operation. Providing energy especially means supplying electricity. The energy supply device may be a fuel supply system, such as a fuel tank. The power source can be a battery.

驱动装置即驱动单元即动力单元即动力***即驱动部件即驱动组件，该六者等同。驱动装置中包括动力转化装置。(例如动力转化装置为电机、燃料发动机、液压缸、液压马达、气缸或气动马达等)。可选的，驱动装置还包括用于控制动力部件的动力控制装置。(例如动力控制装置为电机驱动器、液压阀、燃料喷射***或气阀。动力转化装置即动力部件。驱动装置可包含减速器。The drive device is the drive unit, the power unit, the power system, the drive component, the drive assembly, and the six are equivalent. The driving device includes a power conversion device. (For example, the power conversion device is an electric motor, a fuel engine, a hydraulic cylinder, a hydraulic motor, a cylinder or an air motor, etc.). Optionally, the drive device further includes a power control device for controlling the power components. (For example, the power control device is a motor drive, hydraulic valve, fuel injection system or gas valve. The power conversion device is the power component. The drive device may include a reducer.

7.2、控制装置配置为用于实现本文中任一控制方法。进一步的，控制装置包括处理器和用于存储该处理器可执行指令的存储模块，所述处理器配置为用于实现本文中任一控制方法。7.2. The control device is configured to implement any of the control methods herein. Further, the control device includes a processor and a storage module for storing instructions executable by the processor, and the processor is configured to implement any one of the control methods herein.

控制装置配置为用于控制可移动的设备进行本文中任一种作业。控制该设备即控制该设备的作业装置。控制装置(电)连接作业装置，控制其进行作业。具体的可为：控制装置(电)连接作业装置中运动装置，控制该运动装置，由该运动装置驱动与其连接的作业用具进行作业。更具体的可为：控制装置(电)连接作业装置中驱动装置，控制装置控制该驱动装置，由该驱动装置驱动与其(机械)连接的运动机构，由该运动机构驱动与其(机械)连接的作业用具进行作业。根据作业种类的不同，依次连接的驱动装置、运动机构和作业用具可为多套。本文中为了描述简便，“控制用于驱动运动机构的驱动装置”可称为“控制运动装置”，或称为“控制运动机构”，该三者等同。The control device is configured to control the movable equipment to perform any of the operations herein. To control the equipment is to control the working means of the equipment. The control device (electricity) is connected to the operation device to control it to perform operations. Specifically, the control device (electrically) is connected to the moving device in the working device, controls the moving device, and the working device connected to the moving device drives the working tool to perform operations. More specifically, the control device is (electrically) connected to the drive device in the working device, the control device controls the drive device, the drive device drives the movement mechanism connected to it (mechanically), and the movement mechanism drives the movement mechanism connected to it (mechanically). Work tools for work. According to different types of operations, there may be multiple sets of sequentially connected driving devices, moving mechanisms and operating tools. For simplicity of description herein, "controlling the driving device for driving the motion mechanism" may be referred to as "controlling the motion device" or "controlling the motion mechanism", and the three are equivalent.

控制装置(电)控制驱动装置，指：该控制装置(其中的处理模块)可处理与该作业相关的信息、执行与该作业相关的程序，该控制装置可向驱动装置发出与该作业相关的控制信号。The control device (electrically) controls the driving device, which means: the control device (the processing module in it) can process the information related to the operation, execute the program related to the operation, and the control device can send information related to the operation to the driving device. control signal.

控制装置包括用于实现控制功能的软件、硬件和结构件。处理器为CPU、DSP、FPGA或CPLD中至少一种。控制装置还包括通讯模块。进一步的，控制装置还包括人机界面、传感器模块中至少一种。控制装置配置为连接用于控制所需要的任意部件。处理器用于处理、执行程序、操作数据。存储模块用于存储程序、数据。通讯模块用于获取外部的传感器所采集的环境信息。The control device includes software, hardware and structural components for realizing control functions. The processor is at least one of CPU, DSP, FPGA or CPLD. The control device also includes a communication module. Further, the control device also includes at least one of a man-machine interface and a sensor module. The control device is configured to connect any components required for control. Processors are used to process, execute programs, and manipulate data. The storage module is used to store programs and data. The communication module is used to obtain environmental information collected by external sensors.

通讯模块用于控制装置内部件之间的通讯和/或控制装置与外部***的通讯。通讯模块包括有线通讯模块、无线通讯模块。例如有线通讯模块为485总线或CAN总线或以太网总线。外部***尤其指外部的信息处理中心，尤其指网络网络***。例如，无线通讯模块为移动通讯模块或红外通讯模块。人机界面包括语音输入***、显示***、键盘、鼠标、按键、人体姿态识别***等。显示***即显示装置，尤其指触摸屏。人机界面用于获取控制指令和/或获取控制所需的数据，和/或用于指示可移动的设备的状态信息。软件程序既可来源于控制装置内置的存储模块，也可来源于控制装置之外的存储模块。控制装置可通过通讯模块获取外部的软件程序。The communication module is used for communication between components within the control device and/or for communication between the control device and external systems. The communication module includes a wired communication module and a wireless communication module. For example, the wired communication module is 485 bus, CAN bus or Ethernet bus. An external system especially refers to an external information processing center, especially a network system. For example, the wireless communication module is a mobile communication module or an infrared communication module. Human-machine interface includes voice input system, display system, keyboard, mouse, buttons, human gesture recognition system, etc. A display system is a display device, especially a touch screen. The man-machine interface is used to obtain control instructions and/or data required for control, and/or to indicate status information of the movable device. The software program can come from a storage module built in the control device, or from a storage module outside the control device. The control device can obtain external software programs through the communication module.

传感器模块包括用于获取设备自身状况信息的传感器和/或用于获取环境信息的环境感知模块(08)。传感器模块用于通过传感器获取设备自身状况信息和/或环境信息。The sensor module includes a sensor for acquiring status information of the device itself and/or an environment perception module (08) for acquiring environment information. The sensor module is used to obtain the status information of the device itself and/or the environment information through the sensor.

控制装置也可通过通讯模块获取外部的传感器模块所采集的信息。自身状况可为躯体的角度、移动速度、加速度、各关节的角度、角速度、各臂的位置等。该传感器包括IMU、陀螺仪、加速度传感器、编码器、电压传感器、电流传感器等。环境指设备所在环境。用于获取环境信息的传感器包括视觉传感器、雷达、超声波、卫星定位模块、射频定位模块中至少一种。雷达包括激光雷达、毫米波雷达中至少一种。The control device can also obtain the information collected by the external sensor module through the communication module. The self-condition can be the angle of the body, the moving speed, the acceleration, the angle of each joint, the angular velocity, the position of each arm, etc. The sensors include IMU, gyroscope, acceleration sensor, encoder, voltage sensor, current sensor, etc. Environment refers to the environment where the device is located. The sensors for acquiring environmental information include at least one of visual sensors, radars, ultrasonic waves, satellite positioning modules, and radio frequency positioning modules. The radar includes at least one of lidar and millimeter wave radar.

控制装置包括运动控制模块或控制装置通过通信模块连接外部的自动驾驶模块。运动控制模块用于控制可移动的设备移动。运动控制模块包括：运动操控装置、自动驾驶模块中任一种或任意多种。The control device includes a motion control module or the control device is connected to an external automatic driving module through a communication module. The motion control module is used to control the movement of movable equipment. The motion control module includes: any one or more of a motion control device and an automatic driving module.

本文中任一设备中，包括转向机构、用于驱动转向机构的驱动器。转向机构连接转向轮。通过操控转向操控器即可使转向轮转向。本文中，还可控制设备中两边的轮差速以转向。三轮行驶的设备的转向机构可为三轮货车的转向机构。四轮行驶的设备的转向机构可为汽车的转向机构。转向机构可为数字舵机。数字舵机连接于需转向的行驶轮上。由控制装置控制舵机驱动转向轮转向。Any device herein includes a steering mechanism and a driver for driving the steering mechanism. The steering mechanism connects the steering wheels. Steering wheels can be steered by manipulating the steering manipulator. Here, it is also possible to control the differential speed of the wheels on both sides in the device to steer. The steering mechanism of the three-wheeled equipment can be the steering mechanism of a three-wheeled truck. The steering mechanism of the four-wheeled device may be the steering mechanism of an automobile. The steering mechanism can be a digital steering gear. The digital steering gear is connected to the running wheels to be turned. The steering gear is controlled by the control device to drive the steering wheel to turn.

7.2.1、运动操控装置包括运动操控器件或该用于连接该器件的连接部件。该运动操控器件可为方向盘、油门、刹车、摇杆、位置检测器件；该位置检测器件为电位器或编码器或光栅尺或霍尔感应型位置检测器件。运动操控包括进退操控和/或转向操控。7.2.1. The motion control device includes a motion control device or the connection part used to connect the device. The motion control device can be a steering wheel, accelerator, brake, rocker, and position detection device; the position detection device is a potentiometer or an encoder or a grating ruler or a Hall induction type position detection device. Motion maneuvers include forward and backward maneuvers and/or steering maneuvers.

7.2.3、自动驾驶模块，用于以自动驾驶方式控制可移动的设备移动。自动驾驶即无人驾驶。自动驾驶模块为基于卫星、地图信息进行无人驾驶；自动驾驶可参照现有公知技术实现。7.2.3. The automatic driving module is used to control the movement of movable equipment in an automatic driving manner. Autonomous driving is driverless. The automatic driving module is based on satellite and map information for unmanned driving; automatic driving can be realized with reference to existing known technologies.

8、每种模式，有与该模式对应的软件程序或控制规律。8. For each mode, there is a software program or control law corresponding to the mode.

9、该可移动的设备构造为可载人移动，该设备内具有能容纳人员的空间。该设备具有载人舱。该可移动的设备的机架或其相关部件(例如坐具117)在结构上设计为可承受标准的预设(例如100KG)的力。本文中轮式运动可移动的设备也即车辆。水中包括完全在水中、部分在水中即水面。本文中：设备即机器人即机器，三者等同。机器人即可移动的机器人。9. The movable device is configured to be able to carry people, and the device has a space capable of accommodating people. The device has a manned compartment. The frame of the movable device or its related parts (such as the seat 117 ) is structurally designed to withstand a standard preset (such as 100KG) force. In this paper, the movable equipment of wheeled movement is also the vehicle. The water includes being completely in the water and partially in the water, that is, the water surface. In this article: the equipment is the robot and the machine, and the three are equivalent. A robot is a mobile robot.

10、本文中任一处所述设备中运动机构，连接于该设备中用于连接该运动机构的连接部。该连接部设置于该设备的机架。运动机构的基座连接机架中用于连接该运动机构的连接部。运动包括旋转、移动、伸缩、收卷中任一种或任意多种。移动包括平移、升降。该平移包括左右移动和/或前后移动。10. The kinematic mechanism in any one of the devices described herein is connected to the connection part used to connect the kinematic mechanism in the device. The connection part is arranged on the frame of the equipment. The base of the kinematic mechanism is connected to the connection part used to connect the kinematic mechanism in the frame. The movement includes any one or more of rotation, movement, expansion and contraction, and winding. Movement includes translation and elevation. This translation includes moving side to side and/or moving back and forth.

运动机构即驱动机构即活动机构即机构，该四者等同。机构包括第一构件和第二构件；第一构件连接第二构件；且第二构件相对于第一构件能运动。该两构件通过运动副联结。第一构件在机构中相对静止和用于支承第二构件。第一构件即基座即机座即固定件即固定构件即机架，该五者等同。该基座用于连接设备的机架或为设备的机架的构成部分。第二构件在第一构件设定的活动路径和/或活动范围内活动。第二构件即活动件。活动件还可分为原动件、从动件和联运件。原动件即主动件即输入件即输入构件，该四者等同。输入件即动力输入件。原动件用于连接动力装置或运动操纵器件；由动力装置驱动该原动件运动或运动操纵器件驱动该原动件运动。或原动件为动力件。原动件连接从动件。从动件即工作件即输出件即输出端即输出构件，该五者等同。输出件即运动输出件或动力输出件。联运件是联结原动件和从动件之间的中介构件。联运件用于传动动力即传动件。从动件带动所连接的负载物体运动。该负载物体为用于作业的用具或末端执行器。运动机构连接动力装置，指运动机构的原动件连接动力装置。运动机构的活动由动力装置驱动。控制装置用于控制动力装置驱动运动机构运动，指该控制装置用于控制该运动机构运动。动力装置也称为驱动器。默认的，活动件指输出件。为了便于阅读，可直接用器件的名称表示该器件的机构。例如，轮指轮机构。电动推杆指电动推杆机构。气缸指气缸机构。液压缸指液压缸机构。机械臂指机械臂机构。The moving mechanism is the driving mechanism, the movable mechanism is the mechanism, and the four are equivalent. The mechanism includes a first member and a second member; the first member is connected to the second member; and the second member is movable relative to the first member. The two components are connected by a kinematic pair. The first member is relatively stationary in the mechanism and serves to support the second member. The first component is the base, that is, the base, that is, the fixed piece, that is, the fixed component, that is, the frame, and these five are equivalent. The base is used for connecting to the rack of the equipment or is a constituent part of the rack of the equipment. The second component moves within the moving path and/or moving range set by the first component. The second member is the movable part. The moving parts can also be divided into driving parts, driven parts and intermodal parts. The original moving part is the active part, that is, the input part, that is, the input member, and these four are equivalent. The input part is the power input part. The original moving part is used to connect the power device or the motion control device; the power device drives the original mover to move or the motion control device drives the original mover to move. Or the original moving part is the power part. The prime mover is connected with the follower. The follower is the work piece, the output piece is the output end, the output member, and the five are equivalent. The output part is the motion output part or the power output part. The intermodal part is an intermediary component between the original moving part and the driven part. Intermodal parts are used to transmit power, that is, transmission parts. The driven part drives the connected load object to move. The payload is a tool or an end effector for work. The movement mechanism is connected to the power device, which means that the original moving part of the movement mechanism is connected to the power device. The movement of the movement mechanism is driven by the power unit. The control device is used to control the power device to drive the movement mechanism, which means that the control device is used to control the movement of the movement mechanism. The power unit is also called a drive. By default, active items refer to output items. For ease of reading, the name of the device can be directly used to indicate the mechanism of the device. For example, the wheel finger wheel mechanism. Electric push rod refers to electric push rod mechanism. Cylinder refers to a cylinder mechanism. The hydraulic cylinder refers to the hydraulic cylinder mechanism. The mechanical arm refers to the mechanical arm mechanism.

从(输出件的)运动特性区分，运动机构包括旋转型运动机构、线性移动机构等。根据所包括的运动机构的种类：驱动装置可分为旋转型驱动装置、线性驱动装置等。例如，旋转型驱动装置为旋转马达。线性驱动装置，指该装置的输出件相对于该装置的基座能线性往复运动。伸缩装置指用于伸缩的装置，其包含伸缩机构和驱动该伸缩机构的驱动器。例如，伸缩装置为电动推杆装置、或活塞式气缸装置或伸缩式液压缸装置。Distinguished from the motion characteristics (of the output member), the motion mechanism includes a rotary motion mechanism, a linear movement mechanism, and the like. According to the type of motion mechanism included: the drive device can be divided into rotary drive device, linear drive device, etc. For example, the rotary drive device is a rotary motor. Linear drive means that the output member of the device can linearly reciprocate relative to the base of the device. The telescoping device refers to a device for telescoping, which includes a telescoping mechanism and a driver for driving the telescoping mechanism. For example, the telescopic device is an electric push rod device, or a piston-type cylinder device or a telescopic hydraulic cylinder device.

旋转型运动机构，该机构的输出件相对于该机构的基座能旋转。该输出件可为旋转轴。旋转型运动机构可为齿轮组机构、涡轮蜗杆机构或旋转马达机构。旋转型运动机构可为旋转关节。Rotary kinematic mechanism, the output of the mechanism can rotate relative to the base of the mechanism. The output member may be a rotary shaft. A rotary motion mechanism may be a gear set mechanism, a worm gear mechanism, or a rotary motor mechanism. The rotary kinematic mechanism may be a rotary joint.

齿轮组机构的基座为用于连接齿轮的轴的支架；该齿轮相对于该支架能旋转，齿轮组机构的输出件为输出齿轮。齿轮组机构的输入件为输入齿轮。齿轮组机构也称为(刚性)齿轮传动机构。涡轮蜗杆机构的基座为用于连接涡轮和蜗杆的支架，该涡轮和该蜗杆相对于该支架能旋转，该涡轮蜗杆机构的输出件为涡轮，该蜗杆为输入件。该涡轮的轴线与该蜗杆的轴线(可垂直)交叉。涡轮蜗杆机构即涡轮蜗杆(传动)机构。旋转马达机构的基座为马达的定子，旋转马达的输出件为转子，该转子能相对于该定子旋转。该机构的输入件为用于产生磁场的线圈。该转子通过该线圈产生的磁场驱动。The base of the gear set mechanism is a bracket used to connect the shaft of the gear; the gear can rotate relative to the bracket, and the output part of the gear set mechanism is an output gear. The input member of the gear set mechanism is the input gear. A gear set mechanism is also called a (rigid) gear drive. The base of the worm gear mechanism is a support for connecting the worm gear and the worm, and the worm gear and the worm can rotate relative to the support. The output part of the worm gear mechanism is the worm gear, and the worm screw is the input part. The axis of the turbine intersects (possibly perpendicularly) the axis of the worm. The worm gear is the worm (transmission) mechanism. The base of the rotary motor mechanism is the stator of the motor and the output of the rotary motor is the rotor, which is rotatable relative to the stator. The input to the mechanism is a coil for generating a magnetic field. The rotor is driven by the magnetic field generated by the coil.

线性移动即线性运动。线性尤其指直线。线性运动机构，指该运动机构的的输出件相对于该运动机构的基座能线性往复运动。线性运动机构即线性关节。滑动件即滑块。Linear movement is linear motion. Linear especially refers to a straight line. A linear motion mechanism means that the output member of the motion mechanism can linearly reciprocate relative to the base of the motion mechanism. A linear motion mechanism is a linear joint. A slider is a slider.

从可从商场购买、可实施的角度，线性移动机构可为导轨型运动机构或伸缩机构。导轨即滑轨。导轨型运动机构的基座为导轨，输出件为滑块。可选的，滑块可通过滚轮与导轨接触，以减少滑动时阻力。From the point of view of being available for purchase from a shopping mall and being practical, the linear moving mechanism can be a rail-type moving mechanism or a telescopic mechanism. The guide rail is the slide rail. The base of the guide rail type motion mechanism is a guide rail, and the output part is a slider. Optionally, the slider can be in contact with the guide rail through rollers to reduce resistance during sliding.

伸缩机构即具有伸缩功能的线性移动机构。伸缩机构的输出件相对该机构的基座能移动和伸缩。该输出件的长度接近于该基座的长度。该输出件相对于基座移动使该输出件的自由端离基座的距离可调整。伸缩机构的输出件即伸缩杆。该输出件的两端中远离该基座的一端即自由端即活动端。可选的，伸缩机构为电动推杆、活塞式气缸或伸缩式液压缸。The telescopic mechanism is a linear movement mechanism with a telescopic function. The output part of the telescoping mechanism is movable and telescopic relative to the base of the mechanism. The length of the output member is close to the length of the base. The output member moves relative to the base so that the distance between the free end of the output member and the base can be adjusted. The output part of the telescopic mechanism is the telescopic rod. Among the two ends of the output member, the end away from the base is the free end, namely the movable end. Optionally, the telescopic mechanism is an electric push rod, a piston cylinder or a telescopic hydraulic cylinder.

请参阅图12：一种电动推杆，其内部为丝杆机构，电动推杆的基座201A为推杆的外管，电动推杆的输出件203A为推杆的伸缩杆，其内部丝杆机构包含丝杆202A。Please refer to Figure 12: an electric push rod, its interior is a screw mechanism, the base 201A of the electric push rod is the outer tube of the push rod, the output part 203A of the electric push rod is the telescopic rod of the push rod, and the internal screw The mechanism includes a lead screw 202A.

请参阅图13：一种导轨型运动机构，其内部为丝杆机构。丝杆机构包括基座201B、丝杆202B和含螺孔的输出件203B。该基座201B为连接丝杆202B和输出件203B的支架。含螺孔的输出件203B，指该输出件设置有螺孔或该输出件203B连接螺母。该螺孔或该螺母设有与该丝杆202B相配的螺纹。该输出件203B套设在该丝杆202B上且与该丝杆202B螺纹连接。该机构的驱动器为电机。该机构的输入件为丝杆202B。该电机的基座连接该丝杆机构的基座201B。该电机的输出轴连接该机构的丝杆202B的一端，该电机能驱动该丝杆202B绕自身轴线转动。该丝杆202B转动能带动该输出件203B沿该丝杠的长度方向移动。也即该输出件与该丝杆202B配合将该丝杆202B的旋转转化为该输出件的直线移动。Please refer to Figure 13: a guide rail type motion mechanism with a screw mechanism inside. The screw mechanism includes a base 201B, a screw 202B and an output member 203B with a screw hole. The base 201B is a bracket connecting the screw rod 202B and the output member 203B. The output piece 203B with a screw hole means that the output piece is provided with a screw hole or the output piece 203B is connected with a nut. The screw hole or the nut is provided with a thread matched with the threaded rod 202B. The output member 203B is sleeved on the screw rod 202B and screwed to the screw rod 202B. The driver of the mechanism is a motor. The input to the mechanism is the lead screw 202B. The base of the motor is connected to the base 201B of the screw mechanism. The output shaft of the motor is connected to one end of the screw rod 202B of the mechanism, and the motor can drive the screw rod 202B to rotate around its own axis. The rotation of the lead screw 202B can drive the output member 203B to move along the length direction of the lead screw. That is, the output member cooperates with the screw rod 202B to convert the rotation of the screw rod 202B into the linear movement of the output member.

请参阅图14：一种滑轨型导向机构，其基座201D为滑轨的底座，其输出件203D为滑轨的活动件。Please refer to FIG. 14 : a slide rail type guide mechanism, its base 201D is the base of the slide rail, and its output part 203D is the movable part of the slide rail.

活塞式气缸即伸缩式气缸，是引导活塞在其中进行直线往复运动的圆筒形金属器件。伸缩式液压缸尤其指活塞式液压缸。活塞式气缸的基座为气缸缸体，输出件为连接于活塞的伸缩杆。伸缩式液压缸的基座为液压缸缸体，输出件为连接于活塞的伸缩杆。The piston cylinder, that is, the telescopic cylinder, is a cylindrical metal device that guides the piston to perform linear reciprocating motion. Telescopic hydraulic cylinders especially refer to piston hydraulic cylinders. The base of the piston cylinder is a cylinder block, and the output part is a telescopic rod connected to the piston. The base of the telescopic hydraulic cylinder is a hydraulic cylinder block, and the output part is a telescopic rod connected to the piston.

导轨型运动机构或电动推杆，具体可为丝杆机构或齿轮齿条机构。齿轮齿条机构的基座为用于连接齿轮和齿条的支架；该齿条相对于该支架能往复移动，该机构的输出件为齿条。该机构的输入件为齿轮。The guide rail type motion mechanism or the electric push rod can specifically be a screw mechanism or a rack and pinion mechanism. The base of the rack and pinion mechanism is a bracket used to connect the gear and the rack; the rack can move back and forth relative to the bracket, and the output of the mechanism is a rack. The input of the mechanism is a gear.

导向组件包括滑轨以及与该滑轨滑动连接的滑块。线性移动机构的基座为长条状。该基座的方向即线性移动机构的方向。丝杆机构中丝杠的方向即该机构中基座的方向。齿轮齿条机构中齿条的方向即该机构中基座的方向。The guide assembly includes a slide rail and a slide block slidably connected with the slide rail. The base of the linear movement mechanism is strip-shaped. The direction of the base is the direction of the linear movement mechanism. The direction of the lead screw in the screw mechanism is the direction of the base in the mechanism. The direction of the rack in a rack and pinion mechanism is the direction of the base in the mechanism.

(从功能的区分上)运动机构的种类包括行驶机构、转向机构、距离调整机构、平移运动机构(18)、升降运动机构、旋转关节、伸缩机构、单级摆动机构、收卷机构等。行驶机构也称为行走机构。(From the distinction of functions) the kind of kinematic mechanism includes traveling gear, steering gear, distance adjustment mechanism, translation kinematic mechanism (18), lifting kinematic mechanism, rotary joint, telescopic mechanism, single-stage swing mechanism, winding mechanism etc. The running gear is also called the running gear.

升降机构即用于实现升降功能的运动机构。该运动机构的的输出件相对于该该运动机构的基座能升降。前后运动机构为用于实现前后运动的运动机构。该运动机构的的输出件相对于该该运动机构的基座能前后运动。前后运动即在前后方向产生位移。The lifting mechanism is the motion mechanism used to realize the lifting function. The output member of the kinematic mechanism can be raised and lowered relative to the base of the kinematic mechanism. The forward and backward movement mechanism is a movement mechanism for realizing forward and backward movement. The output member of the kinematic mechanism can move back and forth relative to the base of the kinematic mechanism. Fore and aft motion means displacement in the fore and aft direction.

如无特殊说明多连杆摆动机构，本文中所述单级摆动机构指单连杆摆动机构。If there is no special description of the multi-link swing mechanism, the single-stage swing mechanism mentioned in this article refers to the single-link swing mechanism.

升降机构，可为竖置的线性移动机构；该线性移动机构的输出件相对于该基座上下移动。能在水平方向产生位移的运动机构，可为平置的线性移动机构。前后运动机构，可为指向前后的线性移动机构。单级摆动机构指由一旋转机构带动一根连杆摆动。该旋转机构的输出轴连接该连杆的一端。该连杆的另一端以该输出轴为中心摆动。多级摆动机构指多个单级摆动机构串接。例如机械腿02即多级摆动机构。The lifting mechanism can be a vertical linear movement mechanism; the output part of the linear movement mechanism moves up and down relative to the base. The movement mechanism capable of generating displacement in the horizontal direction may be a flat linear movement mechanism. The forward and backward movement mechanism can be a linear movement mechanism pointing forward and backward. A single-stage swing mechanism refers to a connecting rod driven by a rotating mechanism to swing. The output shaft of the rotating mechanism is connected with one end of the connecting rod. The other end of the connecting rod swings around the output shaft. A multi-stage swing mechanism refers to a series connection of multiple single-stage swing mechanisms. For example, mechanical leg 02 is a multi-stage swing mechanism.

多维运动机构指至少两种运动机构首尾连接、联动。The multi-dimensional motion mechanism refers to the end-to-end connection and linkage of at least two motion mechanisms.

距离调整装置包括伸缩装置或铰接式距离调整装置。优选的，距离调整装置为伸缩装置。距离调整机构包括伸缩机构或铰接式距离调整机构。优选的，距离调整机构为伸缩机构。The distance adjustment device includes a telescopic device or an articulated distance adjustment device. Preferably, the distance adjusting device is a telescopic device. The distance adjustment mechanism includes a telescopic mechanism or a hinged distance adjustment mechanism. Preferably, the distance adjustment mechanism is a telescopic mechanism.

铰接式距离调整机构也称为摆动式距离调整机构或角度式距离调整机构。摆动式距离调整机构即单级摆动机构即摆动关节。铰接式距离调整机构指：该机构的输出件铰接该机构的基座；该输出件可绕铰接处旋转，该输出件的一端为铰接端，该输出件的另一端即自由端即活动端。该输出件绕该铰接处旋转时(也即调整该输出件相对于基座的角度)，该输出件的自由端离铰接端的水平方向距离或上下方向距离可调整。单级摆动机构的输出件为摆臂。该输出件带动所连接的负载的运动的轨迹为弧线。The articulated distance adjustment mechanism is also called a swing distance adjustment mechanism or an angle distance adjustment mechanism. The swing-type distance adjustment mechanism is a single-stage swing mechanism, that is, a swing joint. The articulated distance adjustment mechanism refers to: the output part of the mechanism is hinged to the base of the mechanism; the output part can rotate around the hinge, one end of the output part is the hinged end, and the other end of the output part is the free end or the movable end. When the output member rotates around the hinge (that is, the angle of the output member relative to the base is adjusted), the horizontal or vertical distance between the free end of the output member and the hinged end can be adjusted. The output part of the single-stage swing mechanism is the swing arm. The trajectory of the movement of the connected load driven by the output member is an arc.

升降机构也可为该铰接式距离调整机构，该铰接式距离调整机构用于调整输出件的自由端离铰接端的上下方向的距离。能在水平方向产生位移的运动机构也可为铰接式距离调整机构，该铰接式距离调整机构用于调整输出件的自由端离铰接端的水平方向的距离。The lifting mechanism can also be the hinged distance adjustment mechanism, which is used to adjust the vertical distance between the free end of the output member and the hinged end. The movement mechanism capable of generating displacement in the horizontal direction can also be a hinged distance adjustment mechanism, which is used to adjust the horizontal distance between the free end of the output member and the hinged end.

该输出件绕该铰接处旋转即该输出件相对于基座摆动。该输出件的的轴线与该旋转轴交叉。摆动、摆动关节可由由伸缩机构驱动。该伸缩机构的基座铰接该摆动关节的第一构件，该伸缩机构的输出端铰接该摆动关节的第二构件。该伸缩机构伸缩使第二构件相对于该第一构件摆动(绕该铰接处旋转)。例如，该伸缩机构为电动推杆、活塞式液压缸或气缸。The output member rotates around the hinge, that is, the output member swings relative to the base. The axis of the output member intersects the axis of rotation. The swing and swing joints can be driven by telescopic mechanisms. The base of the telescopic mechanism is hinged to the first component of the swing joint, and the output end of the telescopic mechanism is hinged to the second component of the swing joint. The expansion and contraction of the telescopic mechanism makes the second member swing (rotate around the hinge) relative to the first member. For example, the telescoping mechanism is an electric push rod, a piston hydraulic cylinder or an air cylinder.

单级摆动机构也可由旋转型驱动装置(例如旋转电机)驱动。单级摆动机构的基座连接该旋转型驱动装置的基座，单级摆动机构的输出件(也即摆臂)连接该旋转型驱动装置的输出轴，该输出件(也即摆臂)的轴线与该旋转轴交叉。A single-stage oscillating mechanism may also be driven by a rotary-type drive device such as a rotary motor. The base of the single-stage swing mechanism is connected to the base of the rotary drive device, and the output member (ie, the swing arm) of the single-stage swing mechanism is connected to the output shaft of the rotary drive device. The axis intersects the axis of rotation.

本发明还提供了一种计算机可读存储介质，该计算机可读存储介质可以是设置于上述各实施例中的可移动的设备、控制装置中，该计算机可读存储介质可以是存储器即存储模块。该计算机可读存储介质上存储有计算机程序，该程序被处理器执行时用于实现本文中任一控制方法。进一步的，该计算机可存储介质还可以是U盘、移动硬盘、只读存储器、可读写存储器、RAM、磁碟或者光盘等各种可以存储程序代码的介质。计算机可存储介质也可为远程或网络或云可存储介质；远程或网络或云可存储介质通过通讯模块控制装置，实现程序、信息的传输。The present invention also provides a computer-readable storage medium, the computer-readable storage medium can be set in the removable equipment and control device in the above-mentioned embodiments, and the computer-readable storage medium can be a memory, that is, a storage module . A computer program is stored on the computer-readable storage medium, and the program is used to realize any control method herein when executed by a processor. Further, the computer storage medium may also be various media capable of storing program codes such as a U disk, a mobile hard disk, a read-only memory, a read-write memory, a RAM, a magnetic disk or an optical disk. The computer storage medium can also be a remote or network or cloud storage medium; the remote or network or cloud storage medium realizes the transmission of programs and information through the communication module control device.

以上仅为本申请的可选实施例而已，并不用于限制本申请。对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。The above are only optional embodiments of the application, and are not intended to limit the application. For those skilled in the art, various modifications and changes may occur in this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

一种可移动的设备，其特征在于，包括：A mobile device, characterized in that it comprises:

机架(01)；rack(01);

连接于该机架(01)的能用于步行的多条机械腿(02)；A plurality of mechanical legs (02) capable of walking connected to the frame (01);

连接于该机架(01)的滚动式行走机构(57)，该滚动式行走机构用于驱动该设备沿路面行驶；A rolling traveling mechanism (57) connected to the frame (01), the rolling traveling mechanism is used to drive the equipment to travel along the road surface;

该设备还包括滚动件升降机构(21)，该滚动件升降机构(21)的一端连接所述机架(01)，该滚动件升降机构(21)的另一端连接所述滚动式行走机构(57)；和/或，该设备还包括用于使该机械腿(02)的基座相对于该机架(01)能实现上下运动和/或前后运动的第四运动机构，该第四运动机构的一端连接所述机架(01)，该第四运动机构的另一端连接所述机械腿(02)的基座；和/或，多条该机械腿(02)中至少一条机械腿的末端设有作业工具(17)或设有用于连接作业工具(17)的连接部，该机械腿和该作业工具(17)均配置为用于特定的作业，该特定的作业包括切割物体和/或挖掘或铲物。The equipment also includes a rolling element lifting mechanism (21), one end of the rolling element lifting mechanism (21) is connected to the frame (01), and the other end of the rolling element lifting mechanism (21) is connected to the rolling traveling mechanism ( 57); and/or, the device also includes a fourth movement mechanism for enabling the base of the mechanical leg (02) to move up and down and/or forward and backward relative to the frame (01), the fourth movement One end of the mechanism is connected to the frame (01), and the other end of the fourth motion mechanism is connected to the base of the mechanical leg (02); and/or, at least one mechanical leg in the plurality of mechanical legs (02) The end is provided with a work tool (17) or with a connection for connecting a work tool (17), the mechanical leg and the work tool (17) are configured for a specific operation, the specific operation includes cutting objects and/or Or digging or shoveling.
如权利要求1所述的可移动的设备，其特征在于，The mobile device of claim 1, wherein,

该机械腿(02)的末端设置有滚轮；或，The end of the mechanical leg (02) is provided with rollers; or,

该设备的顶部(115)通过第五升降机构(1315)连接机架(01)使该顶部(115)相对于所述机架(01)能升降和/或该顶部(115)设置有滚轮。The top (115) of the device is connected to the frame (01) through the fifth lifting mechanism (1315) so that the top (115) can be lifted relative to the frame (01) and/or the top (115) is provided with rollers.
如权利要求1所述的可移动的设备，其特征在于，该第四运动机构包括用于使所述机械腿(02)的基座能实现上下运动的第四升降机构(12)、用于使所述机械腿(02)的基座能实现前后运动的第四前后运动机构、用于使所述机械腿(02)的基座能实现上下前后摆动的单级摆动机构中任意一种或任意多种。The mobile device according to claim 1, characterized in that the fourth movement mechanism comprises a fourth lifting mechanism (12) for enabling the base of the mechanical leg (02) to move up and down, Any one of the fourth forward and backward movement mechanism that enables the base of the mechanical leg (02) to move back and forth, the single-stage swing mechanism that enables the base of the mechanical leg (02) to swing up and down, or Any variety.
如权利要求1所述的可移动的设备，其特征在于，该滚动式行走机构(57)和用于升降该滚动式行走机构的滚动件升降机构(21)配置为：可分段升降的滚动式行走机构群；和/或,该设备还包括载人舱(11)和/或,该设备还包括连接所述机架(01)的水中推进装置。The movable equipment according to claim 1, characterized in that, the rolling traveling mechanism (57) and the rolling element lifting mechanism (21) used for lifting the rolling traveling mechanism are configured as: a rolling rolling mechanism that can be raised and lowered in sections. type running gear group; and/or, the equipment also includes a manned cabin (11) and/or, the equipment also includes an underwater propulsion device connected to the frame (01).
一种可移动的设备，其特征在于，包括：机架(01)、连接于该机架(01)的可分段升降的滚动式行走机构群，该可分段升降的滚动式行走机构群为第一可分段升降的滚动式行走机构群或第二可分段升降的滚动式行走机构群；A movable device, characterized in that it comprises: a frame (01), a rolling walking mechanism group connected to the frame (01) that can be lifted and lowered in sections, and the rolling walking mechanism group that can be lifted and lifted in sections It is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections;

第一可分段升降的滚动式行走机构群包括第一升降机构(211)、第二升降机构(222)、第三升降机构(212)、第一行走机构(571)、第二行走机构(572)和第三行走机构(573)；The rolling traveling mechanism group that the first segmental lift can comprise the first lifting mechanism (211), the second lifting mechanism (222), the 3rd lifting mechanism (212), the first traveling mechanism (571), the second traveling mechanism ( 572) and the 3rd running mechanism (573);

所述第一升降机构(211)、所述第二升降机构(222)以及所述第三升降机构的一端均连接所述机架(01)；One end of the first lifting mechanism (211), the second lifting mechanism (222) and the third lifting mechanism is connected to the frame (01);

所述第一升降机构(211)的另一端连接第一行走机构(571)；所述第一升降机构(211)用于调整所述第一行走机构(571)相对于所述机架(01)的距离；The other end of the first lifting mechanism (211) is connected to the first traveling mechanism (571); the first lifting mechanism (211) is used to adjust the first traveling mechanism (571) relative to the frame (01 )distance;

所述第二升降机构(222)的另一端连接第二行走机构(572)；所述第二升降机构(222)用于调整所述第二行走机构(572)相对于所述机架(01)的距离；The other end of the second lifting mechanism (222) is connected to the second traveling mechanism (572); the second lifting mechanism (222) is used to adjust the second traveling mechanism (572) relative to the frame (01 )distance;

所述第三升降机构的另一端连接第三行走机构(573)；所述第三升降机构用于调整所述第三行走机构(573)相对于所述机架(01)的距离；The other end of the third lifting mechanism is connected to a third traveling mechanism (573); the third lifting mechanism is used to adjust the distance of the third traveling mechanism (573) relative to the frame (01);

且所述第一行走机构(571)和所述第二行走机构(572)沿行驶方向间隔布置；所述第三行走机构(573)位于所述第一行走机构(571)和所述第二行走机构(572)之间。And the first traveling mechanism (571) and the second traveling mechanism (572) are arranged at intervals along the traveling direction; the third traveling mechanism (573) is located between the first traveling mechanism (571) and the second Between walking mechanism (572).
如权利要求5所述的可移动的设备，其特征在于，该设备还包括第四行走机构(15)、用于作业的机械臂或多功能的机械腿(02)或载人舱(11)或水中推进装置。The movable equipment according to claim 5, characterized in that, the equipment also comprises a fourth traveling mechanism (15), a mechanical arm or a multifunctional mechanical leg (02) or a manned cabin (11) for operation or underwater propulsion devices.
一种如权利要求5或6所述的可移动的设备的控制方法，该设备包括机架(01)、连接于该机架01的可分段升降的滚动式行走机构群，该可分段升降的滚动式行走机构群为第一可分段升降的滚动式行走机构群或第二可分段升降的滚动式行走机构群，该控制方法包括步骤Y1和/或Y2：A control method for movable equipment as claimed in claim 5 or 6, the equipment comprises a frame (01), a group of rolling walking gears connected to the frame 01 that can be lifted and lowered in sections, the sectionable The lifting rolling walking mechanism group is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections, and the control method includes steps Y1 and/or Y2:

Y1：控制该设备行驶，控制与待越障的行走机构对应的升降机构，使该待越障的行走机构相对于该机架(01)上升以越障，和/或，控制与除待越障的行走机构之外的若干个行走机构对应的升降机构，使该若干个行走机构相对于该机架(01)下降以撑地，以使该待越障的行走机构上升以越障。Y1: Control the device to travel, control the lifting mechanism corresponding to the walking mechanism to be overcome, make the walking mechanism to rise relative to the frame (01) to overcome the obstacle, and/or, control and eliminate the obstacle The lifting mechanism corresponding to several running gears other than the running gear of the obstacle makes the several running gears descend relative to the frame (01) to support the ground, so that the running gear to be surmounted can rise to surmount the obstacle.

Y2：控制该设备朝下台阶的方向行驶，控制与已悬空于台阶下方路段的上方的行走机构对应的升降机构，使该行走机构相对于该机架(01)下降以使该行走机构的在该台阶下方路段撑地。该控制方法用于使该可移动的设备越障。Y2: Control the device to move in the direction of the lower step, control the lifting mechanism corresponding to the running mechanism that has been suspended above the section below the step, and make the running mechanism drop relative to the frame (01) so that the running mechanism The section below the steps supports the ground. The control method is used to enable the movable device to overcome obstacles.
一种可移动的设备的控制方法，该设备包括机架(01)、连接于该机架(01)的第四行走机构(15)、连接于该机架01的可分段升降的滚动式行走机构群，该可分段升降的滚动式行走机构群为第一可分段升降的滚动式行走机构群或第二可分段升降的滚动式行走机构群；该控制方法包括步骤S1和/或S2：A method for controlling movable equipment, the equipment comprising a frame (01), a fourth traveling mechanism (15) connected to the frame (01), and a rolling rolling mechanism connected to the frame 01 that can be raised and lowered in sections. The walking mechanism group, the rolling walking mechanism group that can be lifted and lowered in sections is the first rolling walking mechanism group that can be lifted and lowered in sections or the second rolling walking mechanism group that can be lifted and lowered in sections; the control method includes steps S1 and/or or S2:

S1：控制该可分段升降的滚动式行走机构群(600)使其所包含的可升降的滚动式行走机构相对于所述机架01升高以使所述第四行走机构15撑地；S1: Control the group (600) of rolling traveling gears (600) that can be raised and lowered in sections so that the raised and lowering rolling running gears contained therein are raised relative to the frame 01 so that the fourth running gear 15 supports the ground;

S2：控制可分段升降的滚动式行走机构群(600)使该设备越障。S2: Controlling the group of rolling traveling mechanisms (600) that can be raised and lowered in sections to make the equipment overcome obstacles.
一种可移动的设备的控制方法，该可移动的设备包括机架(01)和多条连接于该机架(01)的机械腿，且该多条机械腿中至少一条机械腿配置为多功能的机械腿(02)，该多功能包括用于特定的作业和步行，其特征在于，该控制方法包括步骤M1：A control method for a movable device, the movable device includes a frame (01) and a plurality of mechanical legs connected to the frame (01), and at least one of the plurality of mechanical legs is configured as a multi- The mechanical leg (02) of function, this multi-function includes being used for specific operation and walking, it is characterized in that, this control method comprises step M1:

控制该多功能的机械腿(02)以从人员下方托住人员的方式搬运人员；和/或，控制该多功能的机械腿(02)带动该机械腿(02)末端所连接的作业工具(17)以抓取连接人员的柔性物体的方式搬运人员；和/或，控制该多功能的机械腿(02)带动该机械腿(02)末端所连接的作业工具(17)进行特定的作业，该特定的作业为切割物品或挖掘或铲物至少一种。Control the multifunctional mechanical leg (02) to carry the personnel in the manner of supporting the personnel from below; and/or control the multifunctional mechanical leg (02) to drive the working tool connected to the end of the mechanical leg (02) ( 17) transporting personnel by grabbing flexible objects connected to personnel; and/or, controlling the multifunctional mechanical leg (02) to drive the working tool (17) connected to the end of the mechanical leg (02) to perform specific operations, The specific operation is at least one of cutting an item or digging or shoveling.
一种计算机可读存储介质，其特征在于，该计算机可读存储介质上存储有计算机程序，该程序被处理器执行时实现如技术方案7-9中任一项所述的控制方法。A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, the control method according to any one of technical solutions 7-9 is implemented.
一种可移动的设备的控制装置，其特征在于，该控制装置包括处理器，该处理器用于执行计算机程序，该程序被该处理器执行时实现如技术方案7-9中任一项所述的控制方法。A control device for movable equipment, characterized in that the control device includes a processor, and the processor is used to execute a computer program, and when the program is executed by the processor, it can realize the process described in any one of technical solutions 7-9. control method.
一种可移动的设备，其特征在于，包括如技术方案11所述的控制装置。A mobile device, characterized by comprising the control device according to technical solution 11.