A walking robot with fast response and its control method

Abstract

This invention discloses a walking robot with rapid response and its control method. It includes a carrier frame platform with a body mechanism that swings back and forth along the vertical centerline of the robot connected to its upper part. A front-to-back center-of-gravity adjustment mechanism is located at the top. The body mechanism and / or the front-to-back center-of-gravity adjustment mechanism change the center of gravity to move the robot. The two mechanisms work together to maintain the robot's balance when grasping or transporting loads. The bottom of the carrier frame platform has symmetrically arranged left and right walking wheels, and corresponding left and right drive motors that independently drive the left and right walking wheels. These left and right drive motors are respectively connected to a control processor installed within the carrier frame platform. The control processor is connected to an attitude sensor installed on the carrier frame platform. The front-to-back center-of-gravity adjustment mechanism uses a motor-driven swing arm rapid response method. This invention's walking robot can have multiple functions such as rapid response, autonomous navigation, obstacle avoidance, and material delivery, while ensuring safety.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology and relates to a walking robot with fast response and its control method. Background Technology

[0002] As we all know, robots are automated machines that perform tasks. They can be controlled by humans, run pre-programmed routines, or act according to principles established using artificial intelligence technology. Commonly known as service robots, their task is to assist or replace humans in performing specific tasks. They are widely used in various industries, such as transporting goods in production workshops, shopping malls, and restaurants, to save manpower and improve efficiency.

[0003] Especially in recent years, with the high-quality development of science and technology, the development of robots has accelerated rapidly, far exceeding our initial stereotypes. They no longer walk like babies when they first appeared. Currently, there are four main types of robot locomotion: wheeled mobile robots, tracked mobile robots, hopping mobile robots, and legged mobile robots. Among these, wheeled mobile robots are the most efficient, have the highest speed, are flexible in turning, have lower costs, and are easier to troubleshoot. Furthermore, wheeled locomotion is more advantageous than legged locomotion on relatively flat ground, and control is relatively simple, making it the mainstream research direction. Existing wheeled mobile robots mainly move by changing the robot's center of gravity. Attitude sensors detect changes in the center of gravity, and the control mechanism drives the robot to walk. However, the main problem is the slow response time, resulting in a slightly sluggish robot reaction; especially when grasping or transporting loads, it is difficult to quickly achieve rebalancing, affecting the stability and safety of the walking robot.

[0004] In view of this, the inventors provide a walking robot with fast response and its control method to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and propose a walking robot with a fast response and its control method. The walking robot adjusts its center of gravity by controlling the swing arm with a motor and / or controlling the body mechanism with a control processor. At the same time, the two work together to maintain the balance of the walking robot when grasping or transporting loads. In particular, the invention uses a motor-driven swing arm with a fast response capability, while ensuring the safety and stability of the walking robot when grasping or transporting loads.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] On one hand, the present invention provides a walking robot with a fast response. The walking robot includes a carrier frame platform. A body mechanism capable of swinging back and forth along the vertical center line of the walking robot is connected to the upper part of the carrier frame platform. A front and rear center of gravity adjustment mechanism is provided at the top of the body mechanism. The center of gravity of the walking robot is changed by the body mechanism and / or the front and rear center of gravity adjustment mechanism to move it. At the same time, the two work together to maintain the balance of the walking robot when grasping or transporting loads. A left walking wheel and a right walking wheel are symmetrically provided at the bottom of the carrier frame platform. Left and right drive motors for independently driving the left and right walking wheels are installed on the carrier frame platform. The left and right drive motors are respectively connected to a control processor installed in the carrier frame platform. The control processor is connected to an attitude sensor installed on the carrier frame platform.

[0008] The front and rear center of gravity adjustment mechanism includes a swing arm mounted on the body structure and a first motor fixedly mounted on the top of the body structure. The output shaft of the first motor is fixedly connected to the swing arm to drive the swing arm to rotate. The first motor is connected to a control processor.

[0009] Furthermore, when the walking robot is grasping or transporting a load, the control processor controls the body mechanism and the front and rear center of gravity adjustment mechanism respectively, so that the swing direction of the body mechanism is opposite to the rotation direction of the swing arm, in order to maintain the balance of the walking robot when grasping or transporting.

[0010] Furthermore, the body mechanism is a parallel four-bar swing assembly or a single-arm swing assembly. Both the parallel four-bar swing assembly and the single-arm swing assembly are provided with a limiting structure. The limiting structure is used to limit the extreme angle between the parallel four-bar swing assembly or the single-arm swing assembly and the vertical center line of the walking robot when swinging back and forth, so as to avoid the walking robot from becoming unstable.

[0011] Furthermore, the limiting structure includes at least two limiting blocks, and the two limiting blocks are fixedly installed at the angle between the parallel four-bar swing assembly and the single-arm swing assembly as they swing back and forth.

[0012] Furthermore, the parallel four-bar swing assembly consists of a second motor and two spaced parallel four-bars. The bottom edges of the two parallel four-bars are symmetrically arranged on the surface of the carrier frame platform, and the top edges are fixed by a connecting plate to form a platform for mounting the first motor. The second motor is mounted on the carrier frame platform, and the output shaft of the second motor is connected to the parallel four-bars to drive the two parallel four-bars to swing as a whole. The second motor is connected to a control processor.

[0013] Furthermore, each of the parallel four-bar linkages is composed of two horizontal plates at the top and bottom and two vertical plates at the front and back, hinged together. The bottom of each vertical plate has a fixed pin that is hinged to the bottom horizontal plate. After passing through the bottom horizontal plate, the pin is connected to the output shaft of the second motor through a coupling.

[0014] Furthermore, the single-arm swing assembly includes a single-arm support and a drive device mounted on the carrier frame platform. The bottom of the single-arm support is rotatably connected to a top fixing member of the frame platform. The drive device is used to drive the single-arm support to swing back and forth. The drive device is connected to a control processor.

[0015] Furthermore, the walking robot also includes:

[0016] An infrared sensor, detachably mounted on the carrier frame platform, is used to detect the distance to obstacles in front of the walking robot;

[0017] An object observation camera, detachably mounted on the top of the body mechanism, is used to observe the road conditions in front of the walking robot and identify the load target;

[0018] A navigation and positioning module, which is detachably mounted on the carrier frame platform, is used for navigation and positioning of the walking robot;

[0019] The infrared sensor, object observation camera, and navigation and positioning module are all connected to the control processor. The control processor controls the left and right drive motors to enable the walking robot to walk along a predetermined navigation route while avoiding obstacles.

[0020] Furthermore, the walking robot also includes a voice interaction system, which includes a voice receiver and a voice player. Both the voice receiver and the voice player are connected to the control processor. The voice receiver is used to acquire voice commands and convert the voice commands into instruction signals, which are then sent to the control processor. The control processor controls the left and right drive motors based on the instruction signals, enabling the walking robot to move forward, backward, or turn.

[0021] On the other hand, the present invention provides a control method based on the above-mentioned walking robot, the control method comprising the following steps:

[0022] S1. First, start the walking robot, control the processor to acquire the attitude data collected by the attitude sensor, control the left and right drive motors to make the left and right walking wheels rotate accordingly, so that the walking robot can maintain static balance.

[0023] S2. The control processor controls the front and rear center of gravity adjustment mechanism and / or body mechanism to change the center of gravity of the walking robot and drive it to move, based on the acquired walking instructions.

[0024] When the walking command is forward and there is no load: the control processor controls the first motor to rotate forward, causing the swing arm in the front and rear center of gravity adjustment mechanism to rotate forward; or the control processor controls the body mechanism to swing forward; or the control processor simultaneously controls both the swing arm and the body mechanism to tilt forward; at the same time, the control processor controls the left and right drive motors to keep the left and right walking wheels moving forward at the same speed.

[0025] When the walking command is forward and the robot is grasping or transporting a load: the control processor controls the first motor to rotate forward, causing the swing arm in the front and rear center of gravity adjustment mechanism to rotate forward. At the same time, the control processor controls the body mechanism to swing backward by a set angle according to the weight of the load and the collected posture data to maintain the balance of the walking robot when grasping or transporting the load. Then, the control processor controls the walking robot to adjust its center of gravity forward. At the same time, the control processor controls the left and right drive motors to make the left and right walking wheels move forward at the same speed.

[0026] When the walking command is backward, the control processor executes the opposite control as when moving forward;

[0027] When the driving command is to turn, the control processor controls the left and right drive motors to create a speed difference between the left and right driving wheels, thus enabling the corresponding left and right turns.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. This invention discloses a walking robot with a fast response. After receiving a movement command, the control processor changes the robot's center of gravity by controlling the body mechanism and / or the front and rear center of gravity adjustment mechanism to enable movement. Primarily, the first motor drives the swing arms on one or both sides of the body mechanism to rotate, thereby rapidly changing the robot's center of gravity. The attitude sensor acquires the data of this center of gravity change and transmits it to the control processor. The control processor then controls the left and right drive motors respectively to achieve the goal of moving forward, backward, or turning according to the command. Compared with the lead screw and nut of the prior art, the center of gravity adjustment mechanism of this application has a faster response speed. At the same time, when the walking robot is under load, it can achieve rebalancing by the swing of the body mechanism and the different rotation directions of the swing arms, ensuring the stability of the walking robot when grasping or transporting loads.

[0030] 2. The present invention provides a walking robot with a fast response. The walking robot is provided with a limiting structure composed of limiting blocks at the angle position of the back-and-forth swing of the body mechanism, which limits the maximum amplitude of the swing of the body mechanism and ensures the safety of the walking robot.

[0031] 3. The present invention provides a control method for a walking robot with fast response. The walking robot includes a voice interaction system, a touch screen, an infrared sensor, and a navigation and positioning module. Therefore, the walking robot can receive instructions in different ways and can realize multiple functions such as autonomous navigation, obstacle avoidance, and material delivery. Attached Figure Description

[0032] The accompanying drawings are incorporated in and form part of this specification, and together with the description serve to explain the principles of the invention.

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the walking robot of the present invention (the body is a four-link).

[0035] Figure 2 This is a front view schematic diagram of Embodiment 1 of the walking robot of the present invention (the body is a four-link structure);

[0036] Figure 3 This is a side view of Embodiment 1 of the walking robot of the present invention (the body is a four-link structure);

[0037] Figure 4 This is a schematic diagram of the structure of Embodiment 2 of the walking robot of the present invention (the body is a single arm);

[0038] Figure 5 This is a front view schematic diagram of Embodiment 2 of the walking robot of the present invention (the body is a single arm);

[0039] Figure 6 This is a side view schematic diagram of Embodiment 2 of the walking robot of the present invention (the body is a single arm);

[0040] Figure 7 This is a schematic diagram of the structure of Embodiment 3 of the walking robot of the present invention (another way in which the torso is a single arm).

[0041] Wherein: 1 is the frame platform; 2 is the body mechanism; 3 is the front and rear center of gravity adjustment mechanism; 4 is the left walking wheel; 5 is the right walking wheel; 6 is the limiting structure; 7 is the infrared sensor; 8 is the object observation camera; 9 is the navigation and positioning module; 11 is the fixing component; 21 is the parallel four-bar swing assembly; 22 is the single-arm swing assembly; 31 is the swing arm; 32 is the first motor; 33 is the support base; 211 is the second motor; 212 is the parallel four-bar; 221 is the single-arm support component; 222 is the drive device; 223 is the push rod; 2121 is the horizontal plate; 2122 is the vertical plate. Detailed Implementation

[0042] Exemplary embodiments will now be described in detail. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses consistent with some aspects of the invention as detailed in the appended claims.

[0043] Please see Figures 1-7 As shown, this invention provides a walking robot with a fast response. The walking robot includes a carrier frame platform 1. A body mechanism 2, capable of swinging back and forth along the vertical centerline of the walking robot, is connected to the upper part of the carrier frame platform 1. A front-to-back center of gravity adjustment mechanism 3 is provided on the top of the body mechanism 2. The center of gravity of the walking robot is changed by the body mechanism 2 and / or the front-to-back center of gravity adjustment mechanism 3 to move it. At the same time, the front-to-back center of gravity adjustment mechanism 3 is linked with the body mechanism 2 to maintain the balance of the walking robot when grasping or transporting loads, ensuring the stability of the walking robot under load. A left walking wheel 4 and a right walking wheel 5 are symmetrically arranged at the bottom of the carrier frame platform 1. A left drive motor for independently driving the left walking wheel 4 and a right drive motor for independently driving the right walking wheel 4 are installed in the carrier frame platform 1. The left and right drive motors are respectively connected to a control processor installed in the carrier frame platform 1. The control processor is connected to an attitude sensor installed on the carrier frame platform 1. Of course, an energy storage battery and a charging interface (not shown in the figure) are also installed on the carrier frame platform 1. The energy storage battery is electrically connected to various electrical devices to provide power to them.

[0044] Specifically, the attitude sensor used in this invention employs the MPU6050 attitude detection chip, which is a three-axis motion tracking component integrating a three-axis accelerometer and a three-axis gyroscope. The attitude data is the tilt angle of the walking robot; the accelerometer directly collects acceleration, and the gyroscope collects angular velocity. The tilt angle of the walking robot is obtained by the coordinated measurement of the accelerometer and gyroscope. The maximum allowable tilt angle of the walking robot in the powered-on state is θ.

[0045] To achieve rapid response, the present invention employs a center-of-gravity adjustment mechanism 3, comprising swing arms 31 symmetrically arranged on the body mechanism 2 and a first motor 32 fixedly installed at the top center of the body mechanism 2. The swing arms 31 can be single or double, preferably double, and are symmetrically arranged on both sides of the body mechanism 2. The corresponding first motor 32 is a bidirectional synchronous motor (with two synchronous output shafts capable of rotating in both directions). The output shaft of the first motor 32 is fixedly connected to the swing arms 31 on both sides to drive the swing arms 31 to rotate. The first motor 32 is connected to a control processor. To ensure the straightness of the output shaft of the first motor 32 and prevent imbalance during swinging, a support base 33 is provided in the middle between the first motor 32 and the swing arms 31. The support base 33 has embedded rolling bearings for rotatable connection with the output shaft of the bidirectional synchronous motor. The two support bases 33 are symmetrically arranged on both sides of the first motor 32. Additionally, a balance block can be installed at the bottom of the swing arms 31 depending on the actual situation. With the above settings, when the walking robot receives a walking command, the control processor drives the swing arm to rotate quickly via the first motor 32, which changes the center of gravity of the walking robot, causing the carrier frame platform 1 to tilt forward or backward. The attitude sensor obtains the change in the center of gravity and sends it to the control processor, which then controls the left walking wheel 4 and the right walking wheel 5 to rotate to maintain balance, thus achieving the purpose of rapid response walking.

[0046] In addition, when the walking robot is grasping or transporting a load, the control processor controls the body mechanism 2 and the front and rear center of gravity adjustment mechanism 3 respectively, so that the swing direction of the body mechanism 2 is opposite to the rotation direction of the swing arm 31, in order to maintain the balance of the walking robot when grasping or transporting the load, that is, to achieve m1gL1=m2gL2, and the center of mass is on the vertical center line of the walking robot; where m1 is the load mass, L1 is the distance of the load center of mass from the vertical center line of the walking robot, m2 is the mass of the robotic arm, and L2 is the distance of the robotic arm center of mass from the vertical center line of the walking robot.

[0047] As can be seen from the above settings, the present invention adjusts the front and rear center of gravity of the walking robot in three ways, causing the robot's center of gravity to deviate from its stationary vertical center line and thus drive it to move: First, the first motor 32 drives the swing arm 31 to rotate forward or backward along the robot's vertical center line; second, the control processor controls the body mechanism 2 to swing forward or backward along the robot's vertical center line; third, the control processor controls both the body mechanism 2 and the front and rear center of gravity adjustment mechanism 3 to tilt forward or backward together along the robot's vertical center line. After receiving a walking command, the control processor prioritizes the first method of center of gravity adjustment—driving the swing arm 31 via the first motor 32—followed by the second method of controlling the body mechanism 2 to swing, and finally the third method of both changing the center of gravity together.

[0048] In addition, the walking robot of the present invention also includes: an infrared sensor 7, which is detachably mounted on the carrier frame platform 1, for detecting the distance of obstacles in front of the walking robot; an object observation camera 8, which is detachably mounted on the top of the body mechanism 2, for observing the road conditions in front of the walking robot and identifying the load target; and a navigation and positioning module 9, which is detachably mounted on the carrier frame platform 1, for navigation and positioning of the walking robot. The infrared sensor 7, the object observation camera 8, and the navigation and positioning module 9 are all connected to a control processor. The control processor controls the left and right drive motors according to the data collected by the infrared sensor 7, the object observation camera 8, and the navigation and positioning module 9, so that the walking robot can travel to the destination according to the predetermined navigation route while avoiding obstacles.

[0049] Furthermore, the walking robot of this invention also includes a human-machine interaction system, which can consist of a touch screen, remote communication, and a voice interaction system. Taking the voice interaction system as an example, it includes a voice receiver and a voice player. Both the voice receiver and the voice player are connected to the control processor. The voice receiver is used to acquire voice commands and convert them into instruction signals, which are then sent to the control processor. The control processor controls the left and right drive motors, enabling the walking robot to move forward, backward, or turn according to the voice commands.

[0050] It should be noted that, in order to ensure the stability and safety of the walking robot when grasping or transporting loads, the present invention sets the body mechanism 2 as a swinging structure so as to achieve linkage with the front and rear center of gravity adjustment mechanism 3 to maintain the balance of the walking robot under load. At the same time, limit structures 6 are provided in the front and rear directions of the swing of the body mechanism 2. The limit structures 6 are used to limit the extreme angle between the body mechanism 2 and the vertical center line of the walking robot when the body mechanism 2 swings back and forth. That is, after adjustment, the angle θ' of the actual center of gravity of the walking robot tilting back and forth should be less than or equal to the maximum allowable tilt angle θ of the walking robot itself, so as to prevent the walking robot from becoming unstable and falling. Preferably, the limit structure 6 includes at least two limit blocks, and the two limit blocks are fixedly installed at the angle of the back and forth swing of the body mechanism 2.

[0051] The preferred structure of the body mechanism 2 of the present invention is a parallel four-bar swing assembly 21 or a single-arm swing assembly 22. Of course, other structures are also possible, as long as they can realize the back-and-forth swinging function of the present invention. They will not be listed in detail here. The preferred embodiments of the body mechanism 2 of the present invention will be described below through three examples.

[0052] Example 1 (The main body is a four-bar linkage)

[0053] like Figures 1-3As shown, this embodiment is a parallel four-bar swing assembly 21, which consists of a second motor 211 and two spaced parallel four-bars 212. The bottom edges of the two parallel four-bars 212 are symmetrically arranged on the surface of the carrier frame platform 1, and their top edges are fixed by connecting plates to form a platform for mounting the first motor 32. The first motor 32 is equipped with a protective cover. The second motor 211 is mounted on the carrier frame platform 1, and the output shaft of the second motor 211 is connected to the parallel four-bars 22 to drive the two parallel four-bars 22 to swing back and forth as a whole. The second motor 211 is connected to a control processor. In actual design, the overall weight of the body mechanism 2 should be greater than the weight of the front and rear center of gravity adjustment mechanism 3, so as to increase the load capacity and ensure safety while keeping the height of the body mechanism 2 constant.

[0054] Specifically, each parallel four-bar linkage 212 is composed of two horizontal plates 2121 (upper and lower) and two vertical plates 2122 (front and rear) hinged together. Since the horizontal plates 2121 only serve a connecting and supporting function and bear less force than the vertical plates 2122, the horizontal plates 2121 used in this embodiment are all provided with weight-reducing holes to reduce their own weight as much as possible without affecting the overall strength of the walking robot, thereby increasing the load-bearing capacity. The bottom of the vertical plate 2122 has a fixed pin that is hinged to the bottom horizontal plate 2121. This fixed pin passes through the bottom horizontal plate 2121 and is connected to the output shaft of the second motor 211 via a coupling. The second motor 211 is a forward and reverse rotating motor. That is, after the control processor starts the second motor 211, the output shaft of the second motor 211 drives the vertical plate 2122 with the fixed pin to rotate around the pin. Since the vertical plate 2122 and the horizontal plates 2121 form a hinged parallel four-bar linkage, the entire parallel four-bar linkage 212 can swing back and forth around the center line of the fixed pin.

[0055] In addition, the limiting structure 6 in this embodiment is composed of eight limiting blocks, which are respectively installed at the eight inner corner positions of the two parallel four-bar linkages 212, and can be fixedly set on the horizontal plate 2121.

[0056] Example 2 (Torso mainly consisting of a single arm)

[0057] like Figures 4-6 As shown, this embodiment is a single-arm swing assembly 22, which includes a single-arm support 221 and a drive device 222 disposed on the carrier frame platform 1. The bottom of the single-arm support 221 is rotatably connected to the top fixing member 11 of the frame platform 1. The drive device 222 is used to drive the single-arm support 221 to swing back and forth. The drive device 222 is connected to the control processor.

[0058] Preferably, the single-arm support 221 has a pin fixedly installed at its bottom and a carrier platform fixedly installed at its top. One end of the pin at the bottom of the single-arm support 221 is connected to the top fixing member 11 via a bearing, and the other end is connected to the drive device 222, which is a geared motor. In addition, a limiting structure 6 composed of two limiting blocks is provided on the fixing member 11 in the direction of the back-and-forth swing of the single-arm support 221 to prevent excessive swing amplitude from affecting the stability and safety of the walking robot.

[0059] Example 3 (Another way to have a single-armed torso)

[0060] The difference between this embodiment and Embodiment 2 is that, based on the rotatable connection between the single-arm support 221 and the front point of the fixed member 11, the middle part of the single-arm support 221 and the rear point of the fixed member 11 are hinged through a push rod 223, forming a structurally stable triangle. The power source of the push rod 223 is not specifically limited; it can be hydraulic or a geared motor + lead screw, etc. The goal is simply to extend or retract the push rod 223, thereby enabling the single-arm support 221 to swing forward or backward.

[0061] In addition, the present invention also provides a control method based on the above-mentioned walking robot, which specifically includes the following steps:

[0062] S1. First, start the walking robot, control the processor to acquire the attitude data collected by the attitude sensor, control the left and right drive motors to make the left walking wheel 4 and the right walking wheel 5 rotate accordingly, so that the walking robot can maintain static balance.

[0063] S2. The control processor controls the front and rear center of gravity adjustment mechanism 3 and / or the body mechanism 2 to change the center of gravity of the walking robot and drive it to move according to the acquired walking instructions.

[0064] When the walking command is forward and there is no load: the control processor controls the first motor 32 to rotate forward, causing the swing arm 31 in the front and rear center of gravity adjustment mechanism 3 to rotate forward (highest priority); or the control processor controls the body mechanism 2 to swing forward; or the control processor simultaneously controls the swing arm 31 and the body mechanism 2 to tilt forward; at the same time, the control processor controls the left and right drive motors to keep the left walking wheel 4 and the right walking wheel 5 moving forward at the same speed.

[0065] When the walking command is forward and the robot is grasping or transporting a load: the control processor controls the first motor 32 to rotate forward, causing the swing arm 31 in the front and rear center of gravity adjustment mechanism 3 to rotate forward. At the same time, the control processor controls the body mechanism 2 to swing backward at a set angle based on the weight of the load and the collected posture data. The purpose is to maintain the balance of the walking robot when grasping or transporting a load. Then, the control processor controls the walking robot to adjust its center of gravity forward. At the same time, the control processor controls the left and right drive motors to make the left walking wheel 4 and the right walking wheel 5 move forward at the same speed.

[0066] When the walking command is backward, the control processor executes the opposite control as when moving forward;

[0067] When the driving command is to turn, the control processor controls the left and right drive motors to create a speed difference between the left driving wheel 4 and the right driving wheel 5, thus enabling the corresponding left and right turns.

[0068] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention.

[0069] It should be understood that the present invention is not limited to the content already described above, and various modifications and changes can be made without departing from its scope. The scope of the present invention is limited only by the appended claims.

Claims

1. A walking robot with rapid response, characterized in that, The walking robot includes a carrier frame platform (1), and a body mechanism (2) that can swing back and forth along the vertical center line of the walking robot is connected to the upper part of the carrier frame platform (1). A front and rear center of gravity adjustment mechanism (3) is provided on the top of the body mechanism (2). The center of gravity of the walking robot is changed by the body mechanism (2) and / or the front and rear center of gravity adjustment mechanism (3) to make it move. At the same time, the two work together to maintain the balance of the walking robot when grasping or transporting loads. The bottom of the carrier frame platform (1) is symmetrically provided with a left walking wheel (4) and a right walking wheel (5). The carrier frame platform (1) is equipped with left and right drive motors for independently driving the left walking wheel (4) and the right walking wheel (5). The left and right drive motors are respectively connected to the control processor installed in the carrier frame platform (1). The control processor is connected to the attitude sensor installed on the carrier frame platform (1). The front and rear center of gravity adjustment mechanism (3) includes a swing arm (31) set on the body mechanism (2) and a first motor (32) fixedly installed on the top of the body mechanism (2). The output shaft of the first motor (32) is fixedly connected to the swing arm (31) for driving the swing arm (31) to rotate. The first motor (32) is connected to the control processor. The body mechanism (2) is a parallel four-bar swing assembly (21) or a single-arm swing assembly (22). Both the parallel four-bar swing assembly (21) and the single-arm swing assembly (22) are provided with a limit structure (6). The limit structure (6) is used to limit the extreme angle between the parallel four-bar swing assembly (21) or the single-arm swing assembly (22) and the vertical center line of the walking robot when the two swing back and forth, so as to avoid the walking robot from becoming unstable.

2. The walking robot with rapid response according to claim 1, characterized in that, When the walking robot is grasping or transporting a load, the control processor controls the body mechanism (2) and the front and rear center of gravity adjustment mechanism (3) respectively, so that the swing direction of the body mechanism (2) is opposite to the rotation direction of the swing arm (31) to maintain the balance of the walking robot when grasping or transporting a load.

3. A walking robot with rapid response according to claim 1, characterized in that, The limiting structure (6) includes at least two limiting blocks, and the two limiting blocks are fixedly installed at the angle between the parallel four-bar swing assembly (21) and the single-arm swing assembly (22) swinging back and forth.

4. A walking robot with rapid response according to claim 1, characterized in that, The parallel four-bar swing assembly (21) consists of a second motor (211) and two spaced parallel four-bars (212). The bottom edges of the two parallel four-bars (212) are symmetrically arranged on the surface of the carrier frame platform (1), and the top edges are fixed by a connecting plate to form a platform for mounting the first motor (32). The second motor (211) is mounted on the carrier frame platform (1). The output shaft of the second motor (211) is connected to the parallel four-bars (212) to drive the two parallel four-bars (212) to swing as a whole. The second motor (211) is connected to the control processor.

5. A walking robot with rapid response according to claim 4, characterized in that, Each of the parallel four-bar linkages (212) consists of two horizontal plates (2121) at the top and bottom and two vertical plates (2122) at the front and back, hinged together. The bottom of the vertical plate (2122) has a fixed pin that is hinged to the bottom horizontal plate (2121). The pin passes through the bottom horizontal plate (2121) and is connected to the output shaft of the second motor (211) via a coupling.

6. A walking robot with rapid response according to claim 1, characterized in that, The single-arm swing assembly (22) includes a single-arm support (221) and a drive device (222) mounted on the carrier frame platform (1). The bottom of the single-arm support (221) is rotatably connected to the top fixing member (11) of the carrier frame platform (1). The drive device (222) is used to drive the single-arm support (221) to swing back and forth. The drive device (222) is connected to the control processor.

7. A walking robot with rapid response according to any one of claims 1 to 6, characterized in that, The walking robot also includes: An infrared sensor (7), which is detachably mounted on the carrier frame platform (1), is used to detect the distance of obstacles in front of the walking robot; The object observation camera (8) is detachably mounted on the top of the body mechanism (2) for observing the road conditions in front of the walking robot and identifying the load target; The navigation and positioning module (9) is detachably mounted on the carrier frame platform (1) and is used for navigation and positioning of the walking robot. The infrared sensor (7), object observation camera (8), and navigation and positioning module (9) are all connected to the control processor. The control processor controls the left and right drive motors to enable the walking robot to walk along the predetermined navigation route while avoiding obstacles.

8. A walking robot with rapid response according to claim 7, characterized in that, The walking robot also includes a voice interaction system, which includes a voice receiver and a voice player. Both the voice receiver and the voice player are connected to a control processor. The voice receiver is used to acquire voice commands and convert them into instruction signals, which are then sent to the control processor. The control processor controls the left and right drive motors based on the instruction signals, enabling the walking robot to move forward, backward, or turn.

9. A control method for a walking robot with fast response according to any one of claims 1 to 8, characterized in that, The control method includes the following steps: S1. First, start the walking robot, control the processor to obtain the attitude data collected by the attitude sensor, control the left and right drive motors, so that the left walking wheel (4) and the right walking wheel (5) rotate accordingly, so that the walking robot can maintain static balance. S2. The control processor controls the front and rear center of gravity adjustment mechanism (3) and / or the body mechanism (2) to change the center of gravity of the walking robot and drive it to move according to the acquired walking instructions. When the walking command is forward and there is no load: the control processor controls the first motor (32) to rotate forward, causing the swing arm (31) in the front and rear center of gravity adjustment mechanism (3) to rotate forward; or the control processor controls the body mechanism (2) to swing forward; or the control processor controls both the swing arm (31) and the body mechanism (2) to tilt forward; at the same time, the control processor controls the left and right drive motors to keep the left walking wheel (4) and the right walking wheel (5) moving forward at the same speed. When the walking command is forward and the robot is grabbing or transporting a load: the control processor controls the first motor (32) to rotate forward, so that the swing arm (31) in the front and rear center of gravity adjustment mechanism (3) rotates forward. At the same time, the control processor controls the body mechanism (2) to swing backward at a set angle according to the weight of the load and the collected posture data, so as to maintain the balance of the walking robot when grabbing or transporting the load. Then, the control processor controls the walking robot to adjust its center of gravity forward. At the same time, the control processor controls the left and right drive motors to keep the left walking wheel (4) and the right walking wheel (5) moving forward at the same speed. When the walking command is backward, the control processor executes the opposite control as when moving forward; When the walking command is to turn, the control processor controls the left and right drive motors to create a speed difference between the left walking wheel (4) and the right walking wheel (5), thus enabling the corresponding left and right turns.

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