A McLennan composite robot

Abstract

The present invention relates to the field of robot technology, and in particular to a McLennan composite robot, comprising: a sheet metal shell; a McLennan module comprising a frame, a mounting frame, a bogie, a bearing seat and a walking McLennan; a McLennan module comprising a manipulator mounting seat, a manipulator arm and a working part arranged at a moving end of the manipulator arm; a tooling module comprising a tooling tray and a material box; a parameter collection module comprising a first displacement collection unit, a vibration collection unit, a second displacement collection unit and a weight collection unit; and a control means for determining whether the gripping of a part by the manipulator arm meets the preset standard under the condition that the gripping of a part by the manipulator arm does not meet the preset standard according to an inertial offset characteristic value, and for secondary determining whether the gripping of a part by the manipulator arm meets the preset standard according to a gripping load characteristic value, or for determining that the gripping of a part by the manipulator arm does not meet the preset standard under the condition that the gripping of a part by the manipulator arm does not meet the preset standard, thereby improving the stability of the operation of the manipulator arm of the McLennan composite robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a McLennan composite robot. Background Art

[0002] The McLen composite robot is a new type of robot that integrates the functions of a mobile robot and an operating robot. It is mainly composed of a mobile chassis (designed by McLen), a collaborative robot arm, a vision module, an end effector, etc. These components work together to enable the robot to move and operate autonomously in a complex environment. The collaborative robot arm is its core component, and its stability is directly related to the operating accuracy and efficiency of the entire robot system.

[0003] Chinese patent application publication number: CN109202885A, discloses a material handling mobile composite robot, including the following modules: a visual gripping module grips information data of target materials, processes the information data, compares it with key feature information of target materials, and performs visual gripping of target materials during material handling and movement; a motion control module of a Mecanum wheel performs walking posture control of the composite robot; a laser navigation module performs navigation and optimal path planning based on a global map and a local map, and performs rough positioning of the target workstation; a laser and sonar barrier module integrates laser and sonar barrier algorithms to perform walking barrier. It can be seen that the above technical solution lacks robot arm stability detection. When the robot is gripping, the action of the Mecanum wheel is not adjusted according to the operation of the robot arm, resulting in poor robot gripping accuracy. Summary of the invention

[0004] To this end, the present invention provides a wheat wheel composite robot to overcome the problem in the prior art that there is a lack of mechanical arm stability detection and the robot does not adjust the movement of the wheat wheel according to the operation of the mechanical arm during the robot clamping operation, resulting in poor robot clamping accuracy.

[0005] To achieve the above object, the present invention provides a McLennan composite robot, comprising:

[0006] Sheet metal housing;

[0007] A Mechanic wheel module is arranged at the bottom end of the sheet metal shell, and comprises a frame arranged at the bottom end of the sheet metal shell, a mounting frame and a bogie are respectively installed at the bottom of the frame, a bearing seat is installed inside the mounting frame and the bogie, and a traveling Mechanic wheel is rotatably installed on the outer side of the bearing seat;

[0008] A manipulator module is arranged at the top of the sheet metal shell, comprising a manipulator mounting seat fixed on the top table of the sheet metal shell, a manipulator arm fixedly connected to the manipulator mounting seat, and a working part arranged at the moving end of the manipulator arm, wherein the manipulator arm comprises a plurality of arm segments;

[0009] A tooling module, which is arranged on the top table and includes a tooling tray for fixing parts and a material box for temporarily storing the parts;

[0010] A parameter acquisition module, comprising a first displacement acquisition unit and a vibration acquisition unit provided at the mobile end of the mechanical arm, and a second displacement acquisition unit and a weight acquisition unit provided at the McRae module, wherein the first displacement acquisition unit is used to acquire displacement information of the mobile end of the mechanical arm under the condition that the McRae module is accelerated to a preset acceleration, and the second displacement acquisition unit is used to acquire displacement information of the McRae module under the condition that the McRae module is accelerated to a preset acceleration;

[0011] A control module, which is respectively connected to the parameter acquisition module, the McWave module and the manipulator module, for determining, based on an inertia offset characteristic value, that the gripping of the part by the manipulator does not meet a preset standard, and for secondary determination, based on a gripping load characteristic value, whether the gripping of the part by the manipulator meets a preset standard, and for reducing a moving speed of the manipulator under the condition that the preset standard is not met for the secondary determination, or for determining that the gripping of the part by the manipulator does not meet a preset standard, and for corresponding control means, the control means comprising reducing a moving speed of the McWave module and stopping the movement of the McWave module.

[0012] Furthermore, a plurality of driving motors are fixedly installed inside the mounting frame, the driving motors are connected to the traveling wheels, a steering motor is arranged in the middle of the bogie, and the steering motor is in transmission cooperation with the bogie.

[0013] Furthermore, the working part includes a mechanical gripper for completing the grasping and placing of the parts and a laser marker for marking the surface of the parts.

[0014] Furthermore, the control module determines that the gripping of the part by the robot arm meets a preset standard under the condition that the inertia offset characteristic value is less than a first preset inertia offset threshold.

[0015] Further, the control module determines that the gripping of the part by the robot arm does not meet a preset standard under the condition that the inertia offset characteristic value is greater than or equal to the first preset inertia offset threshold value,

[0016] and determining whether the gripping of the part by the robot arm meets a preset standard based on the gripping load characteristic value under the condition that the inertia offset characteristic value is less than a second preset inertia offset threshold value.

[0017] And under the condition that the inertia offset characteristic value is greater than or equal to the second preset inertia offset threshold, the corresponding control means are determined according to the vibration amplitude characteristic value of the mobile end of the robotic arm under the condition that the gripping of the part by the robotic arm does not meet the preset standard.

[0018] Furthermore, the inertial offset characteristic value is a difference between the displacement of the mobile end of the robotic arm acquired by the first displacement acquisition unit and the displacement of the McRae module acquired by the second displacement acquisition unit under the condition that the McRae module is accelerated to a preset acceleration.

[0019] Furthermore, the control module secondarily determines whether the gripping of the part by the robot arm meets a preset standard according to the gripping load characteristic value, wherein:

[0020] If the gripping load characteristic value is less than the preset load threshold, the control module secondarily determines that the gripping of the part by the robot arm meets the preset standard;

[0021] If the clamping load characteristic value is greater than or equal to the preset load threshold, the control module determines for the second time that the clamping of the part by the robot arm does not meet the preset standard, and reduces the movement speed of the robot arm according to the difference between the clamping load characteristic value and the preset load threshold;

[0022] The clamping load characteristic value is acquired by the weight acquisition unit.

[0023] Furthermore, the reduction amplitude of the movement speed of the robotic arm is positively correlated with the load difference, wherein the load difference is the difference between the clamping load characteristic value and the preset load threshold.

[0024] Furthermore, the control module determines the corresponding control means under the condition that the gripping of the part by the robot arm does not meet the preset standard according to the vibration amplitude characteristic value of the mobile end of the robot arm, wherein:

[0025] If the vibration amplitude characteristic value is less than a preset vibration amplitude threshold, the control module reduces the moving speed of the McWheel module according to the difference between the preset vibration amplitude threshold and the vibration amplitude characteristic value;

[0026] If the vibration amplitude characteristic value is greater than or equal to the preset vibration amplitude threshold, the control module stops the movement of the wheat wheel module;

[0027] The vibration amplitude characteristic value is acquired by the vibration collection unit.

[0028] Furthermore, the control module is provided with several speed reduction methods for reducing the moving speed of the McWave module, and each speed reduction method has a different reduction range for the moving speed of the McWave module.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention sets a sheet metal shell, a tooling module, a McLen module and a manipulator module, and the modules cooperate with each other to enable the robot to automatically transport parts. At the same time, the parameter acquisition module collects the displacement of the mobile end of the manipulator arm, the vibration and load information of the manipulator arm in real time during the operation of the robot. The control module verifies the performance of the manipulator arm in the clamping process through the inertial offset characteristic value and the clamping load characteristic value and makes corresponding adjustments, thereby avoiding the inertial influence caused by the weight of the part or the acceleration of the McLen module when the manipulator arm moves to clamp the part, and improving the accuracy of the manipulator arm in the clamping process of the McLen composite robot.

[0030] Furthermore, the present invention enables the robot to complete tasks in a narrow environment by providing a Mecanum wheel module with a Mecanum wheel, thereby improving the applicability of the Mecanum wheel composite robot.

[0031] Furthermore, the present invention improves the working efficiency of the McLen composite robot by providing a tooling tray and a material box.

[0032] Furthermore, the present invention collects data of the robot in real time during operation through the parameter collection module, thereby improving the control accuracy of the control module.

[0033] Furthermore, when the control module of the present invention determines that the gripping of parts by the robot arm does not meet the preset standard according to the inertial offset characteristic value, a secondary judgment is performed, or a corresponding regulation method is determined, thereby improving the working efficiency of the robot arm gripping.

[0034] Furthermore, the present invention achieves quantitative characterization of the degree of influence on the inertia of the robot arm by setting the inertia offset characteristic value, thereby improving the objectivity of the control module adjustment.

[0035] Furthermore, the reduction amplitude of the moving speed of the robotic arm of the present invention is positively correlated with the load difference, wherein the load difference is the difference between the clamping load characteristic value and the preset load threshold, thereby achieving precise control of the reduction amplitude of the moving speed of the robotic arm.

[0036] Furthermore, the present invention determines, through the control module, the corresponding control means under the condition that the gripping of the part by the robot arm does not meet the preset standard according to the vibration amplitude characteristic value, thereby improving the intelligent control level of the McWave composite robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the structure of the McWheel composite robot according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic structural diagram of a McLennan module of a McLennan composite robot according to an embodiment of the present invention;

[0039] Figure 3 A flow chart of an embodiment of the present invention for determining whether the gripping of the part by the robot arm meets a preset standard;

[0040] Figure 4 A flowchart of a second determination of whether the gripping of the part by the robot arm meets a preset standard according to an embodiment of the present invention;

[0041] In the figure: 1. sheet metal shell; 11. top table; 2. wheat wheel module; 21. frame; 22. mounting frame; 23. bogie; 24. bearing seat; 25. walking wheat wheel; 26. drive motor; 27. steering motor; 3. manipulator module; 31. manipulator mounting seat; 32. robotic arm; 321. arm section; 33. robotic arm moving end; 34. working part; 341. mechanical gripper; 342. laser marker; 4. tooling module; 41. tooling pallet; 42. material box. DETAILED DESCRIPTION

[0042] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0043] It should be pointed out that the data in this embodiment are obtained by comprehensive analysis and evaluation of the historical test data of the present invention in the three months before this test and the corresponding historical test results. It can be understood by those skilled in the art that the present invention can determine the above parameters for a single item by selecting the highest proportion of values ​​as the preset standard parameters according to the data distribution, using weighted summation to use the obtained values ​​as the preset standard parameters, substituting each historical data into a specific formula and using the values ​​obtained by the formula as the preset standard parameters or other selection methods, as long as the method of the present invention can clearly define the different specific situations in the single determination process through the obtained values.

[0044] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0045] See also Figure 1 and Figure 2 , an embodiment of the present invention provides a McLennan composite robot, comprising:

[0046] Sheet metal shell 1;

[0047] The Mechanic wheel module 2 is arranged at the bottom end of the sheet metal shell 1, and includes a frame 21 arranged at the bottom end of the sheet metal shell 1, a mounting frame 22 and a bogie 23 are respectively installed at the bottom of the frame 21, a bearing seat 24 is installed inside the mounting frame 22 and the bogie 23, and a traveling Mechanic wheel 25 is rotatably installed on the outer side of the bearing seat 24;

[0048] A manipulator module 3 is arranged at the top of the sheet metal shell 1, comprising a manipulator mounting seat 31 fixed on the top table 11 of the sheet metal shell 1, a manipulator arm 32 fixedly connected to the manipulator mounting seat 31, and a working part 34 arranged at the moving end of the manipulator arm 32, wherein the manipulator arm 32 comprises a plurality of arm segments 321;

[0049] A tooling module 4, which is arranged on the top table 11, and includes a tooling tray 41 for fixing parts and a material box 42 for temporarily storing the parts;

[0050] A parameter acquisition module, comprising a first displacement acquisition unit and a vibration acquisition unit provided at the mobile end of the mechanical arm 32, and a second displacement acquisition unit and a weight acquisition unit provided at the McWheel module 2, wherein the first displacement acquisition unit is used to acquire displacement information of the mobile end of the mechanical arm 32 under the condition that the McWheel module 2 is accelerated to a preset acceleration, and the second displacement acquisition unit is used to acquire displacement information of the McWheel module 2 under the condition that the McWheel module 2 is accelerated to a preset acceleration;

[0051] The control module is respectively connected to the parameter acquisition module, the wheat wheel module 2 and the manipulator module 3, and is used to determine whether the gripping of the part by the manipulator 32 does not meet the preset standard according to the inertial offset characteristic value, and to determine whether the gripping of the part by the manipulator 32 meets the preset standard according to the gripping load characteristic value, and to reduce the moving speed of the manipulator 32 under the condition that the preset standard is not met under the secondary determination or determine that the gripping of the part by the manipulator 32 does not meet the preset standard. The corresponding control means include reducing the moving speed of the wheat wheel module 2 and stopping the movement of the wheat wheel module 2.

[0052] In this embodiment, the specific structure of the control module is not limited. The control module itself and each unit therein can be composed of logic components, and the logic components include field programmable components, computers or microprocessors in computers.

[0053] In this embodiment, the traveling Mecanum wheel 25 may be an OMROBOT-MW175 Mecanum wheel or an M20-500 Mecanum wheel, and is not specifically limited thereto, as long as it meets the operation requirements.

[0054] Specifically, a plurality of drive motors 26 are fixedly installed inside the mounting frame 22 , and the drive motors 26 are connected to the traveling wheel 25 . A steering motor 27 is arranged in the middle of the bogie 23 , and the steering motor 27 cooperates with the bogie 23 in transmission.

[0055] Specifically, the working part 34 includes a mechanical gripper 341 for completing the grasping and placing of the parts and a laser marker 342 for marking the surface of the parts.

[0056] See also Figure 3 Specifically, the control module determines that the gripping of the part by the robot arm 32 meets the preset standard under the condition that the inertial offset characteristic value is less than the first preset inertial offset threshold value of 1.84 mm.

[0057] Specifically, the control module determines that the gripping of the part by the robot arm 32 does not meet the preset standard under the condition that the inertia offset characteristic value is greater than or equal to the first preset inertia offset threshold value.

[0058] and secondly determining whether the gripping of the part by the robot arm 32 meets the preset standard according to the gripping load characteristic value under the condition that the inertial offset characteristic value is less than the second preset inertial offset threshold value of 2.32 mm,

[0059] And under the condition that the inertia offset characteristic value is greater than or equal to the second preset inertia offset threshold, the corresponding control means are determined according to the vibration amplitude characteristic value of the robot arm mobile end 33 under the condition that the gripping of the part by the robot arm 32 does not meet the preset standard.

[0060] In this embodiment, the first preset inertia offset threshold is selected within the range of [1.80mm, 1.90mm], and the second preset inertia offset threshold is selected within the range of [2.20mm, 2.35mm]. Preferably, the first preset inertia offset threshold is 1.84mm, and the second preset inertia offset threshold is 2.32mm.

[0061] Specifically, the inertial offset characteristic value is when the McWave module 2 is accelerated to a preset acceleration of 1.6 m / s 2 Under the condition of, the difference between the displacement of the robotic arm mobile end 33 collected by the first displacement collection unit and the displacement of the McRae module 2 collected by the second displacement collection unit is used to characterize the stability of the robotic arm mobile end 33 when the McRae module 2 is accelerated.

[0062] In this embodiment, the preset acceleration value is 1.6 m / s 2 The preset acceleration is the average value of the accelerations of the McLennan module 2 at which the robot arm moving end 33 is likely to deviate during several historical times, but the above value is not limited thereto, and those skilled in the art may also adjust the value according to actual needs.

[0063] See also Figure 4 Specifically, the control module determines whether the gripping of the part by the robot arm 32 meets the preset standard based on the gripping load characteristic value.

[0064] If the gripping load characteristic value is less than the preset load threshold value of 350 kg, the control module secondarily determines that the gripping of the part by the robot arm 32 meets the preset standard;

[0065] If the clamping load characteristic value is greater than or equal to the preset load threshold, the control module secondarily determines that the clamping of the part by the robot arm 32 does not meet the preset standard, and reduces the moving speed of the robot arm 32 according to the difference between the clamping load characteristic value and the preset load threshold;

[0066] The clamping load characteristic value is acquired by the weight acquisition unit.

[0067] In this embodiment, the preset load threshold is used to determine whether the parts gripped by the robotic arm 32 exceed its designed or safe load range. The preset load threshold is selected as 350 kg, which is the maximum load capacity of the robotic arm 32 when it is designed, ensuring that the robotic arm 32 will not be damaged or malfunction due to overloading during normal use.

[0068] Specifically, the reduction amplitude of the moving speed of the robotic arm 32 is positively correlated with the load difference, wherein the positive correlation is, for example, a linear positive correlation or a nonlinear positive correlation, and the linear slope of the linear positive correlation is not specifically limited. It can be understood that the larger the load difference is, the greater the reduction amplitude of the moving speed of the robotic arm 32 is; the load difference is the difference between the clamping load characteristic value and the preset load threshold.

[0069] Specifically, the control module determines the corresponding control means when the gripping of the part by the robot arm 32 does not meet the preset standard according to the vibration amplitude characteristic value of the mobile end of the robot arm 32, wherein:

[0070] If the vibration amplitude characteristic value is less than the preset vibration amplitude threshold value of 2.5 mm, the control module reduces the moving speed of the wheat wheel module 2 according to the difference between the preset vibration amplitude threshold value and the vibration amplitude characteristic value;

[0071] If the vibration amplitude characteristic value is greater than or equal to the preset vibration amplitude threshold, the control module stops the movement of the wheat wheel module 2;

[0072] The vibration amplitude characteristic value is acquired by the vibration collection unit.

[0073] In this embodiment, the preset vibration amplitude threshold of 2.5 mm is based on the maximum vibration amplitude allowed by the robot arm 32 when performing a task to ensure the accuracy and safety of the operation.

[0074] Specifically, the control module is provided with several speed reduction methods for reducing the moving speed of the wheat wheel module 2, wherein:

[0075] If the amplitude difference is less than the first preset amplitude difference of 1.08 mm, the control module uses the first preset speed adjustment coefficient of 0.98 to reduce the moving speed of the wheat wheel module 2;

[0076] If the amplitude difference is greater than or equal to the first preset amplitude difference and less than the second preset amplitude difference of 2.36 mm, the control module uses the second preset speed adjustment coefficient of 0.96 to reduce the moving speed of the wheat wheel module 2;

[0077] If the amplitude difference is greater than or equal to the second preset amplitude difference, the control module uses a third preset speed adjustment coefficient of 0.94 to reduce the moving speed of the wheat wheel module 2;

[0078] The amplitude difference is the difference between the preset vibration amplitude threshold and the vibration amplitude characteristic value.

[0079] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A McLennan composite robot, characterized in that: include: Sheet metal housing; A Mechanic wheel module is arranged at the bottom end of the sheet metal shell, and comprises a frame arranged at the bottom end of the sheet metal shell, a mounting frame and a bogie are respectively installed at the bottom of the frame, a bearing seat is installed inside the mounting frame and the bogie, and a traveling Mechanic wheel is rotatably installed on the outer side of the bearing seat; A manipulator module is arranged at the top of the sheet metal shell, comprising a manipulator mounting seat fixed on the top table of the sheet metal shell, a manipulator arm fixedly connected to the manipulator mounting seat, and a working part arranged at the moving end of the manipulator arm, wherein the manipulator arm comprises a plurality of arm segments; A tooling module, which is arranged on the top table and includes a tooling tray for fixing parts and a material box for temporarily storing the parts; A parameter acquisition module, comprising a first displacement acquisition unit and a vibration acquisition unit provided at the mobile end of the mechanical arm, and a second displacement acquisition unit and a weight acquisition unit provided at the McRae module, wherein the first displacement acquisition unit is used to acquire displacement information of the mobile end of the mechanical arm under the condition that the McRae module is accelerated to a preset acceleration, and the second displacement acquisition unit is used to acquire displacement information of the McRae module under the condition that the McRae module is accelerated to a preset acceleration; a control module, which is respectively connected to the parameter acquisition module, the McWheel module and the manipulator module, and is used to determine, based on the inertial offset characteristic value, that the gripping of the part by the manipulator does not meet the preset standard, and to determine, based on the gripping load characteristic value, whether the gripping of the part by the manipulator meets the preset standard for the second time, and to reduce the movement speed of the manipulator under the condition that the preset standard is not met for the second time, or to determine that the gripping of the part by the manipulator does not meet the preset standard. The control means include reducing the movement speed of the McWheel module and stopping the movement of the McWheel module; The inertial offset characteristic value is the difference between the displacement of the mobile end of the robotic arm acquired by the first displacement acquisition unit and the displacement of the McRae module acquired by the second displacement acquisition unit under the condition that the McRae module is accelerated to a preset acceleration; The clamping load characteristic value is acquired by the weight acquisition unit.

2. The McLen composite robot according to claim 1, characterized in that: A plurality of driving motors are fixedly installed inside the mounting frame, and the driving motors are connected to the traveling wheels. A steering motor is arranged in the middle of the bogie, and the steering motor is in transmission cooperation with the bogie.

3. The McLen composite robot according to claim 2, characterized in that: The working part comprises a mechanical gripper for completing the grasping and placing of the parts and a laser marker for marking the surface of the parts.

4. The McLen composite robot according to claim 3, characterized in that: The control module determines that the gripping of the part by the robot arm meets a preset standard under the condition that the inertia offset characteristic value is less than a first preset inertia offset threshold.

5. The McLen composite robot according to claim 4, characterized in that: The control module determines that the gripping of the part by the robot arm does not meet the preset standard under the condition that the inertia offset characteristic value is greater than or equal to the first preset inertia offset threshold value, and determining whether the gripping of the part by the robot arm meets a preset standard based on the gripping load characteristic value under the condition that the inertia offset characteristic value is less than a second preset inertia offset threshold value. And under the condition that the inertia offset characteristic value is greater than or equal to the second preset inertia offset threshold, the corresponding control means are determined according to the vibration amplitude characteristic value of the mobile end of the robotic arm under the condition that the gripping of the part by the robotic arm does not meet the preset standard.

6. The McLen composite robot according to claim 5, characterized in that: The control module determines whether the gripping of the part by the robot arm meets the preset standard based on the gripping load characteristic value. If the gripping load characteristic value is less than the preset load threshold, the control module secondarily determines that the gripping of the part by the robot arm meets the preset standard; If the clamping load characteristic value is greater than or equal to the preset load threshold, the control module determines for the second time that the clamping of the part by the robot arm does not meet the preset standard, and reduces the movement speed of the robot arm according to the difference between the clamping load characteristic value and the preset load threshold; The clamping load characteristic value is acquired by the weight acquisition unit.

7. The McLen composite robot according to claim 6, characterized in that: The reduction amplitude of the movement speed of the robot arm is positively correlated with the load difference, wherein the load difference is the difference between the clamping load characteristic value and the preset load threshold.

8. The McLen composite robot according to claim 5, characterized in that: The control module determines the corresponding control means under the condition that the gripping of the part by the robot arm does not meet the preset standard according to the vibration amplitude characteristic value of the mobile end of the robot arm, wherein: If the vibration amplitude characteristic value is less than a preset vibration amplitude threshold, the control module reduces the moving speed of the McWheel module according to the difference between the preset vibration amplitude threshold and the vibration amplitude characteristic value; If the vibration amplitude characteristic value is greater than or equal to the preset vibration amplitude threshold, the control module stops the movement of the wheat wheel module; The vibration amplitude characteristic value is acquired by the vibration collection unit.

9. The McLen composite robot according to claim 8, characterized in that: The control module is provided with several speed reduction methods for reducing the moving speed of the McWave module, and each speed reduction method has a different reduction range for the moving speed of the McWave module.

Images