Series-parallel type climbing quadruped robot based on redundant parallel mechanism

Abstract

The invention relates to an on-orbit service robot, in particular to a series-parallel type climbing quadruped robot based on a redundant parallel mechanism. The invention aims to provide a series-parallel combined type climbing quadruped robot. The robot has the characteristics of high flexibility, large movement range and simple structure. According to the technical scheme, the series-parallel type climbing quadruped robot based on the redundant parallel mechanism is used for climbing on a climbed surface and is characterized in that the quadruped robot comprises a rotary opening and closing mechanism and four branch chains which are arranged between the rotary opening and closing mechanism and the climbed surface in parallel and are driven by the rotary opening and closing mechanism; each branch chain comprises a series arm, a fixed platform, a parallel mechanism and a movable platform which are sequentially connected from the rotary opening and closing mechanism.

Description

Technical Field

[0001] The present invention relates to an on-orbit service robot, in particular to a hybrid climbing quadruped robot based on a redundant parallel mechanism. Background Art

[0002] With the deepening of space exploration and the advancement of space technology, the demand for the application of robotic technology in the field of on-orbit space servicing has increased significantly. Extravehicular work is a key part of orbital servicing operations, including tasks such as installing space debris protection devices outside the capsule, regularly inspecting the outer walls of the space station, and repairing damage caused by small particle impacts. In this process, climbing robots must overcome the challenge of microgravity adhesion while improving their tolerance to extreme environments and achieving precise positioning. However, robotic arms are limited to base operations and have a limited working radius, while wheeled climbing robots cannot cross protruding structures and have a high risk of detaching from the surface in microgravity.

[0003] In contrast, climbing quadruped space robots offer high operational precision and the ability to coordinate across multiple operating modes, better meeting the dynamic demands of the space environment. Based on these advantages, researchers have designed a variety of space robots, but most suffer from limited operating ranges, low efficiency, and excessive resource consumption, making them difficult to meet the flexible and rapid mobility requirements of on-orbit operations. Therefore, to meet the precision and flexibility requirements of on-orbit services outside a space capsule, a hybrid climbing quadruped robot solution based on redundant parallel mechanisms is urgently needed. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the above-mentioned background technology and to provide a series-parallel composite climbing quadruped robot, which should have the characteristics of high flexibility, large range of movement and simple structure.

[0005] The technical solution provided by the present invention is:

[0006] A hybrid climbing quadruped robot based on a redundant parallel mechanism, for climbing a surface to be climbed, characterized in that: the quadruped robot includes a rotary opening and closing mechanism and four branches arranged in parallel between the rotary opening and closing mechanism and the surface to be climbed and driven by the rotary opening and closing mechanism; each branch includes a serial arm, a fixed platform, a parallel mechanism, and a moving platform connected in sequence from the rotary opening and closing mechanism;

[0007] The rotary opening and closing mechanism includes a fixed disc, a rotating disc rotatably positioned on the fixed disc and driven by a driving mechanism, four movable rods radially movable on the fixed disc via second movable pairs, and four arcuate sliding grooves provided on the rotating disc and respectively engaged with sliding pins at the ends of the four movable rods;

[0008] The tandem arm comprises a first joint, a second joint, a third joint and a connecting rod connected in sequence;

[0009] The parallel mechanism includes two first branches, a second branch and a third branch arranged in parallel between the moving platform and the fixed platform; or

[0010] The parallel mechanism includes two first branches and a fourth branch which are connected between the moving platform and the fixed platform.

[0011] The fixed disc is provided with four guide grooves distributed in a cross shape, and the four moving rods are respectively slidably matched with the guide grooves on the fixed disc to form a second moving pair; the inner end of the moving rod is provided with a sliding pin that cooperates with the circular arc groove, and the outer end of the moving rod is connected to the series arm.

[0012] One end of the joint shaft of the first joint is connected to the outer lower end of the moving rod and the axis of the joint shaft is parallel to the axial direction of the fixed disk; one end of the joint shaft of the second joint is connected to the cylinder of the first joint and the axes of the second joint and the first joint are perpendicular to each other; one end of the joint shaft of the third joint is connected to the cylinder of the second joint and the axes of the third joint and the second joint are perpendicular to each other; one end of the connecting rod is connected to the cylinder of the third joint.

[0013] The first branch includes a first rotation pair, a first connecting rod, a second rotation pair, a second connecting rod and a first Hooke's joint which are sequentially connected between the fixed platform and the movable platform; the first rotation pair is driven by a first reduction motor.

[0014] The first Hooke's joint includes a first Hooke's joint rotating block provided with a first Hooke's joint first rotating shaft and a first Hooke's joint upper hinge ear, a first Hooke's joint lower hinge ear arranged on a moving platform and coordinated with the first Hooke's joint first rotating shaft, and a first Hooke's joint second rotating shaft arranged at one end of a second connecting rod and coordinated with the first Hooke's joint upper hinge ear.

[0015] The second branch includes a third rotating pair, a third connecting rod, a fourth rotating pair, a fourth connecting rod and a first ball joint which are sequentially connected between the fixed platform and the movable platform; the third rotating pair is driven by a second reduction motor; and a bionic adhesive material is provided at the bottom of the movable platform.

[0016] The third branch includes a fifth rotation pair, a fifth connecting rod, a second ball joint, a sixth connecting rod and a third ball joint which are sequentially connected between the fixed platform and the movable platform; the fifth rotation pair is driven by a third reduction motor.

[0017] The two first branches are symmetrically arranged with respect to the fixed platform and the movable platform, and the second branch and the third branch are symmetrically arranged with respect to the two first branches.

[0018] The axis of the third rotation pair is parallel to the axis of the fifth rotation pair, and the axes of the first rotation pairs in the two first branches are parallel and perpendicular to the axis of the third rotation pair.

[0019] The first rotation pair, the third rotation pair and the fifth rotation pair are all drive pairs; each joint in the series arm is a drive pair.

[0020] The fourth branch includes a sixth rotation pair, a servo electric cylinder, a seventh connecting rod, a seventh rotation pair, an eighth connecting rod and a fourth ball joint which are sequentially connected between the fixed platform and the movable platform; the seventh connecting rod serves as the cylinder rod of the servo electric cylinder.

[0021] The fixed platform and the movable platform are both equilateral triangles in shape, and the connection points between the fixed platform and the two first branches and the fourth branch are at the three vertices of the fixed platform, while the connection points between the movable platform and the two first branches and the fourth branch are at the three vertices of the movable platform; a bionic adhesive material is provided at the bottom of the movable platform.

[0022] The axes of the first rotation pairs in the two first branches are parallel, and the axis of the sixth rotation pair in the fourth branch is perpendicular to the axis of the first rotation pair.

[0023] The sixth rotation pair and the servo electric cylinder are drive pairs, and the servo electric cylinder is a redundant drive pair; each joint in the series arm is a drive pair.

[0024] The beneficial effects of the present invention are:

[0025] The present invention can flexibly adjust the posture when moving outside the space capsule, and has significant advantages such as high motion accuracy, high flexibility, wide range of activities, and good adaptability. It can be carried to the terminal equipment that is far away from the base and difficult for large robotic arms to reach to perform comprehensive maintenance tasks on-orbit equipment. At the same time, it can avoid the wear and even damage of equipment caused by excessive loads or forces due to improper posture during movement, thereby reducing operational safety risks. The present invention significantly improves the reliability of the working process by adding redundant branches, which can solve the problem of traditional parallel robots losing stiffness or degrees of freedom in singular configurations, resulting in loss of control of the mechanism, and optimize the force of each branch chain to improve dynamic load capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure of Example 1 of the present invention.

[0027] Figure 2 Schematic diagram of the three-dimensional structure of the parallel mechanism of Example 1.

[0028] Figure 3 for Figure 2 Schematic diagram of the three-dimensional structure of the first branch in the parallel mechanism shown.

[0029] Figure 4 for Figure 2 Schematic diagram of the three-dimensional structure of the second branch in the parallel mechanism shown.

[0030] Figure 5 for Figure 2 Schematic diagram of the three-dimensional structure of the third branch in the parallel mechanism shown.

[0031] Figure 6 for Figure 1 Schematic diagram of the three-dimensional structure of the series arm shown.

[0032] Figure 7 for Figure 1 The three-dimensional structural diagram of the rotating opening and closing mechanism is shown.

[0033] Figure 8 Schematic diagram of the three-dimensional structure of the parallel mechanism of Example 2.

[0034] Figure 9 for Figure 8 Schematic diagram of the three-dimensional structure of the fourth branch in the parallel mechanism shown.

[0035] Reference numerals:

[0036] DETAILED DESCRIPTION

[0037] The present invention is further described below with reference to the embodiments shown in the accompanying drawings.

[0038] Example 1

[0039] like Figure 1 As shown, a hybrid climbing quadruped robot based on a redundant parallel mechanism includes a rotating opening and closing mechanism 3 and four branches arranged in parallel between the rotating opening and closing mechanism and the climbed surface and driven by the rotating opening and closing mechanism; each branch includes a serial arm 2, a fixed platform 11, a parallel mechanism 1 and a moving platform 12 connected in sequence starting from the rotating opening and closing mechanism.

[0040] like Figure 2 As shown, the parallel mechanism 1 is a redundant drive mechanism, comprising two first branches 13, a second branch 14, and a third branch 15, arranged in parallel between the moving platform and the fixed platform. The fixed platform 11 is connected to the connecting rod 24 at the end of the series arm 2. The two first branches 13 are arranged symmetrically with respect to the fixed platform 11 and the moving platform 12, while the second branch 14 and the third branch are arranged symmetrically with respect to the first branches. The bottom of the moving platform 12 is provided with a biomimetic adhesive material, which can adhere to the surface of the material (i.e., the external surface to be climbed, such as the exterior of a space capsule) to perform a climbing motion.

[0041] like Figure 3As shown, the first branch 13 includes a first rotating pair 131, a first connecting rod 132, a second rotating pair 133, a second connecting rod 134, and a first Hooke's hinge 135 connected in sequence between the fixed platform 11 and the movable platform 12; the first Hooke's hinge 135 includes a first Hooke's hinge rotating block 136 provided with a first Hooke's hinge second rotating shaft and a first Hooke's hinge upper hinge ear, a first Hooke's hinge lower hinge ear provided on the movable platform, and a first Hooke's hinge second rotating shaft provided at one end of the second connecting rod 134, the first rotating shaft on the first Hooke's hinge rotating block 136 rotates with the first Hooke's hinge lower hinge ear, and the first Hooke's hinge rotating block 136 is provided with a first rotating shaft. The hinged ear on the first Hooke's hinge rotates in cooperation with the second rotating shaft of the first Hooke's hinge; the base of the first rotating pair 131 is fixedly set on the fixed platform 11; the first rotating pair rotating shaft fixed at one end of the first connecting rod 132 cooperates with the base of the first rotating pair to form the first rotating pair, and the other end of the first connecting rod 132 is connected to one end of the second connecting rod 134 through the second rotating pair 133; the other end of the second connecting rod 134 is connected to the moving platform 12 through the first Hooke's hinge 135; the first reduction motor 136 is fixedly set on the base of the first rotating pair 131, and the output shaft of the first reduction motor is coaxially fixedly connected with the rotating shaft of the first connecting rod.

[0042] like Figure 4 As shown, the second branch 14 includes a third rotating pair 141, a third connecting rod 142, a fourth rotating pair 143, a fourth connecting rod 144 and a first ball joint 145, which are connected in sequence between the fixed platform 11 and the movable platform 12; the ball head of the first ball joint 145 is arranged at one end of the fourth connecting rod 144, and the first ball joint ball shell matching the ball head of the first ball joint is arranged on the movable platform 12; the base of the third rotating pair 141 is fixedly set on the fixed platform 11; the rotating shaft of the third rotating pair 141 fixed at one end of the third connecting rod 142 cooperates with the base of the third rotating pair to form a third rotating pair, and the other end of the third connecting rod 142 is connected to one end of the fourth connecting rod 144 through the fourth rotating pair 143; the other end of the fourth connecting rod 144 is connected to the movable platform 12 through the first ball joint 145; the second reduction motor 146 is fixedly set on the base of the third rotating pair 141, and the output shaft of the second reduction motor is coaxially fixedly connected with the rotating shaft of the third connecting rod.

[0043] like Figure 5As shown, the third branch 15 includes a fifth rotation pair 151 , a fifth connecting rod 152 , a second ball joint 153 , a sixth connecting rod 154 and a third ball joint 155 which are sequentially connected between the fixed platform 11 and the movable platform 12 . The ball head of the second ball joint 153 is arranged at one end of the sixth connecting rod 154, and the second ball joint ball shell that cooperates with the second ball joint ball head is arranged at one end of the fifth connecting rod 152; the ball head of the third ball joint 155 is arranged at the other end of the sixth connecting rod 154, and the third ball joint ball shell that cooperates with the third ball joint ball head is arranged on the moving platform 12; the base of the fifth rotating pair 151 is fixedly set on the fixed platform 11, and the fifth rotating pair shaft fixed at one end of the fifth connecting rod 152 cooperates with the base of the fifth rotating pair to form the fifth rotating pair; the other end of the fifth connecting rod 152 is connected to the sixth connecting rod 154 through the second ball joint 153; the sixth connecting rod 154 is connected to the moving platform 12 through the third ball joint 155; the third reduction motor 156 is fixedly set on the base of the fifth rotating pair 151, and the output shaft of the third reduction motor is coaxially fixedly connected with the rotating shaft of the fifth connecting rod.

[0044] The axes of the two first rotating pairs are coaxial, and the axes of the third rotating pair and the fifth rotating pair are coaxial and perpendicular to the axis of the first rotating pair.

[0045] like Figure 6 As shown, the series arm 2 (existing technology) includes a first joint 21, a second joint 22, a third joint 23 and a connecting rod 24. The structures of the three joints are that the joint shafts are coaxially and rotatably arranged in a cylindrical shell, and the joint motor arranged in the cylindrical shell drives the joint shaft (the joint motor shaft drives the joint shaft through a transmission gear set); one end of the joint shaft of the first joint 21 (that is, the rotating shaft of the first joint) is connected to the outer lower end of the moving rod 33 and the axis of the joint shaft is parallel to the axial direction of the fixed disc, one end of the joint shaft of the second joint 22 is connected to the cylinder of the first joint 21 and the axes of the second joint and the first joint are perpendicular to each other, one end of the joint shaft of the third joint 23 is connected to the cylinder of the second joint 22 and the axes of the third joint and the second joint are perpendicular to each other (that is: the axes of the joint shafts of the two adjacent joints are perpendicular to each other); of the two adjacent joints, the latter joint can rotate around the axis of the rotating shaft of the former joint together with the cylinder of the former joint. One end of the connecting rod 24 is connected to the cylinder of the third joint 23 and the axes of the connecting rod and the third joint are perpendicular to each other. The other end of the connecting rod 24 is connected to the top of the fixed platform 11 and the axis of the connecting rod is perpendicular to the plane of the fixed platform.

[0046] like Figure 7As shown, the rotating opening and closing mechanism 3 includes a fixed disc 31, a rotating disc 32, four moving rods 33 and a second moving pair 34; the rotating disc and the fixed disc are coaxially arranged and rotatably positioned on the fixed disc, and a driving mechanism (usually a reduction motor driven by a gear set; the prior art, drawings and structural descriptions are omitted) is fixedly arranged at the center of the fixed disc 31 to control the rotation of the rotating disc 32.

[0047] The top surface of the fixed disk 31 is provided with four guide grooves arranged in a cross shape. The bottoms of the four movable rods 33 slide in conjunction with the guide grooves on the fixed disk 31 to form a second movable pair 34 (the axis of movement is the diameter of the fixed disk); one end of the movable rod 33 extends outward from the fixed disk and connects to the series arm 2, while the other end of the movable rod 33 engages with the circular arc groove 35 on the rotating disk 32. The rotating disk is symmetrically provided with four circular arc grooves 35 that extend through the upper and lower disk surfaces. A sliding pin 36 is fixed to the inner end of each of the four movable rods. The four sliding pins extend upward and are inserted into the four circular arc grooves one by one to slide in conjunction with each other. Obviously, when the drive mechanism is energized to drive the rotating disk, it can drive the four movable rods 33 to open and close along the guide grooves on the fixed disk 31 (i.e., slide along the diameter of the fixed disk).

[0048] In this embodiment, the first rotational pair 131 , the third rotational pair 141 and the fifth rotational pair 151 are all driving pairs; each joint in the series arm is also a driving pair.

[0049] Obviously, when the three joint motors in each serial arm are started, the fixed platform and the parallel structure can carry the moving platform to swing at various angles; the four serial arms cooperate with each other, and the coordinated movement of the parallel structure can realize the movement of the robot on the external climbable surface (especially the outside of the space capsule).

[0050] Example 2

[0051] The only difference between this embodiment and embodiment 1 is that the parallel mechanism 1 of this embodiment has only two first branches and one fourth branch, and is also a motion redundant mechanism; and the fixed platform 11 and the movable platform 12 have different shapes. The fixed platform and the movable platform of this embodiment are both equilateral triangles, and the connection points of the three branches with the fixed platform 11 are at the three vertices of the fixed platform, and the connection points of the three branches with the movable platform 12 are at the three vertices of the movable platform.

[0052] like Figure 8 As shown, the parallel mechanism 1 includes two first branches 13 and a fourth branch 16 arranged in parallel between the moving platform and the fixed platform; the fixed platform 11 is arranged at the end of the series arm 2;

[0053] like Figure 9As shown, the structure of the first branch is the same as that of embodiment 1. The fourth branch 16 includes a sixth rotational pair 161, a servo electric cylinder 162 (existing technology), a seventh connecting rod 163, a seventh rotational pair 164, an eighth connecting rod 165 and a fourth ball joint 166, which are sequentially connected between the fixed platform 11 and the movable platform 12;

[0054] The base of the sixth rotating pair 161 is fixedly arranged on the fixed platform 11; the sixth rotating pair shaft fixed on the base of the servo electric cylinder 162 cooperates with the base of the sixth rotating pair 161 fixed on the fixed platform to form the sixth rotating pair. The servo electric cylinder (existing technology) includes a base fixed on the fixed platform, a cylinder sleeve fixed on the base and with its axis perpendicular to the fixed platform, a cylinder rod (i.e., the seventh connecting rod) slidably positioned in the cylinder sleeve, and a servo motor 168 fixed on the base. One end of the seventh connecting rod 162 extends out of the cylinder sleeve and then cooperates with the cylinder sleeve of the servo electric cylinder to form the third moving pair 167; the other end of the seventh connecting rod 162 is connected to one end of the eighth connecting rod 165 through the seventh rotating pair 164, and the other end of the eighth connecting rod 165 is connected to the moving platform 12 through the fourth ball joint 166; the base of the servo motor 168 is fixed to the sixth rotating pair shaft, and the output shaft of the servo motor drives the cylinder rod to move linearly through a gear set. After the servo motor is started, it can output power to drive the cylinder rod (i.e. the seventh connecting rod) of the servo electric cylinder to slide along the axis of the cylinder sleeve.

[0055] In this embodiment, the sixth rotation pair 161 and the servo electric cylinder 162 are drive pairs, and the servo electric cylinder 162 is a redundant drive pair; each joint in the tandem arm is a drive pair.

[0056] Obviously, when the three joint motors in each serial arm are started, the fixed platform and the parallel structure can carry the moving platform to swing at various angles; the four serial arms cooperate with each other, and the coordinated movement of the parallel structure can realize the movement of the robot on the external climbable surface (especially the outside of the space capsule).

[0057] Given that the posture adjustment of a space robot during walking is a key step in ensuring safe arrival at the target location, the hybrid climbing quadruped robot based on a redundant parallel mechanism provided by the present invention can achieve large-scale movement through the series part, and then adjust the parallel mechanism to make fine adjustments to the posture. The redundant parallel mechanism ensures smoothness and reliability during the adjustment process. The bionic adhesive material of the parallel mechanism moving platform can achieve reliable adhesion to the surface of the space capsule, effectively solving the problem of precise posture control of existing space robots in complex extravehicular environments, and providing a reliable technical solution for space capsule inspection and maintenance tasks.

[0058] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A hybrid climbing quadruped robot based on a redundant parallel mechanism, for climbing a surface to be climbed, characterized by: The quadruped robot comprises a rotary opening and closing mechanism (3) and four branch chains arranged in parallel between the rotary opening and closing mechanism and a climbed surface and driven by the rotary opening and closing mechanism; each branch chain comprises a serial arm (2), a fixed platform (11), a parallel mechanism (1) and a moving platform (12) connected in sequence from the rotary opening and closing mechanism; The rotary opening and closing mechanism comprises a fixed disc (31), a rotating disc (32) rotatably positioned on the fixed disc and driven by a driving mechanism, four moving rods (33) respectively moving radially on the fixed disc via second moving pairs (34), and four arcuate sliding grooves (35) provided on the rotating disc and respectively cooperating with sliding pins (36) at the ends of the four moving rods; The series arm comprises a first joint (21), a second joint (22), a third joint (23) and a connecting rod (24) which are connected in sequence; The parallel mechanism comprises two first branches (13), a second branch (14) and a third branch (15) arranged in parallel between the moving platform and the fixed platform; or, The parallel mechanism comprises two first branches and a fourth branch (16) which are connected between the moving platform and the fixed platform.

2. The hybrid climbing quadruped robot based on redundant parallel mechanism according to claim 1, characterized in that: The fixed disc (31) is provided with four guide grooves distributed in a cross shape, and four moving rods (33) are respectively slidably matched with the guide grooves on the fixed disc (31) to form the second moving pair (34); the inner end of the moving rod (33) is provided with a sliding pin that cooperates with the circular arc sliding groove (35), and the outer end of the moving rod (33) is connected to the series arm (2).

3. The hybrid climbing quadruped robot based on redundant parallel mechanism according to claim 2, characterized in that: One end of the joint shaft of the first joint (21) is connected to the outer lower end of the movable rod (33), and the axis of the joint shaft is parallel to the axis direction of the fixed disc; one end of the joint shaft of the second joint (22) is connected to the cylinder of the first joint (21), and the axes of the second joint (22) and the first joint (21) are perpendicular to each other; one end of the joint shaft of the third joint (23) is connected to the cylinder of the second joint (22), and the axes of the third joint (23) and the second joint (22) are perpendicular to each other; one end of the connecting rod (24) is connected to the cylinder of the third joint (23).

4. The hybrid climbing quadruped robot based on redundant parallel mechanisms according to claim 3, characterized in that: The first branch (13) includes a first rotation pair (131), a first connecting rod (132), a second rotation pair (133), a second connecting rod (134), and a first Hooke's joint (135) sequentially connected between the fixed platform (11) and the movable platform (12); the first rotation pair is driven by a first reduction motor (137); The first Hooke's joint (135) comprises a first Hooke's joint rotating block (136) provided with a first Hooke's joint first rotating shaft and a first Hooke's joint upper hinge ear, a first Hooke's joint lower hinge ear arranged on the moving platform (12) and cooperating with the first Hooke's joint first rotating shaft, and a first Hooke's joint second rotating shaft arranged at one end of the second connecting rod (134) and cooperating with the first Hooke's joint upper hinge ear.

5. The hybrid climbing quadruped robot based on redundant parallel mechanism according to claim 4, characterized in that: The second branch (14) comprises a third rotational pair (141), a third connecting rod (142), a fourth rotational pair (143), a fourth connecting rod (144) and a first ball joint (145) which are sequentially connected between the fixed platform (11) and the movable platform (12); the third rotational pair is driven by a second reduction motor (146); and a bionic adhesive material is provided at the bottom of the movable platform (12).

6. The hybrid climbing quadruped robot based on redundant parallel mechanism according to claim 5, characterized in that: The third branch (15) includes a fifth rotating pair (151), a fifth connecting rod (152), a second ball joint (153), a sixth connecting rod (154) and a third ball joint (155) which are sequentially connected between the fixed platform (11) and the movable platform (12); the fifth rotating pair is driven by a third reduction motor (156); the two first branches (13) are symmetrically arranged with respect to the fixed platform (11) and symmetrically arranged with respect to the movable platform (12); the second branch (14) and the third branch (15) are symmetrically arranged with respect to the two first branches (13).

7. The hybrid climbing quadruped robot based on redundant parallel mechanisms according to claim 6, characterized in that: The axis of the third rotational pair (141) is parallel to the axis of the fifth rotational pair (151), and the axes of the first rotational pairs (131) in the two first branches (13) are parallel and perpendicular to the axis of the third rotational pair (141); The first rotation pair (131), the third rotation pair (141) and the fifth rotation pair (151) are all drive pairs; and each joint in the series arm (2) is also a drive pair.

8. The hybrid climbing quadruped robot based on redundant parallel mechanisms according to claim 4, characterized in that: The fourth branch (16) includes a sixth rotating pair (161), a servo electric cylinder (162), a seventh connecting rod (163), a seventh rotating pair (164), an eighth connecting rod (165) and a fourth ball joint (166) which are sequentially connected between the fixed platform and the movable platform; the seventh connecting rod (163) serves as a cylinder rod of the servo electric cylinder.

9. The hybrid climbing quadruped robot based on redundant parallel mechanism according to claim 8, characterized in that: The fixed platform (11) and the movable platform (12) are both equilateral triangles in shape, and the connection points of the fixed platform (11) with the two first branches (13) and the one fourth branch (16) are located at the three vertices of the fixed platform (11), and the connection points of the movable platform (12) with the two first branches and the one fourth branch are located at the three vertices of the movable platform (12); and a bionic adhesive material is provided at the bottom of the movable platform (12).

10. The hybrid climbing quadruped robot based on redundant parallel mechanism according to claim 9, characterized in that: The axes of the first rotational pairs (131) in the two first branches (13) are parallel, and the axis of the sixth rotational pair (161) in the fourth branch (16) is perpendicular to the axis of the first rotational pair (131); The sixth rotation pair (161) and the servo electric cylinder (162) are drive pairs, and the servo electric cylinder (162) is a redundant drive pair; each joint in the series arm (2) is a drive pair.

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