A six-legged robot with a walking-moving hybrid mechanism based on heterogeneous dual parallel mechanisms.

Abstract

This invention belongs to the field of mobile robot technology, specifically relating to a "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism. The robot includes an inner upper platform, three outer upper platforms and a lower platform, three parallel mechanical legs, three series branches, and three telescopic legs. The inner upper platform is hinged to the three outer upper platforms, forming a foldable equilateral triangle structure. The three series branches of the UPU configuration are respectively connected to the inner upper platform and the lower platform, forming a 3-UPU parallel mechanism. The three 2RUS&UP configuration mechanical legs are fixed to the outer upper platforms via fixed plates, and the axes of the three UP branches pass through the respective apex corners of the outer upper platforms. Stepping and posture adjustment are achieved by alternately controlling the pose of the 2RUS&UP parallel mechanical legs and changing the telescopic length of the UPU series branches. The alternating stepping of the parallel mechanical legs and the series branches enables the robot to adapt to various complex terrains such as irregular steps, narrow passages, and sharp turns, which is of great significance for exploring complex underground spaces with diverse terrains.

Description

Technical Field

[0001] This invention belongs to the field of mobile robot technology, specifically relating to a "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism. Background Technology

[0002] The development and reuse of underground space is an important manifestation of human utilization of natural resources and has strategic significance for coordinating above-ground and underground resources and building three-dimensional smart cities. Existing technologies have proposed various mobile robot solutions for dangerous and complex underground spaces that are unsuitable or inaccessible to humans, such as dilapidated underground air-raid shelters and abandoned mines. However, these underground spaces generally feature complex and varied terrain characteristics, including narrow passages, low-ceilinged corridors, continuous sharp bends, irregular steps, and obstacles. Conventional mobile robots cannot ensure the stable passage of heavy loads through these complex environments, and they struggle to achieve flexible multi-posture adjustments and proactive obstacle removal. Therefore, improving the ability of mobile robots to navigate narrow, low-ceilinged, winding, and obstacle-filled underground spaces is a pressing technical problem that needs to be solved in this field.

[0003] Parallel mechanisms possess advantages such as high rigidity, good stability, and strong load-bearing capacity, making mobile robots based on parallel mechanisms an important branch of the mobile robot field. Most existing parallel mobile robots directly use the parallel mechanism as their mechanical legs. While these robots inherit many advantages of parallel mechanisms, their numerous structural links and complex drive systems limit their mobility and obstacle-crossing capabilities. This invention proposes a six-legged robot that integrates a telescopic outrigger with a parallel mechanism and parallel mechanical legs, aiming to improve the adaptability and flexibility of six-legged robots in complex and diverse terrain environments. Summary of the Invention

[0004] One object of the present invention is to at least solve the above-mentioned problems and provide at least the advantages described below.

[0005] To achieve the above objectives, the present invention provides a "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism, comprising an inner upper platform, three outer upper platforms, a lower platform, three serial branches, three parallel mechanical legs, and three telescopic support legs.

[0006] The inner upper platform and the lower platform are connected by three UPU series branches to form a 3-UPU parallel mechanism. Three 2RUS&UP parallel mechanical legs are connected at the top corner of the outer upper platform. The three telescopic legs fixed to the lower platform of the 3-UPU parallel mechanism and the three parallel mechanical legs together form a six-legged mobile robot.

[0007] Furthermore, the inner upper platform (1.1) is a congruent equilateral triangle, and the three outer upper platforms (1.2), (1.3), and (1.4) are also congruent equilateral triangles. The side lengths of the inner upper platform (1.1) and the outer upper platforms (1.2), (1.3), and (1.4) are equal. When the robot moves, the three outer upper platforms (1.2), (1.3), and (1.4) are connected to the inner upper platform (1.1) to form a single platform, serving as a loading platform for transporting goods. When the robot needs to perform tasks such as inspection, the outer upper platforms rotate and flip upwards relative to the sides hinged to the inner upper platform, and the parallel robotic legs directly transform into parallel robotic arms to perform the tasks. The lower platform (2) is a congruent equilateral triangle, and the side length of the lower platform (2) is twice the side length of the inner upper platform (1.1).

[0008] Furthermore, the first series branch UPU-I, the second series branch UPU-II, and the third series branch UPU-III are "Hooke's hinge-sliding joint-Hooke's hinge" connection structures; the series branch RUS in the first parallel mechanical leg 2RUS&UP-I, the second parallel mechanical leg 2RUS&UP-II, and the third parallel mechanical leg 2RUS&UP-III is a "revolute joint-Hooke's hinge-spherical joint" connection structure, and the series branch UP is a "Hooke's hinge-sliding joint" connection structure.

[0009] Furthermore, the Hooke's joints at both ends of the first series branch UPU-I, the second series branch UPU-II, and the third series branch UPU-III are respectively connected to the apex corners of the inner upper platform and the lower platform, forming a 3-UPU parallel mechanism; the series branch UP of the first parallel mechanical leg 2RUS&UP-I, the second parallel mechanical leg 2RUS&UP-II, and the third parallel mechanical leg 2RUS&UP-III is connected to the apex corner of the outer upper platform by a Hooke's joint, and the P joint therein directly passes through the parallel mechanical leg moving platform as a telescopic support leg. The R joints of the two series branches RUS are respectively connected to both ends of the parallel mechanical leg fixing plate, and the S joint is connected to the inclined surface on the side of the parallel mechanical leg moving platform.

[0010] Furthermore, the prismatic joints of the first serial branch UPU-I, the second serial branch UPU-II, the third serial branch UPU-III, the UP branch of the first parallel mechanical leg, the UP branch of the second parallel mechanical leg, and the UP branch of the third parallel mechanical leg are all connected to a drive; the revolute joints of the first parallel mechanical leg 2RUS-I branch, the second parallel mechanical leg 2RUS-II branch, and the third parallel mechanical leg 2RUS-III branch are all connected to a drive; the three telescopic legs fixed to the lower platform are all connected to a drive; the robot's shape can be changed by controlling the length of the serial branches and the pose of the parallel mechanical legs in the 3-UPU parallel mechanism.

[0011] This invention also provides a gait planning method for a composite six-legged robot. Based on the structural characteristics of the six-legged robot, the gait patterns for its starting phase, the overall forward movement phase of the 3-UPU parallel mechanism, and the stepping phase of the parallel mechanical legs are planned. In the initial position, the telescopic legs fixed to the lower platform and the parallel mechanical legs are all in contact with the ground, forming a six-legged support, with the elongation of the sliding joints in all branches at its minimum. In the starting phase, the upper platform rises to a preset height, then enters the overall forward movement phase of the 3-UPU parallel mechanism. Supported by the parallel mechanical legs, the lower platform rises and moves forward simultaneously, then moves downward and forward until it lands again, forming support. Next, each parallel mechanical leg simultaneously retracts upward to a certain height, then moves forward and downward until it contacts the ground, forming support. When one cycle of gait planning is completed, the drive components of the 3-UPU parallel mechanism and the parallel mechanical legs are reset to their initial positions.

[0012] In addition to functioning as mechanical legs, the three parallel mechanical legs of this invention can also rotate around the axis hinged to the inner upper platform. After flipping up a certain angle, they can directly transform into a parallel mechanical arm to perform operational tasks. They have three degrees of freedom (2R1T) at the top of the UP branch, and can perform other tasks such as clearing obstacles in the operating environment, cleaning the environment, and wiring.

[0013] Compared with existing technologies, the technical solution provided by the embodiments of the present invention has the following beneficial effects: The dual-platform "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism has the characteristics of ingenious and flexible structure, strong stability, large load-bearing capacity, and simple control; by controlling the length of the serial branches in the parallel mechanism and the pose changes of the parallel mechanical legs, various robot forms can be achieved, thereby adapting to terrain environments such as irregular steps, narrow throats, and sharp turns. When encountering irregular steps, the robot can control its legs to lift its legs to climb the steps; when encountering a cave with turns, it can turn flexibly; when encountering obstacles, it can pass smoothly and stably; when working in a near-circular cave, it can crawl without easily tipping over; in low spaces, the overall height of the robot can be reduced by adjusting the telescopic branches. Therefore, it has a strong adaptability to different terrains. The present invention has the advantages of ingenious structure, flexible operation, strong stability, large load-bearing capacity, and simple control. Attached Figure Description

[0014] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments according to the invention and, together with the description, serve to explain the principles of the invention; Figure 1 This is a schematic diagram of the overall structure of the "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism according to an embodiment of the present invention. Figure 2This is a schematic diagram of the parallel legs of the "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism, as described in an embodiment of the present invention. Figure 3 This is the initial state of the "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism as described in this embodiment of the invention; Figure 4 This is a schematic diagram of the first step of the "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism climbing a step, as described in an embodiment of the present invention. Figure 5 This is a schematic diagram of the second morphological step of the "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism climbing a step, as described in an embodiment of the present invention. Figure 6 This is a schematic diagram of step three of the "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism as described in an embodiment of the present invention when it goes up a step. Figure 7 This is a schematic diagram of step four of the "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism as described in this embodiment of the invention when it goes up a step. Figure 8 This is a schematic diagram of step five of the "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism as described in this embodiment of the invention when it goes up a step. Figure 9 This is a schematic diagram of step six of the "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism as described in an embodiment of the present invention when it goes up a step; Figure 10 This is a schematic diagram of the "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism as described in an embodiment of the present invention when turning; Figure 11 This is a schematic diagram of the process of a "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism passing through a narrow throat, as described in an embodiment of the present invention. Figure 12 This is a schematic diagram of the process of a six-legged robot based on a heterogeneous dual parallel mechanism passing through a narrow throat, as described in an embodiment of the present invention. Figure 13 This is a schematic diagram of the process of a six-legged "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism passing through a narrow throat, as described in an embodiment of the present invention. Figure 14 This is a schematic diagram of step one of the forward movement of the dual-platform "walking-moving" composite six-legged robot of the present invention. Figure 15 This is a schematic diagram of step two when the dual-platform "walking-moving" composite six-legged robot of the present invention moves forward; Figure 16 This is a schematic diagram of step three when the dual-platform "walking-moving" composite six-legged robot of the present invention moves forward; Figure 17 This is a schematic diagram of step four when the dual-platform "walking-moving" composite six-legged robot of the present invention moves forward; Figure 18 This is a schematic diagram of step five when the dual-platform "walking-moving" composite six-legged robot of the present invention moves forward; Figure 19 This is a schematic diagram of step six when the dual-platform "walking-moving" composite six-legged robot of the present invention moves forward; Figure 20 This is a schematic diagram of the dual-platform "walking-moving" composite six-legged robot of the present invention, showing how its mechanical legs are transformed into parallel mechanical arms.

[0015] Explanation of reference numerals in the attached figures: 1-Upper platform (carrying platform), 1.1-Inner upper platform, 1.2-Outer upper platform; 2-Lower platform; 2.1-Telescopic outrigger, 2.2-Telescopic outrigger, 2.3-Telescopic outrigger; 3-First series support UPU-I; 4-Second series support UPU-II; 5-Third series support UPU-III; 6-First parallel mechanical leg 2RUS&UP-I; 6.1-Series support RUS; 6.2-Series support RUS; 6.3-Series support UP; 6.4-Parallel mechanical leg moving platform; 6.5-Parallel mechanical leg fixing plate; 6.6-Motor; 6.7-First link; 6.8-Second link; 6.9-Support plate; 7-Second parallel mechanical leg 2RUS&UP-II; 7.1 7.1-Series Branch RUS; 7.2-Series Branch RUS; 7.3-Series Branch UP; 7.4-Parallel Mechanical Leg Motion Platform; 7.5-Parallel Mechanical Leg Fixing Plate; 7.6-Motor; 7.7-First Link; 7.8-Second Link; 7.9-Support Plate; 8-Third Parallel Mechanical Leg 2RUS&UP-III; 8.1-Series Branch RUS; 8.2-Series Branch RUS; 8.3-Series Branch UP; 8.4-Parallel Mechanical Leg Motion Platform (Operating Platform); 8.5-Parallel Mechanical Leg Fixing Plate; 8.6-Motor; 8.7-First Link; 8.8-Second Link; 8.9-Support Plate; 9-Support Circular Pad; 10-Step Model; 11-Turning Situation Model; 12-Narrow Throat Model. Detailed Implementation

[0016] 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 described below. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0017] Reference Figure 1 As shown, a "walking-moving" composite six-legged robot based on a heterogeneous dual parallel mechanism includes an inner upper platform, three outer upper platforms and a lower platform, three UPU series branches, three parallel mechanical legs, and telescopic outriggers fixed to the lower platform. The inner upper platform 1.1 and the lower platform 2 are connected by three UPU series branches to form a 3-UPU parallel mechanism. The telescopic outriggers 2.1, 2.2, and 2.3 are fixedly connected to the lower platform 2. The outer upper platform 1.2 is connected to one end of the parallel mechanical legs 6, 7, and 8. The parallel mechanical legs are composed of three series branches 6.1, 6.2, 6.3, 6.4, and 6.5. By controlling the length of the series branches in the 3-UPU parallel mechanism and the pose of the parallel mechanical legs, the robot's shape can be changed, thereby adapting to various dangerous and complex underground terrain environments such as irregular steps, narrow throats, sharp turns, and low caves.

[0018] The inner upper platform 1.1 and the three outer upper platforms 1.2, 1.3, and 1.4 are all congruent equilateral triangles. The inner upper platform is hinged to the three outer upper platforms via its three sides, forming a large upper platform that serves as the loading platform. When the robot moves into position and needs to perform an operation, one of the outer upper platforms can rotate independently around the axis of the inner upper platform, causing the parallel robotic leg to flip upwards and directly act as a parallel robotic arm to perform the operation. In this case, the parallel robotic arm's moving platform serves as the operating platform. The lower platform 2 is also an equilateral triangle; the side length of the lower platform 2 is equal to the side length of the entire upper platform and is twice the side length of the inner upper platform.

[0019] The first series branch UPU-I 3, the second series branch UPU-II 4, and the third series branch UPU-III 5 are of the "Hooke hinge-sliding pair-Hooke hinge" structural form; refer to Figure 2 As shown, the first parallel mechanical leg 2RUS&UP-I 6, the second parallel mechanical leg 2RUS&UP-II 7, and the third parallel mechanical leg 2RUS&UP-III 8 are all composed of three branches, namely the series branch RUS, the series branch RUS, and the series branch UP. Among them, the series branch RUS is a "revolute joint-Hooke hinge-spherical hinge" structure, and the UP branch is a "Hooke hinge-prismatic joint" structure.

[0020] The Hooke's hinges at both ends of the first series branch UPU-I 3, the second series branch UPU-II 4, and the third series branch UPU-III 5 are respectively connected to the apex of the inner upper platform 1.1 and the lower platform 2. The Hooke's hinge axes of the branches UP in the first parallel mechanical leg 2RUS&UP-I, the second parallel mechanical leg 2RUS&UP-II, and the third parallel mechanical leg 2RUS&UP-III pass through the three apex of the outer upper platforms 1.2, 1.3, and 1.4, with the P-joint directly passing through the parallel mechanical leg moving platform as a telescopic support leg. The R-joints in the two series branches RUS are respectively connected to both ends of the parallel mechanical leg fixing plate, and the S-joint is connected to the inclined surface on the side of the parallel mechanical leg moving platform.

[0021] The moving joints of the first series branch UPU-I 3, the second series branch UPU-II 4, the third series branch UPU-III 5, the series branch UP 6.3 in the first parallel mechanical leg 2RUS&UP-I 6, the series branch UP 7.3 in the second parallel mechanical leg 2RUS&UP-II 7, and the series branch UP 8.3 in the third parallel mechanical leg 2RUS&UP-III 8 are driven, which can be achieved using ball screws, or by directly using integrated electric actuators or linear modules; the series branches RUS-I 6.1 and RUS-II 6.2 in the first parallel mechanical leg 2RUS&UP-I 6, the series branches RUS-I 7.1 and RUS-II 7.2 in the second parallel mechanical leg 2RUS&UP-II 7, and the series branches RUS-I 8.1 and RUS-II 8.2 in the third parallel mechanical leg 2RUS&UP-III 8 are driven. The rotating joints in 8.2 are all connected to bidirectional rotation drives, which can be implemented using servo motors. The telescopic outriggers 2.1, 2.2, and 2.3 connected to the lower platform can be electric push rods.

[0022] The dual-platform "walking-moving" composite six-legged robot completes the mechanical legs and the 3-UPU parallel mechanism (alternating composite motion, controlling the robot's forward and backward movement) through a parallel mechanism formed by three parallel mechanical legs and three serial branches; the robot's shape can be adjusted by the motion pair drive in the first serial branch UPU-I 3, the second serial branch UPU-II 4, and the third serial branch UPU-III 5 and the length adjustment of the telescopic legs 2.1, 2.2, and 2.3. The dual-platform "walking-moving" composite six-legged robot is driven by the mobilization joints of the first parallel mechanical leg 2RUS&UP-I 6 (branch UP 6.3), the second parallel mechanical leg 2RUS&UP-II 7 (branch UP 7.3), and the third parallel mechanical leg 2RUS&UP-III 8 (branch UP 8.3), and the rotation joints of the first parallel mechanical leg 2RUS&UP-I 6 (RUS-I 6.1, RUS-II 6.2), the second parallel mechanical leg 2RUS&UP-I 7 (RUS-I 7.1, RUS-II 7.2), and the third parallel mechanical leg 2RUS&UP-I 8 (RUS-I 8.1, RUS-II 8.2), thereby adjusting the posture of each parallel mechanical leg and thus the overall shape of the robot.

[0023] Figure 3 The image shows the initial state of a dual-platform "walking-moving" composite six-legged robot, which is also the state of the six-legged robot when moving on a hard surface. In this state, the six-legged robot can move normally along any path within the working environment.

[0024] (1) The process of a dual-platform "walking-moving" composite six-legged robot climbing stairs. Step 1: Telescopic outriggers fixed to the lower platform provide tripod support.

[0025] Reference Figure 2 and Figure 3 As shown, when the dual-platform "walking-moving" composite six-legged robot goes up the steps, the first parallel mechanical leg 2RUS&UP-I 6, the second parallel mechanical leg 2RUS&UP-II 7, and the third parallel mechanical leg 2RUS&UP-III 8 adjust their posture and retract and lift in the direction of the inward upper platform 1.1. The three telescopic outriggers connected to the lower platform in the 3-UPU parallel mechanism support the ground, forming a tripod support configuration. The height of the lower platform 2 can be adjusted according to requirements.

[0026] Step 2: Tripod support.

[0027] Reference Figure 3 and Figure 4 As shown, the upper platform moves forward, the parallel mechanical leg extends, and the telescopic outrigger fixed to the lower platform supports the ground, forming a three-legged support configuration; the UPU chain adjusts the posture, and the outer upper platform 1.2, 1.3, 1.4 drives the parallel mechanical leg to move forward; the parallel mechanical leg adjusts the posture and supports the ground forward, at which point all six legs support the ground together, which is a temporary forward movement state, and the upper and lower platforms maintain their positions unchanged.

[0028] Reference Figure 5As shown, along the direction of the steps, by adjusting the lengths of the first series branch UPU-I 3, the second series branch UPU-II 4, and the third series branch UPU-III 5, the upper platform 1 drives the first parallel mechanical leg 2RUS&UP-I 6, the second parallel mechanical leg 2RUS&UP-II 7, and the third parallel mechanical leg 2RUS&UP-III 8 to move upwards. At the same time, the posture of each parallel mechanical leg remains unchanged. The lower platform 2 remains stable by relying on the 3-UPU parallel mechanism, forming a shape in which three telescopic legs fixed to the lower platform simultaneously support the ground. The first parallel mechanical leg 2RUS&UP-I 6 climbs onto the steps.

[0029] Step 3: Six-leg support. The gait alternates as the vehicle moves forward onto the platform. Three parallel mechanical legs extend forward to support the ground, while the telescopic outriggers fixed to the lower platform continue to support the ground. This is a temporary transitional form where the six legs alternately support the ground as the vehicle moves forward.

[0030] Reference Figure 6 As shown, the first parallel robotic leg 2RUS&UP-I 6, the second parallel robotic leg 2RUS&UP-II 7, and the third parallel robotic leg 2RUS&UP-III 8 move forward and downward along the direction of the step. By adjusting the pose of the branches, they support the ground on the upper and lower steps respectively. The lengths of the first series branches UPU-I 3, the second series branches UPU-II 4, and the third series branches UPU-III 5 remain unchanged, the posture of the lower platform 2 remains unchanged, and the three telescopic legs on the lower platform still support the ground. At this time, the robot is in a transitional state where its six legs alternately support the ground when moving forward.

[0031] Step 4: Tripod Support. The 3-UPU branch retracts, causing the lower platform to rise, while the three parallel mechanical legs support the ground, and the upper platform remains stationary.

[0032] Reference Figure 7 As shown, the lengths of the first series branch UPU-I 3, the second series branch UPU-II 4, and the third series branch UPU-III 5 are shortened to their shortest lengths, causing the lower platform 2 to rise and move forward. The lower platform 2 remains horizontal, while the telescopic legs 2.1, 2.2, and 2.3 retract to their shortest lengths. The first parallel mechanical leg 2RUS&UP-I 6, the second parallel mechanical leg 2RUS&UP-II 7, and the third parallel mechanical leg 2RUS&UP-III 8 remain in their original positions, supporting the ground. At this point, the robot as a whole forms a three-legged support configuration.

[0033] Step 5: Six-legged support. The 3-UPU tandem chain extends to adjust the position, driving the lower platform forward, while the telescopic outriggers adjust their length to provide support.

[0034] Reference Figure 8As shown, changing the lengths of the first series branch UPU-I 3, the second series branch UPU-II 4, and the third series branch UPU-III 5 causes the lower platform 2 to move forward and downward along the direction of the step until the series legs support the step surface. By adjusting the adjusting legs 2.1, 2.2, and 2.3, the lower platform is ensured to remain horizontal. The first series branch UPU-I 3 and the second series branch UPU-II 4 ascend the step, while the three parallel mechanical legs 2RUS&UP-I 6, 2RUS&UP-II 7, and 2RUS&UP-III 8 remain supporting the ground. This is a temporary transitional state where the six legs alternately support the ground during forward movement.

[0035] Step Six: Six-Legged Support. The 3-UPU tandem support chain extends to adjust the position, causing the lower platform to move forward. The telescopic outriggers adjust their length to provide support.

[0036] Reference Figure 9 As shown, by repeating steps one to five, the posture of each parallel mechanical leg, the length of the serial support UPU, and the lengths of the telescopic legs 2.1, 2.2, and 2.3 are adjusted so that each leg can climb the step.

[0037] (2) The dual-platform "walking-moving" composite six-legged robot can turn flexibly in narrow spaces. Given the narrow, low, and winding nature of underground spaces, a dual-platform "walking-moving" composite six-legged robot needs to possess flexible turning capabilities. Therefore, this invention enables zero-radius flexible turning in sharp bends within near-circular cave passages.

[0038] Reference Figure 10 As shown, when encountering a curve and needing to turn, the robot approaches the curve, its parallel mechanical legs retract, and the robot is supported by three telescopic outriggers. At this point, the entire robot transforms into a 3-UPU mobile robot. The lower platform has three degrees of freedom, and by adjusting the length of the prismatic joints, it can achieve any trajectory in the plane. Supported by the three telescopic outriggers fixed at the three vertices of the lower platform, the parallel mechanical legs have 2R1T degrees of freedom. By adjusting the posture of the parallel mechanical legs, they can adapt to changes in the curve's position. Through the staggered movement of the upper and lower platforms and the "stepping" posture adjustment of the parallel mechanical legs, the six-legged robot achieves flexible turning.

[0039] (3) The process of a dual-platform "walking-moving" composite six-legged robot passing through a narrow throat. Underground spaces are typically composed of several independent spaces connected by narrow passageways. This invention enables passage through such narrow passageways. For common underground environments that are difficult to navigate, this invention allows for rapid and smooth movement.

[0040] Reference Figure 11 The diagram shows the configuration of a "walking-moving" hybrid six-legged robot. The width of the narrow throat is roughly the same as the width of the six-legged robot. When the robot moves near the narrow throat, it adjusts its pose so that its entire projection onto the wall is within the throat. (Refer to...) Figures 12-13 As shown, the three parallel mechanical legs retract, supported by three telescopic outriggers connected to the lower platform of the 3-UPU parallel mechanism. Adjusting the length of the telescopic rod of the 3-UPU causes the upper platform 1 to rise and move into the throat; the three parallel mechanical legs move forward to support the ground; adjusting the length of the telescopic rod of the 3-UPU causes the lower platform 2 to rise and move into the throat, and then descend to support the ground; by adjusting the gait, the length of the serial branches and the posture of the parallel mechanical legs, it is ensured that the projection of the six-legged robot to the side is completely outside the outer wall, allowing the six-legged robot to pass through the narrow throat.

[0041] (4) A gait planning method for a dual-platform “walking-moving” composite six-legged robot is used to plan the starting stage, the overall forward movement of the 3-UPU parallel mechanism, and the stepping stage of the parallel mechanical legs.

[0042] Reference Figure 14-19 As shown, in the initial position, outriggers 2.1, 2.2, and 2.3, as well as parallel mechanical legs 6, 7, and 8, are all supported on the ground, and the sliding joints of the series chains 3, 4, and 5, as well as the UP chains of the parallel mechanical legs, are all in their shortest state with no elongation. In the starting phase, the upper platform 1 is raised to a preset height, and then the lower platform 2 uses telescopic electric cylinders 2.1, 2.2, and 2.3 as support points. At the same time, the other end of the UP chain in the parallel mechanical legs 6, 7, and 8 supports the ground, forming a state in which all six legs support the ground. Next, the parallel mechanical legs 6, 7, and 8 continue to support the ground. The lower platform 2 lifts off the ground while moving upwards and forwards. The 3-UPU parallel mechanism, consisting of the series branches UPU-I (3), UPU-II (4), and UPU-III (5) and the upper platform 1, is adjusted to move the telescopic rod until the lower platform contacts the ground again to provide support. Then, supported by the 3-UPU parallel mechanism consisting of the series branches UPU-I (3), UPU-II (4), and UPU-III (5) and the upper platform 1, the parallel mechanical legs (6), (7), and (8) lift off the ground while moving upwards and forwards until they contact the ground again to provide support. Following these steps, the robot completes the combined platform and leg movements until it reaches its destination. Then, the parallel mechanical legs and telescopic support legs in the composite six-legged robot are reset to their initial positions.

[0043] (5) The process of the parallel mechanical legs in the dual-platform "walking-moving" composite six-legged robot transforming into parallel manipulators.

[0044] Reference Figure 20 As shown, the robot needs to perform an action to reach a target position, such as clearing obstacles in the workspace, laying out lines, or probing the environment. Adjust the length of the telescopic outriggers 2.1, 2.2, and 2.3 fixed to the lower platform 2 to support it on the ground. Any of the parallel mechanical legs (6), (7), or (8) drives the connecting rods 6.7, 7.7, and 8.7 by controlling the angle of the upper motors 6.6, 7.6, and 8.6, which in turn drives the connecting rods 6.8, 7.8, and 8.8, controlling the mechanical leg to rotate around a fixed axis to a certain angle, thus lifting it off the ground to perform the relevant action.

[0045] It should be noted that in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0046] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in this invention may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A "walking-shuffling" compound hexapod robot based on a heterogeneous double-parallel mechanism, characterized in that: The robot comprises an inner upper platform, three outer upper platforms and a lower platform, three series chains, three parallel mechanical legs and three telescopic legs fixed to the lower platform; the upper platform (1) comprises the inner upper platform (1.1) and the outer upper platforms (1.2), (1.3) and (1.4), the three edges of the inner upper platform are hinged to the three edges of the three outer upper platforms respectively; the inner upper platform (1.1) and the lower platform (2) are connected by the three series chains to form a parallel mechanism, each of the three outer upper platforms is connected with a parallel mechanism as a parallel mechanical leg, and the two types of parallel mechanisms have different configurations to form a heterogeneous dual-parallel mechanism.

2. The "walking-shuffling" hybrid hexapod robot based on the heterogeneous double-parallel mechanism according to claim 1, characterized in that: The inner upper platform (1.1) is a full equilateral triangle, the three outer upper platforms (1.2) are also full equilateral triangles, and the lengths of the edges of the inner upper platform (1.1) and the outer upper platforms (1.2), (1.3) and (1.4) are equal. When the robot moves, the three outer upper platforms (1.2) and the inner upper platform (1.1) are connected as a whole platform to perform a carrying task; when the robot needs to perform an operation task such as inspection, the outer upper platforms are rotated upward relative to the edges hinged to the inner upper platform, and the parallel mechanical legs directly change into parallel mechanical arms to perform the operation task. The lower platform (2) is a full equilateral triangle, and the length of the edge of the lower platform (2) is twice the length of the edge of the inner upper platform (1.1).

3. The hybrid double-parallel mechanism based "walking-shuffling" compound hexapod robot according to claim 1, characterized in that: The inner upper platform (1.1) is connected to the lower platform (2) through the first series chain UPU-I (3), the second series chain UPU-II (4) and the third series chain UPU-III (5) to form a 3-UPU parallel mechanism; the outer upper platform (1.2) is connected to the first parallel mechanical leg 2RUS&UP-I (6), the outer upper platform (1.3) is connected to the second parallel mechanical leg 2RUS&UP-II (7), and the outer upper platform (1.4) is connected to the third parallel mechanical leg 2RUS&UP-III (8). The lower platform (2) is fixedly connected with the telescopic legs (2.1), (2.2) and (2.3).

4. The "walking-shuffling" compound hexapod robot based on the isomorphic double-parallel mechanism according to any one of claims 1-3, characterized in that: The first series branch UPU-I (3), the second series branch UPU-II (4) and the third series branch UPU-III (5) are Hooke joint-sliding pair-Hooke joint structures; the first parallel mechanical leg 2RUS&UP-I (6) is a parallel mechanical leg composed of series branches RUS (6.1), series branches RUS (6.2) and series branches UP (6.3); including a parallel mechanical leg moving platform (6.4), a parallel mechanical leg fixing plate (6.5), a control flipping motor (6.6), a first link (6.7), a second link (6.8) and a support plate (6.9); the series branch RUS (6.1) is a revolute pair-Hooke joint-ball joint connection structure, the series branch RUS (6.2) is a revolute pair-Hooke joint-ball joint connection structure and the series branch UP (6.3) is a Hooke joint-sliding pair structure. The second parallel mechanical leg 2RUS&UP-II (7) is a parallel mechanical leg consisting of a series branch RUS (7.1), a series branch RUS (7.2) and a series branch UP (7.3), including a moving platform (7.4), a parallel mechanical leg fixing plate (7.5), a control flipping motor (7.6), a first link (7.7), a second link (7.8) and a support plate (7.9); the series branch RUS (7.1) is a revolute joint-Hooke hinge-spherical hinge connection structure, the series branch RUS (7.2) is a revolute joint-Hooke hinge-spherical hinge connection structure and the series branch UP (7.3) is a Hooke hinge-prismatic joint structure. The third parallel mechanical leg 2RUS&UP-III (8) is a parallel mechanical leg composed of series branches RUS (8.1), RUS (8.2) and UP (8.3), including a moving platform (8.4), a parallel mechanical leg fixing plate (8.5), a control flipping motor (8.6), a first link (8.7), a second link (8.8) and a support plate (8.9); the series branch RUS (8.1) is a revolute joint-Hooke hinge-spherical hinge connection structure, the series branch RUS (8.2) is a revolute joint-Hooke hinge-spherical hinge connection structure and the series branch UP (8.3) is a Hooke hinge-prismatic joint structure.

5. The hybrid double-parallel mechanism based "walking-shuffling" compound hexapod robot according to claim 4, characterized in that: The first series branch UPU-I (3), the second series branch UPU-II (4) and the third series branch UPU-III (5) are connected at one end of the Hooke hinge to the top corner of the inner upper platform (1.1) and the other end to the top corner of the triangle of the lower platform (2); the first parallel mechanical leg 2RUS&UP-I (6) is fixed to one end of the outer upper platform (1.2) through the parallel mechanical leg fixing plate 6.5, the second parallel mechanical leg 2RUS&UP-II (7) is fixed to one end of the outer upper platform (1.3) through the parallel mechanical leg fixing plate 7.5, and the third parallel mechanical leg 2RUS&UP-III (8) is fixed to one end of the outer upper platform (1.4) through the parallel mechanical leg fixing plate 8.

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6. The hybrid double-parallel mechanism based "walking-shuffling" compound hexapod robot according to claim 4, characterized in that: The prismatic joints of the first series branch UPU-I (3), the second series branch UPU-II (4), and the third series branch UPU-III (5) are driven; the revolute joints of the series branches RUS (6.1) and RUS (6.2) in the first parallel mechanical leg are driven, and the prismatic joints of the series branch UP (6.3) are driven; the drives of the second and third parallel mechanical legs are exactly the same. The shape of the robot is changed by controlling the pose of the branches and the parallel mechanical legs in the 3-UPU parallel mechanism.

7. The hybrid double-parallel mechanism based "walking-creeping" compound hexapod robot according to claim 4, characterized in that: The telescopic outriggers (2.1), (2.2) and (2.3) are telescopic electric cylinders to cope with complex terrain such as ditches and steps. The connecting disc mechanism (9) is connected to the telescopic outriggers (2.1), (2.2), (2.3) and the end of each parallel mechanical leg UP chain that contacts the ground. This mechanism can change shape according to the terrain to adapt to different terrains.

8. The "walking-shuffling" compound hexapod robot based on the heterogeneous double-parallel mechanism according to claims 1 to 4, the gait planning method comprises planning the walking mode of the initial stage, the starting stage, the 3-UPU parallel mechanism walking stage, and the parallel mechanism leg walking step stage. Characterized in that: In the initial stage, the telescopic outriggers (2.1), (2.2), and (2.3) and the UP chains of each parallel mechanical leg are all supported on the ground, and the tandem chains have no elongation, which is the minimum value; the UP chains of the parallel mechanical legs also have no elongation; in the starting stage, the upper platform (1) is raised to a predetermined height; then it enters the overall forward movement stage of the 3-UPU parallel mechanism, the parallel mechanical legs (6), (7), and (8) support the ground, the lower platform (2) lifts off the ground while moving upward and forward, and adjusts the length of the telescopic rods of the tandem chains UPU-I (3), UPU-II (4), and UPU-III (5) until the lower platform contacts the ground again to form support; in the forward stepping stage of the parallel mechanical legs, the lower platform (2) serves as support, the parallel mechanical legs (6), (7), and (8) lift off the ground while moving upward and forward until each parallel leg contacts the ground again to form support. Following the steps above, the robot completes the combined movement of the platform and legs until it reaches its destination. Then, the parallel and serial mechanical legs of the composite six-legged robot are reset to their initial positions.

9. The "walking-moving" composite six-legged robot based on heterogeneous dual parallel mechanism according to claims 1 to 3, wherein the parallel mechanical legs can rotate around a fixed axis to a certain angle, serving as parallel mechanical arms for clearing obstacles in the operating environment or performing other tasks.

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