Reconfigurable three-platform leg-arm composite mobile operating robot mechanism

By using the folding and unfolding drive device and the 6-RURU parallel mechanism of the reconfigurable three-platform leg-arm composite mobile operation robot mechanism, the problems of insufficient rigidity and poor dynamic stability of existing mobile operation robots in complex environments are solved, realizing efficient integrated reuse of leg/arm functions and reliable mode switching.

CN122185133APending Publication Date: 2026-06-12ZHONGBEI UNIV +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
ZHONGBEI UNIV
Filing Date
2026-05-13
Publication Date
2026-06-12

AI Technical Summary

Technical Problem

Existing mobile robots suffer from problems such as redundant superimposed configurations, insufficient stiffness and limited load-bearing capacity of reusable mechanical legs, and poor dynamic stability due to soft switching of joint angles, making it difficult to achieve efficient operation in complex environments.

Method used

A reconfigurable three-platform leg-arm composite mobile operation robot mechanism is adopted. The rigid reconfiguration of the platform is achieved through a folding and unfolding drive device. Two sets of 6-RURU parallel mechanisms are used to form a high-rigidity mechanical leg in walking mode and a dual-parallel mechanism mechanical arm in robotic arm mode, realizing the integrated reuse of leg/arm functions.

Benefits of technology

It improves the structural stability and load-bearing capacity of the mechanism in two working modes, reduces energy consumption, improves the reliability of function switching and system integration, and meets the needs of high-load precision operation.

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Abstract

The application discloses a reconfigurable three-platform leg-arm composite mobile operating robot mechanism, which comprises an upper platform, a reconfiguration sub-platform, a middle platform, a lower platform and two groups of six RURU branch chains, and is provided with two modes of walking and mechanical arm. The upper platform is composed of folding and unfolding driving devices, folding and unfolding connecting rods, mechanical claw connecting rods, mechanical claws and motor guard plates; the middle platform is composed of folding and unfolding driving devices and middle platform folding and unfolding connecting rods; the reconfiguration sub-platform and the lower platform are both rigid structures. In the walking mode, the upper platform and the reconfiguration sub-platform are fixedly connected into a reconfiguration upper platform, the reconfiguration upper platform and the middle platform and the reconfiguration upper platform and the lower platform are connected through six RURU branch chains respectively, two parallel mechanical legs are formed, and a ''3+3'' gait is adopted to walk. In the mechanical arm mode, the middle platform and the reconfiguration sub-platform are fixedly connected into a reconfiguration middle platform, the upper platform and the reconfiguration middle platform, the reconfiguration middle platform and the lower platform are connected through six RURU branch chains respectively, a double-parallel mechanism mechanical arm is formed, and the double-parallel mechanism cooperatively controls the mechanical claws to flexibly perform operations.
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