Heavy-load quadruped mobile platform based on planetary roller screw electric actuator

Abstract

The application discloses a heavy-load quadruped mobile platform based on a planetary roller screw electric actuator and relates to the technical fields of quadruped robots and heavy-load mobile platforms. The platform comprises a fuselage, a quadruped walking mechanism, an electric actuator, a working module mounting portion, a working module, a control unit, a detection unit and a safety protection unit. At least part of leg joints are driven by the electric actuator, and at least one electric actuator is a planetary roller screw electric actuator. The fuselage is provided with the working module mounting portion connected with a main load-bearing structure, and a mechanical arm module, a logistics working module, an industrial detection / forging module or a following load module can be mounted on the working module mounting portion. The control unit adjusts a leg support posture according to a fuselage posture, a foot end support state, an actuator position and a working module load state, so that a resultant barycenter projection is kept in a support area, thereby improving the stability and safety of the platform during heavy-load working.

Description

Technical Field

[0001] This invention relates to the field of quadruped robots and heavy-duty mobile platforms, specifically to a heavy-duty quadruped mobile platform based on a planetary roller screw electric actuator. Background Technology

[0002] Quadruped robots, due to their leg support and obstacle-crossing capabilities, are suitable for movement in unstructured or semi-structured environments such as slopes, gravel roads, farmland, industrial parks, mining areas, scenic spots, and workshops. Compared to wheeled or tracked platforms, quadruped mobile platforms can more easily traverse steps, ditches, and uneven ground, and have the potential to carry tools, goods, or work equipment in complex terrains.

[0003] Most existing quadruped robots are primarily used for inspection, display, or light-load transportation. Their leg drives typically employ rotary motors and reduction gears, or general electric cylinders for joint actuation. For heavy-duty scenarios requiring robotic arms, logistics traction modules, industrial tooling, cargo-carrying modules, or rehabilitation / travel cargo-carrying modules, the platform not only needs greater driving force and load-bearing capacity, but also reliable module installation capabilities and stable control under heavy-duty operating conditions.

[0004] In scenarios such as agricultural operations, smart logistics, industrial collaboration platforms, and rehabilitation travel, external operation modules may cause load shifts, extension of robotic arms, changes in traction force, or upward shift of the lifting center of gravity. If the operation module is only connected to the machine body through a common shell, thin plate, or temporary bracket, the load is difficult to effectively transfer to the main load-bearing structure, which can easily lead to loose connections, local deformation, or an increased risk of the entire machine tipping over.

[0005] Furthermore, if the platform only sets up external interfaces without linkage control over the body attitude, foot support status, actuator position, and work module load status, problems such as insufficient support area, deviation of the composite center of gravity projection from the support area, and difficulty in maintaining attitude after actuator overload or power failure may easily occur during heavy-duty operations, unstructured ground, or when the work module is extended.

[0006] Therefore, there is a need for a quadrupedal mobile platform that can take into account heavy-duty drive, modular operation and installation, load transfer and support stability control, so that the same chassis platform can be adapted to different application directions such as rehabilitation travel, agricultural operation, intelligent logistics and industrial collaboration platform. Summary of the Invention

[0007] The purpose of this invention is to provide a heavy-duty quadruped mobile platform based on a planetary roller screw electric actuator, in order to solve the problems of insufficient load-bearing capacity, unclear load transmission, decreased support stability, difficulty in maintaining safety under power failure or abnormal posture, and incompatibility with multiple working scenarios in existing quadruped robots when carrying external working modules.

[0008] To achieve the above objectives, the present invention provides a heavy-duty quadruped mobile platform. The platform includes a frame, a quadrupedal walking mechanism, electric actuators, a work module mounting section, a work module, a control unit, a detection unit, and a safety protection unit. The frame, as the main load-bearing structure, is used to mount the quadrupedal walking mechanism, power supply, control unit, detection unit, and work module mounting section. The quadrupedal walking mechanism includes multiple leg components, at least some of which are driven by electric actuators, at least one of which is a planetary roller screw electric actuator.

[0009] The work module mounting section is located at at least one of the upper, front, rear, or side parts of the machine body and is connected to the main load-bearing structure of the machine body. The work module mounting section may include a load-bearing connection seat, a quick-change mounting plate, a positioning structure, a locking structure, a power supply interface, a communication interface, an anti-detachment structure, or a vibration damping structure. The work module mounting section is used to mount at least one of the following: a robotic arm module, a cargo-carrying module, a traction module, a lifting module, a dragging module, a cargo docking module, an inspection module, an agricultural operation module, an industrial tooling module, or a traveling cargo-carrying module.

[0010] The control unit is communicatively connected to the detection unit. The detection unit may include at least one of the following: attitude detection unit, foot support detection unit, actuator position detection unit, work module status detection unit, or load estimation unit. When the platform is equipped with an external work module or is performing heavy-duty operations, the control unit adjusts the body height, leg attitude, or support foot position according to the body attitude, foot support status, actuator position, and work module load status, so that the combined center of gravity projection formed by the body and the work module remains within the support area formed by multiple grounded feet, or remains within a preset stability margin range.

[0011] When insufficient stability margin, abnormal foot support, abnormal locking of the working module, abnormal load, or abnormal platform posture is detected, the control unit may perform at least one of the following actions: reduce the height of the machine body, increase the distance between the support feet, adjust the landing point of the support feet, restrict the extension of the working module, suspend the operation, or perform braking or self-locking.

[0012] Compared with the prior art, the present invention has at least the following beneficial effects:

[0013] 1. By using a planetary roller screw electric actuator in a heavy-duty quadruped mobile platform, a large linear output force can be obtained in a small installation space, adapting to low-speed, high-thrust and impact load conditions.

[0014] 2. By setting up an operating module mounting section connected to the main load-bearing structure of the fuselage, the operating load generated by the robotic arm, logistics module, industrial tooling or cargo module can be effectively transferred to the main load-bearing frame of the fuselage, and then transferred to the ground through the leg components and feet.

[0015] 3. By designing the installation part of the operation module as a load-bearing, positionable, lockable structure that can provide power and communication, it is compatible with external operation modules in different scenarios such as rehabilitation travel, agricultural operations, intelligent logistics and industrial collaboration platforms.

[0016] 4. By controlling the support stability based on the body posture, foot support status, actuator position, and work module load status, the risk of overturning caused by the extension of the robotic arm, cargo traction, lifting, or load shifting during industrial operations can be reduced.

[0017] 5. By implementing braking, self-locking, mechanical limit, overload protection, or abnormal posture protection through the safety protection unit, the safety of the platform can be improved in the event of power failure, overload, foot slippage, or abnormal locking of the working module. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0019] Figure 1 This is a schematic side view of the overall structure of the heavy-duty quadruped mobile platform of the present invention;

[0020] Figure 2 This is a schematic diagram of the drive structure of the leg-mounted electric actuator of the present invention;

[0021] Figure 3 This is a schematic diagram of the installation section of the working module of the present invention;

[0022] Figure 4 This is a schematic diagram of the load transfer path for the present invention.

[0023] Figure 5 This is a schematic diagram of an embodiment of the replaceable operating module of the present invention;

[0024] Figure 6 This is a schematic diagram of an embodiment of the auxiliary operation interface before and after the present invention;

[0025] Figure 7 This is a schematic diagram showing the stability of the support region and the composite centroid projection of the present invention.

[0026] The components in the attached diagram are labeled as follows: 1-Body; 2-Four-legged walking mechanism; 21-Leg assembly; 211-Thigh; 212-Lower leg; 213-Foot end; 3-Electric actuator; 31-Planetary roller screw electric actuator; 4-Working module mounting part; 41-Bearing connection seat; 42-Quick-change mounting plate; 43-Positioning structure; 44-Locking structure; 45-Power supply interface; 46-Communication interface; 47-Front auxiliary working interface; 48-Rear auxiliary working interface; 5-Working module; 51-Robotic arm module; 52-Logistics working module; 53-Industrial inspection / tooling module; 54-Accompanying cargo module; 6-Control unit; 7-Detection unit; 8-Support area; 9-Synthetic center of gravity projection. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described below with reference to the accompanying drawings. It should be understood that the following embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. Equivalent substitutions or modifications made by those skilled in the art to related structures, connection methods, module types, and control methods without departing from the concept of the present invention should all fall within the scope of protection of the present invention.

[0028] Example 1

[0029] like Figure 1 and Figure 2 As shown, this embodiment provides a heavy-duty quadruped mobile platform based on a planetary roller screw electric actuator, including a body 1, a quadruped walking mechanism 2, an electric actuator 3, a work module mounting part 4, a work module 5, a control unit 6, a detection unit 7, and a safety protection unit.

[0030] The body 1 serves as the main load-bearing structure of the heavy-duty quadruped mobile platform, housing the quadruped walking mechanism 2, the work module mounting section 4, the control unit 6, the detection unit 7, and the safety protection unit. The quadruped walking mechanism 2 includes multiple leg components 21, which are respectively located on both sides or at the four corners of the body 1 to support the body 1 and enable platform movement.

[0031] Each leg assembly 21 includes a thigh 211, a lower leg 212, and a foot 213. One end of the thigh 211 is rotatably connected to the hip joint of the body 1, the lower leg 212 is rotatably connected to the thigh 211, and the foot 213 is located at the end of the lower leg 212. At least part of the leg joint is driven by an electric actuator 3, one end of which is connected to the body 1 or the previous leg segment, and the other end is connected to the thigh 211 or the lower leg 212, so that the linear extension and retraction motion of the electric actuator 3 can be converted into leg joint swinging through the connection position offset relative to the joint axis.

[0032] In a preferred embodiment, the electric actuator 3 is a planetary roller screw electric actuator 31. The planetary roller screw electric actuator 31 may include at least one of a motor, a transmission assembly, a planetary roller screw pair, a telescopic rod, a position detection unit, and a braking unit. Using a planetary roller screw electric actuator 31 is advantageous for providing a large axial output force within a small installation space, thus meeting the usage requirements of heavy-duty quadrupedal mobile platforms under low-speed, high-thrust, impact load, or complex terrain support conditions. The accompanying drawings may only indicate one electric actuator 3 or planetary roller screw electric actuator 31; other similar actuators may adopt the same or similar structures.

[0033] like Figure 3 As shown, a work module mounting section 4 is provided on the fuselage 1. The work module mounting section 4 can be located at least one of the upper, front, rear, or side parts of the fuselage 1. The work module mounting section 4 includes at least one of the following: a load-bearing connecting seat 41, a quick-change mounting plate 42, a positioning structure 43, a locking structure 44, a power supply interface 45, and a communication interface 46.

[0034] The load-bearing connection seat 41 is used to transfer the load generated by the working module 5 to the main load-bearing structure of the fuselage 1; the quick-change mounting plate 42 is used to form a universal working module installation interface; the positioning structure 43 is used to repeatedly position the working module 5 or its adapter structure; the locking structure 44 is used to prevent the working module 5 from detaching from the fuselage 1 under heavy load, vibration, or impact conditions; the power supply interface 45 and the communication interface 46 are used to reserve power supply and communication connection positions for the working module 5. The power supply interface 45 and the communication interface 46 are not limited to specific voltages, protocols, or connector models.

[0035] like Figure 5 As shown, the operation module 5 can be at least one of the following: robotic arm module 51, logistics operation module 52, industrial inspection / tooling module 53, or accompanying cargo module 54. The robotic arm module 51 can be used for agricultural operations, industrial collaboration, or other operational scenarios; the logistics operation module 52 can be used for cargo docking, lifting, towing, dragging, or short-distance transfer; the industrial inspection / tooling module 53 can be used for inspection, testing, tool mounting, or industrial collaboration; and the accompanying cargo module 54 can be used for rehabilitation travel, scenic area access, or outdoor cargo-carrying scenarios. All of the above operation modules 5 can be connected to the main body 1 via the operation module mounting part 4.

[0036] like Figure 6As shown, in one embodiment, the work module mounting section 4 includes a front auxiliary work interface 47 and a rear auxiliary work interface 48. The front auxiliary work interface 47 can be located in the front end area of ​​the fuselage 1 and is used to install a traction module, a towing module, a lifting module, a logistics docking module, or a forward tool module. The rear auxiliary work interface 48 can be located in the rear end area of ​​the fuselage 1 and is used to install a trailer module, an extended cargo module, a battery extension module, or a rearward work module. Both the front auxiliary work interface 47 and the rear auxiliary work interface 48 can include at least one of a quick-change mounting plate 42, a positioning structure 43, a locking structure 44, a power supply interface 45, and a communication interface 46.

[0037] like Figure 4 As shown, when the work module 5 is installed in the work module mounting part 4 and bears the work load, the work load is transferred from the work module 5 to the work module mounting part 4, then to the main load-bearing structure of the fuselage 1, and finally to the ground via the leg assembly 21 and foot end 213. Therefore, the work module 5 does not directly rely on the outer shell or thin sheet metal for load bearing, but instead forms a load transfer path with the main load-bearing structure of the fuselage 1 through the work module mounting part 4, thus improving the structural reliability during heavy-load operations.

[0038] like Figure 7 As shown, when the platform is equipped with the work module 5 or performing heavy-duty operations, multiple grounded foot ends 213 form a support area 8. The control unit 6 is communicatively connected to the detection unit 7, which is used to acquire at least one of the following: fuselage attitude, foot support state, actuator position, and work module load state. The control unit 6 adjusts the support attitude of the leg assembly 21 according to the information acquired by the detection unit 7, so that the combined center of gravity projection 9 formed by the fuselage 1 and the work module 5 is located within the support area 8, or maintained within a preset stability margin range.

[0039] When insufficient stability margin, abnormal foot support, abnormal load on the working module 5, or abnormal platform posture is detected, the control unit 6 can improve platform stability by at least one of the following methods: reducing the body height, adjusting the leg posture, increasing the distance between the supporting feet, limiting the continued extension of the working module 5, pausing the operation, or performing braking or self-locking. The above stability control methods are not limited to specific control algorithms, control parameters, or communication protocols.

[0040] Through the above structure, the heavy-duty quadruped mobile platform can be adapted to different operating modules 5 on the same platform and used in scenarios such as rehabilitation travel, agricultural operations, intelligent logistics, and industrial collaboration platforms. Compared with structures that only have a single operating tool mounted on the body, this embodiment improves the platform's load-bearing capacity, expandability, and safety under multi-scenario, multi-module, and heavy-duty operating conditions through the coordination of the operating module mounting part 4, the planetary roller screw electric actuator 31, the load transmission path, and the support stability control.

[0041] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims. Although this document frequently uses terms such as fuselage, quadrupedal walking mechanism, electric actuator, work module mounting section, control unit, detection unit, and support area, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of the invention, and interpreting them as any additional limitation would contradict the spirit of the invention.

Claims

1. A heavy-duty quadruped mobile platform based on a planetary roller screw electric actuator, characterized in that, The system includes a body, a quadrupedal walking mechanism, electric actuators, a work module mounting section, a control unit, a detection unit, and a safety protection unit. The quadrupedal walking mechanism is located on the body and includes multiple leg components. At least some of the leg joints of the leg components are driven by the electric actuators, and at least one of the electric actuators is a planetary roller screw electric actuator. The work module mounting section is located on the body and connected to the main load-bearing structure of the body, and is used to install external work modules. The detection unit is used to acquire at least one of the following: platform posture, foot support state, actuator position, and work module load state. The control unit is connected to the electric actuators, the detection unit, and the safety protection unit, and is configured to adjust the support posture of the leg components according to the platform posture, foot support state, and work module load state.

2. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The leg assembly includes a hip seat, a thigh component, a lower leg component, and a foot component. The thigh component is rotatably connected to the body or the hip seat, the lower leg component is rotatably connected to the thigh component, and the foot component is disposed at the end of the lower leg component.

3. The heavy-duty quadruped mobile platform according to claim 2, characterized in that, One end of the electric actuator is connected to the machine body, the hip seat, or the upper-level leg component, and the other end is connected to the corresponding leg component. The connection point of the electric actuator is offset relative to the axis of the corresponding leg joint, so that the linear push-pull force of the electric actuator is converted into leg joint torque.

4. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The planetary roller screw electric actuator includes at least one of a motor, a transmission assembly, a planetary roller screw pair, a telescopic rod, a position detection unit, and a braking unit.

5. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The operating module mounting part is located at at least one of the upper, front, rear or side parts of the machine body.

6. The heavy-duty quadruped mobile platform according to claim 1 or 5, characterized in that, The installation section of the work module includes at least one of the following: load-bearing connecting seat, quick-change mounting plate, positioning structure, locking structure, power supply interface, communication interface, anti-detachment structure, and vibration damping structure.

7. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The work module mounting section is configured to transmit the work load generated by the external work module to the main load-bearing structure of the fuselage via the work module mounting section, and then to the ground via the leg assembly and foot end component.

8. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The external operation module is at least one of the following: robotic arm module, cargo loading module, traction module, lifting module, dragging module, cargo docking module, inspection module, agricultural operation module, industrial tooling module, or accompanying cargo loading module.

9. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The control unit is communicatively connected to at least one of the attitude detection unit, foot support detection unit, actuator position detection unit, work module status detection unit, and load estimation unit.

10. The heavy-duty quadruped mobile platform according to claim 9, characterized in that, The control unit adjusts the body height, leg posture, or supporting foot position based on the body posture information, foot contact or support status, position feedback of each leg electric actuator, and load status of the work module, so that the combined center of gravity projection formed by the body and the external work module is kept within the support area formed by multiple grounded feet, or within a preset stability margin range.

11. The heavy-duty quadruped mobile platform according to claim 10, characterized in that, When the preset stability margin is insufficient, the control unit performs at least one of the following actions: reducing the height of the machine body, increasing the distance between the support feet, adjusting the angle of the leg joints, adjusting the landing point of the support feet, restricting the extension of the working module, pausing the working action, and performing braking or self-locking.

12. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The safety protection unit includes at least one of the following: actuator braking unit, self-locking holding unit, mechanical limit unit, overload protection unit, abnormal posture protection unit, foot support abnormal protection unit, and work module locking abnormal protection unit.

13. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The work module installation part includes a load-bearing connecting seat for connecting the base of the robotic arm. The load-bearing connecting seat is connected to the main load-bearing structure of the machine body and is provided with a power supply interface and / or a communication interface for providing electrical or signal connections to the robotic arm.

14. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The external operation module includes a cargo docking module, a traction module, or a lifting module for intelligent logistics. The cargo docking module is used to connect with at least one target object among cargo boxes, turnover boxes, pallets, unmanned vehicle cargo compartments, station shelves, or mobile vehicles.

15. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The external operation module includes at least one of the following for industrial collaboration platforms: inspection equipment, testing equipment, fixture module, tool module, collaborative robotic arm, mobile tooling, or temporary support device.

16. The heavy-duty quadruped mobile platform according to claim 1, characterized in that, The heavy-duty quadruped mobile platform is used for carrying, towing, lifting, dragging, inspecting, testing, or assisting in scenarios such as rehabilitation travel, agricultural operations, intelligent logistics, or industrial collaboration platforms.

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