Mechanical arm assembly, four-wheel foot robot and control method

Abstract

The application discloses a mechanical arm assembly, a four-wheel foot robot and a control method, wherein the mechanical arm assembly is used for connecting the four-wheel foot robot and a directional launching device, and the mechanical arm assembly comprises a base, a first pitching joint group, a connecting arm, a second pitching joint group and a clamping assembly; the connecting arm is rotationally connected with the first pitching joint group and the second pitching joint group at two ends; the clamping assembly is used for clamping the directional launching device, and the clamping assembly comprises a first clamping base plate and a second clamping base plate, and energy relief assemblies are fixedly connected on the first clamping base plate and the second clamping base plate; the energy relief assembly comprises a sliding block, a guide rod and a buffer compression spring, the sliding block and the buffer compression spring are sleeved on the guide rod, and the sliding block is fixedly connected with the first pitching joint group. The mechanical arm assembly of the application eliminates high-frequency transient recoil force generated when the directional launching device is fired through the energy relief assembly of the clamping assembly, and improves the stability and shooting accuracy of the four-wheel foot robot.

Description

Technical Field

[0001] This invention relates to the field of special mobile operation robot technology, specifically to a robotic arm assembly, a four-wheeled legged robot, and a control method. Background Technology

[0002] In related technologies, four-wheeled robots mainly focus on adapting to static mass distribution by adjusting chassis gait, failing to effectively cope with the high-frequency transient recoil generated when a directional firing device is fired. In existing conventional single-sided cantilever structures, this asymmetrical high-frequency impact easily induces significant lateral shear deformation and lateral torsion, causing instantaneous deviations in the aiming baseline; and due to the lack of a physical energy dissipation buffer mechanism along the bore axis, strong impact pulses are easily transmitted directly to the actuator motor, which will significantly increase the risk of motor overload and structural fatigue damage under long-term operation. Summary of the Invention

[0003] The present invention aims to address, to a certain extent, one of the technical problems in the prior art. To this end, the present invention provides a robotic arm assembly, a four-wheeled robot, and a control method, which solves the problem of high-frequency transient recoil generated during firing of a directional launching device in the prior art, improves the posture stability of the four-wheeled robot during firing of the directional launching device, and enhances shooting accuracy.

[0004] In a first aspect, to achieve the above objectives, the present invention provides a robotic arm assembly for connecting a mobile chassis assembly and a directional launching device of a four-wheeled robot, the robotic arm assembly comprising: The base is fixedly connected to the mobile chassis assembly; The first pitch joint assembly has one end fixedly connected to the base and the other end rotatably connected to a connecting arm. A connecting arm, the two ends of which are respectively rotatably connected to the first pitch joint assembly and the second pitch joint assembly; The second pitch joint assembly is rotatably connected to the connecting arm and is fixedly connected to a clamping assembly. A clamping assembly for clamping a directional launching device includes a first clamping base plate and a second clamping base plate symmetrically clamping both sides of the directional launching device. An energy dissipation assembly is fixedly connected to both the first and second clamping base plates. The energy dissipation assembly includes a slider, a guide rod, and a buffer spring. The slider and the buffer spring are sleeved on the guide rod. The slider is fixedly connected to a second pitch joint assembly. The buffer spring applies damping force to the slider to eliminate the recoil generated during the firing process of the directional launching device.

[0005] Preferably, the first clamping base plate and the second clamping base plate are both fixedly connected to the guide rod of the energy dissipation assembly, and the central axes of the two guide rods are both arranged parallel to the bore axis of the directional launching device, and the three are located in the same height plane.

[0006] Preferably, the slider is sleeved on the middle section of the guide rod, and the buffer spring is sleeved on both sides of the guide rod located on the slider.

[0007] Preferably, the first pitch joint assembly includes a first active joint and a first passive joint, the first active joint and the first passive joint are respectively located on both sides of the directional launching device and fixedly connected to the base, the connecting arm includes a first connecting arm and a second connecting arm, the second pitch joint assembly includes a second active joint and a second passive joint, the two ends of the first connecting arm are respectively rotatably connected to the first active joint and the second active joint through bearings, and the two ends of the second connecting arm are respectively rotatably connected to the first passive joint and the second passive joint through bearings.

[0008] Preferably, both the first active joint and the first driven joint include a first roller bearing. The first roller bearing is a cylindrical orthogonal roller bearing. The first roller bearing includes a bearing inner ring and a bearing outer ring that rotate relative to each other. One of the bearing inner ring or the bearing outer ring is fixedly connected to the first connecting arm or the second connecting arm, and the other is fixedly connected to the base, so that the first connecting arm and the second connecting arm are rotatably connected to the first active joint and the first driven joint respectively through the bearing. The first active joint also includes a first driving device, which is used to drive the inner ring of the first roller bearing to rotate relative to the outer ring of the bearing, so as to adjust the rotational position of the connecting arm.

[0009] Preferably, both the second active joint and the second driven joint include a second roller bearing. The second roller bearing is also configured as a cylindrical orthogonal roller bearing. The second roller bearing includes a bearing inner ring and a bearing outer ring that rotate relative to each other. One of the bearing inner ring or the bearing outer ring is fixedly connected to the first connecting arm or the second connecting arm, and the other is fixedly connected to the slider of the clamping assembly, so that the first connecting arm and the second connecting arm are rotatably connected to the second active joint and the second driven joint respectively through the bearing. The second active joint also includes a second driving device, which is used to drive the inner ring of the second roller bearing to rotate relative to the outer ring of the bearing, so as to adjust the pitch angle of the clamping assembly.

[0010] Preferably, a connecting bridge plate is also fixedly connected between the first clamping substrate and the second clamping substrate.

[0011] Preferably, the base includes a base and a yaw drive joint module located on the base. The yaw drive joint module includes a third roller bearing, a third drive device, and a connecting plate. The third roller bearing is a cylindrical orthogonal roller bearing. One of the inner ring or the outer ring of the third roller bearing is fixedly connected to the base, and the other is fixedly connected to the connecting plate. The connecting plate is used to support the first pitch joint assembly. The third drive device is used to drive the inner ring of the third roller bearing to rotate relative to the outer ring.

[0012] Secondly, this application also provides a four-wheeled legged robot, including a mobile chassis assembly and a robotic arm assembly, wherein the robotic arm assembly is mounted on the mobile chassis assembly, and the robotic arm assembly is configured as described in any one of the above technical solutions. The beneficial effects of the four-wheeled legged robot proposed in this application are similar to the beneficial effects of the aforementioned robotic arm assembly, and will not be repeated here.

[0013] Thirdly, this application also provides a four-wheeled legged robot control method for controlling the four-wheeled legged robot as described in the above technical solution, comprising: Acquire two-dimensional image data of the target being tracked and extract two-dimensional pixel feature boxes of the target being tracked; A three-dimensional point cloud sequence of the environment in which the tracking target is located is obtained, and the two-dimensional pixel feature box is projected into the three-dimensional point cloud frustum space according to the calibration parameter space to obtain the three-dimensional observation pose data of the tracking target. An asynchronous Kalman filter is constructed to predict the 3D observation pose data of the tracked target, so as to smoothly and continuously output the 3D pose reference data of the tracked target. The beneficial effects of the four-wheeled legged robot control method proposed in this application are similar to those of the aforementioned four-wheeled legged robots, and will not be repeated here.

[0014] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. The embodiments or means of the present invention will be illustrated in detail with reference to the accompanying drawings, but are not intended to limit the technical solutions of the present invention. Furthermore, each of these features, elements, and components appearing in the following text and drawings is a plurality, and different symbols or numbers are used for convenience of representation, but all represent parts with the same or similar construction or function. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a three-dimensional structural diagram of the robotic arm assembly (including the directional launching device) in this embodiment. Figure 2 This is a three-dimensional structural diagram of the robotic arm assembly in this embodiment; Figure 3This is a schematic diagram of the front view structure of the robotic arm assembly in this embodiment; Figure 4 yes Figure 3 The left view; Figure 5 This is an exploded structural diagram of the robotic arm assembly in this embodiment; Figure 6 yes Figure 5 A schematic diagram of the decomposed structure from another perspective; Figure 7 This is a three-dimensional structural diagram of the four-wheeled robot in this embodiment; Figure 8 yes Figure 7 A structural diagram from another perspective; Figure 9 This is a top view of the four-wheeled robot in this embodiment; Figure 10 This is a schematic diagram of the front view structure of the four-wheeled legged robot in this embodiment; Figure 11 yes Figure 10 The left view; Figure 12 This is a logic block diagram of the four-wheeled legged robot control method in this embodiment; Figure 13 This is a flowchart of the perception and control process of the four-wheeled legged robot control method in this embodiment; Figure 14 This is a flowchart of the recoil elimination control method for the four-wheeled legged robot in this embodiment; Figure 15 This is a flowchart of the active shock absorption control process of the four-wheeled legged robot control method in this embodiment; Figure 16 This is a flowchart of the dynamic tracking closed-loop control process of the four-wheeled legged robot control method in this embodiment.

[0016] Figure label: 100. Mobile chassis assembly; 110. Chassis main body; 120. Mounting position; 130. Actuation component; 140. Motion control module; 200. Base; 210. Base; 220. Yaw drive joint module; 300. Robotic arm assembly; 310. First pitch joint assembly; 311. First active joint; 312. First driven joint; 320. Connecting arm; 321. First connecting arm; 322. Second connecting arm; 330. Second pitch joint assembly 331. Second active joint; 332. Second driven joint; 340. Clamping assembly; 342. First clamping base plate; 343. Second clamping base plate; 344. Connecting bridge plate; 345. Guide rod; 346. Buffer spring; 347. Slider; 410. Directional launching device; 421. Bracket; 422. Three-dimensional lidar; 423. High-frequency vision camera; 424. Camera mounting component; 425. Inertial measurement unit; 430. Laser pointer emitter. Detailed Implementation

[0017] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain the present invention and should not be construed as limiting the invention.

[0018] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this patent. The phrase "in some embodiments" appearing in various places in the specification does not necessarily refer to the same embodiment.

[0019] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0020] like Figures 1 to 6 As shown, this embodiment provides a robotic arm assembly 300 for connecting the mobile chassis assembly 100 of a four-wheeled robot and the directional launching device 410. The robotic arm assembly 300 includes: The base 200 is fixedly connected to the mobile chassis assembly 100. The mobile chassis assembly 100 is provided with a mounting position 120. The base 200 is disposed in the mounting position 120. The mobile chassis assembly 100 is also provided with a motion control module 140. The motion control module 140 is used to control the movement of the execution component 130 of the mobile chassis assembly 100. The first pitch joint assembly 310 has one end fixedly connected to the base 200 and the other end rotatably connected to the connecting arm 320. Connecting arm 320, the two ends of which are rotatably connected to the first pitch joint group 310 and the second pitch joint group 330, respectively; The second pitch joint assembly 330 is rotatably connected to the connecting arm 320 and is fixedly connected to the clamping assembly 340. A clamping assembly 340 is used to clamp the directional launching device 410. The clamping assembly 340 includes a first clamping base plate 342 and a second clamping base plate 343 symmetrically clamping both sides of the directional launching device 410. An energy dissipation assembly is fixedly connected to both the first clamping base plate 342 and the second clamping base plate 343. The energy dissipation assembly includes a slider 347, a guide rod 345 and a buffer spring 346. The slider 347 and the buffer spring 346 are sleeved on the guide rod 345. The slider 347 is fixedly connected to the second pitch joint assembly 330. The buffer spring 346 is used to apply damping force to the slider 347 to eliminate the recoil generated during the firing process of the directional launching device 410.

[0021] In the above embodiment, the directional launching device 410 is clamped by the first clamping base plate 342 and the second clamping base plate 343. The recoil force generated when the directional launching device 410 is fired is eliminated by setting the energy dissipation component on the first clamping base plate 342 and the second clamping base plate 343, so as to prevent the recoil force generated when the directional launching device 410 is fired from being transmitted to the mobile chassis assembly 100 of the four-wheeled robot and affecting the motion balance of the four-wheeled robot. The energy dissipation component is provided with a buffer spring 346 to eliminate the high-frequency transient vibration transmitted from the directional launching device 410 to the slider 347, so that the directional launching device 410 and the clamping component 340 can be quickly stabilized.

[0022] In some embodiments, such as Figure 5 , 6As shown, the first clamping base plate 342 and the second clamping base plate 343 are both fixedly connected to the guide rods 345 of the energy dissipation assembly. The central axes of the two guide rods 345 are parallel to the bore axis of the directional launching device 410, and all three are located in the same height plane. The guide rods 345 with guiding function and the sliders 347 sliding on the guide rods 345 are respectively fixedly configured on the outer side walls of the first clamping base plate 342 and the second clamping base plate 343 by bolts. When the directional firing device 410 is in the firing state, the directional firing device 410, together with the top bracket 421 and the sensing components such as the three-dimensional laser radar 422 and the inertial measurement unit 425 located on the bracket 421, slides relative to the external clamping base plate along the bore axis. This sliding displacement directly forces the slider 347 on the guide rod 345 to compress the axially arranged buffer spring 346, thereby completely confining the passive energy dissipation stroke within a physical channel parallel to the bore axis. In this embodiment, the bore axis is the extension of the barrel center axis of the directional firing device 410.

[0023] In some embodiments, such as Figure 5 , 6 As shown, the slider 347 is sleeved on the middle section of the guide rod 345, and the buffer springs 346 are sleeved on both sides of the guide rod 345. By providing buffer springs 346 on both sides of the slider 347, the slider 347 and the clamping base plate fixedly connected to the slider 347 can quickly dissipate energy and stabilize.

[0024] In some embodiments, such as Figure 5 , 6As shown, the first pitch joint assembly 310 includes a first active joint 311 and a first driven joint 312. The first active joint 311 and the first driven joint 312 are located on both sides of the directional launching device 410 and are fixedly connected to the base 200. The connecting arm 320 includes a first connecting arm 321 and a second connecting arm 322. The second pitch joint assembly 330 includes a second active joint 331 and a second driven joint 332. The two ends of the first connecting arm 321 are rotatably connected to the first active joint 311 and the second active joint 331 respectively via bearings. The two ends of the second connecting arm 322 are rotatably connected to the first driven joint 312 and the second driven joint 332 respectively via bearings. In this embodiment, the first pitch joint assembly 310 serves as a redundant vibration damping axis to absorb low-frequency fluctuations generated by the chassis main body 110. The second pitch joint assembly 330 serves as the aiming main mission axis, and its rotation axis coincides with the center of mass of the upper load, enabling high-frequency response with extremely low rotational inertia. The first active joint 311 and the first passive joint 312 are located on both sides of the directional launch device 410, and the center of gravity of the first active joint 311 and the center of gravity of the first passive joint 312 are symmetrically distributed around the central axis of the directional launch device 410 by means of counterweight. This layout not only ensures that the counter recoil force can be evenly transmitted to the base 200, but also effectively avoids the generation of additional static torque at the yaw drive joint module 220 due to load offset.

[0025] In some embodiments, both the first active joint 311 and the first driven joint 312 include a first roller bearing. The first roller bearing is a cylindrical orthogonal roller bearing. The first roller bearing includes an inner bearing ring and an outer bearing ring that rotate relative to each other. One of the inner bearing ring or the outer bearing ring is fixedly connected to the first connecting arm 321 or the second connecting arm 322, and the other is fixedly connected to the base 200, so that the first connecting arm 321 and the second connecting arm 322 are respectively rotatably connected to the first active joint 311 and the first driven joint 312 through the bearing. The first active joint 311 also includes a first driving device, which drives the inner ring of the first roller bearing to rotate relative to the outer ring of the bearing, thereby adjusting the rotational position of the connecting arm 320. In this embodiment, by setting the first roller bearing as a cylindrical orthogonal roller bearing, the structural strength of the robotic arm assembly 300 can be effectively improved. In high-load, high-dynamic shooting scenarios, spring buffer alone cannot completely eliminate the composite stress transmitted to the joint. Traditional single-drive motors are usually equipped with only deep groove ball bearings or angular contact ball bearings. These bearings mainly bear radial forces. Once faced with the huge axial impact force and overturning moment transmitted from the directional firing device 410, they are prone to steel ball breakage or structural fatigue damage. The cylindrical rollers inside the omnidirectional impact-resistant cylindrical orthogonal roller bearing are arranged perpendicularly and orthogonally to each other at 90 degrees on the V-groove rolling surface. This special mechanical structure allows a single omnidirectional impact-resistant cylindrical orthogonal roller bearing to simultaneously and efficiently bear radial loads, axial loads, and overturning moments caused by recoil.

[0026] In some embodiments, both the second active joint 331 and the second driven joint 332 include a second roller bearing. The second roller bearing is also configured as a cylindrical orthogonal roller bearing. The second roller bearing includes a bearing inner ring and a bearing outer ring that rotate relative to each other. One of the bearing inner ring or the bearing outer ring is fixedly connected to the first connecting arm 321 or the second connecting arm 322, and the other is fixedly connected to the slider 347 of the clamping assembly 340, so that the first connecting arm 321 and the second connecting arm 322 are respectively rotatably connected to the second active joint 331 and the second driven joint 332 through the bearing. The second active joint 331 also includes a second driving device, which drives the inner ring of the second roller bearing to rotate relative to the outer ring of the bearing, thereby adjusting the pitch angle of the clamping assembly 340. In this embodiment, the second roller bearing is also configured as a cylindrical orthogonal roller bearing, enabling the second roller bearing to efficiently withstand radial loads, axial loads, and overturning moments caused by recoil.

[0027] In some embodiments, such as Figure 5 , 6As shown, a connecting bridge plate 344 is also fixedly connected between the first clamping base plate 342 and the second clamping base plate 343. During assembly, the main body of the directional firing device 410 is clamped between the two base plates; and at the bottom of the two base plates, the anti-torsion connecting bridge plate 344 is rigidly locked to the lower end face of the left first clamping base plate 342 and the right second clamping base plate 343 respectively by multiple sets of high-strength bolts. This transverse bolt fastening assembly makes the originally independent left and right side plates and the connecting bridge plate 344 together form a closed-loop anti-torsion truss, which can withstand the severe high-frequency vibration generated by the directional firing device 410 during continuous firing.

[0028] In some embodiments, such as Figure 5 , 6 As shown, the base 200 includes a base 210 and a yaw drive joint module 220 located on the base 210. The yaw drive joint module 220 includes a third roller bearing, a third drive device, and a connecting plate. The third roller bearing is a cylindrical orthogonal roller bearing. One of the inner ring or the outer ring of the third roller bearing is fixedly connected to the base 210, and the other is fixedly connected to the connecting plate. The connecting plate is used to support the first pitch joint assembly 310. The third drive device is used to drive the inner ring of the third roller bearing to rotate relative to the outer ring. In this embodiment, the rotation axis of the yaw drive joint module 220 is perpendicular to the back plane of the chassis and is responsible for controlling the horizontal rotation tracking of the upper robotic arm assembly 300 and the load. A cylindrical orthogonal roller bearing is also fitted around the motor of the yaw drive joint module 220. By combining active drive with passive cylindrical orthogonal roller bearings for high rigidity, the system forcibly unloads fatal transient impact forces onto the robust cylindrical orthogonal roller bearings and external rigid support arms, thus forming physical isolation and protection for the core drive motor and significantly extending the service life of the entire four-wheeled robot in harsh battlefield environments.

[0029] In some embodiments, such as Figure 5 , 6 As shown, the directional launching device 410 is also equipped with a sensing module, which includes a bracket 421, a camera mounting component 424, and a laser designator emitter 430. A three-dimensional lidar 422 (radar module) is mounted on the bracket 421, and a high-frequency vision camera 423 is mounted on the camera mounting component 424. The high-frequency vision camera 423 is used to acquire two-dimensional images of the target, and the three-dimensional lidar 422 is used to acquire three-dimensional point cloud data of the target. The directional launching device 410 is also equipped with a laser designator emitter 430, which is used to provide an intuitive physical aiming reference.

[0030] like Figures 7 to 11As shown, this embodiment also provides a four-wheeled legged robot, including a mobile chassis assembly 100 and a robotic arm assembly 300. The robotic arm assembly 300 is mounted on the mobile chassis assembly 100, and the robotic arm assembly 300 is configured as described in any one of the above technical solutions. The beneficial effects of the four-wheeled legged robot proposed in this application are similar to those of the aforementioned robotic arm assembly 300, and will not be repeated here.

[0031] like Figures 12 to 16 As shown, this embodiment also provides a four-wheeled legged robot control method for controlling the four-wheeled legged robot as described in the above technical solution, including: Acquire two-dimensional image data of the target being tracked and extract two-dimensional pixel feature boxes of the target being tracked; A three-dimensional point cloud sequence of the environment in which the tracking target is located is obtained, and the two-dimensional pixel feature box is projected into the three-dimensional point cloud frustum space according to the calibration parameter space to obtain the three-dimensional observation pose data of the tracking target. An asynchronous Kalman filter is constructed to predict the 3D observation pose data of the tracked target, so as to output the 3D pose reference data of the tracked target smoothly and continuously. The control method of this embodiment acquires 2D image data of the tracked target through a high-frequency vision camera 423 and acquires a 3D point cloud sequence through a 3D LiDAR 422. The high-frequency vision camera 423 acquires the 2D image sequence of the target at a first sampling frequency (e.g., 50Hz-100Hz) and extracts the 2D pixel feature boxes of the target using a deep learning detection operator; simultaneously, the 3D LiDAR 422 acquires the 3D point cloud sequence of the environment at a second sampling frequency (e.g., 10Hz). To achieve spatial alignment of the data, the system pre-calibrates the camera and LiDAR to obtain the rotation and translation matrices between them. The system projects the 2D pixel feature boxes extracted by the high-frequency vision camera 423 onto the point cloud view frustum space of the 3D LiDAR 422 according to the calibration parameter space. By performing point cloud segmentation and clustering within the view frustum, the system can remove background clutter, thereby extracting the true initial 3D pose data of the target in the LiDAR coordinate system.

[0032] like Figure 13 As shown, to address the issue of inconsistent sampling rates between the camera and radar (the camera frequency is much higher than the radar frequency), this application's control method constructs an asynchronous Kalman filter for target state estimation. The system's state vector is defined as... This represents the target's position and velocity in three-dimensional space. The filter's operation logic consists of the following two asynchronous stages: Low-frequency real measurement calibration phase (radar update cycle): When the effective observation frame of the 3D lidar 422 arrives (i.e., the 10Hz trigger point), the filter executes the "measurement update" step. The system uses the high-precision 3D pose acquired by the radar as the real measurement value, calculates the residual and updates the Kalman gain, thereby strongly calibrating the predicted state of the previous stage, eliminating accumulated errors, and ensuring the accuracy of the target's absolute position.

[0033] High-frequency trajectory prediction phase (camera gap period): During the time gap between two adjacent radar data frames, the system operates solely based on observation data from the high-frequency visual camera 423. At this time, the filter performs the "prediction and forward interpolation" step. The system uses the ideal velocity state equation obtained from the previous filtering cycle, combined with the target's two-dimensional pixel displacement changes acquired by the high-frequency camera, to perform forward extrapolation of the high-frequency three-dimensional trajectory. Specifically, the system uses visual data to lock onto the target's azimuth and elevation angle trends, and combines this with Kalman spectral prediction velocity for linear interpolation in the depth dimension. This allows the system to output smooth and continuous three-dimensional pose reference data at a frequency of 50Hz-100Hz even during the radar measurement gap period.

[0034] like Figure 13 As shown, through the aforementioned asynchronous multi-rate fusion mechanism, the system overcomes the limitations of traditional depth camera ranging and the temporal discontinuities of a single lidar. The high-frequency 3D trajectory data, after adaptive Kalman filtering, is further smoothed and denoised by a tracking differentiator, and finally converted in real-time into angle control commands required by the robotic arm assembly 300 to perform its tasks. This ensures that even if the target undergoes high-dynamic maneuvers or short-term occlusion, the line of sight of the end-effector directional launcher 410 can always maintain predictive lock-on to the target.

[0035] like Figure 14 As shown, in response to the high-frequency transient recoil generated by the directional launch device 410 at the moment of firing, the present invention constructs an anti-interference system with deep coupling between the physical layer and the control layer, and resolves the impact disturbance through hardware energy dissipation and software feedforward compensation.

[0036] At the physical defense level, the system achieves an organic combination of "rigidity" and "flexibility" through the precise assembly of the robotic arm assembly 300. Firstly, regarding "rigid" torsional resistance, the system utilizes a first clamping base plate 342, a second clamping base plate 343, and a torsional connecting bridge plate 344 spanning between them to construct a single-drive, double-branch symmetrical clamping structure. This closed-loop truss architecture can rapidly and evenly distribute the asymmetric recoil force generated by the directional firing device 410 to the two side arms, eliminating the lateral deformation and yaw phenomena commonly found in traditional structures from a physical configuration perspective. Secondly, regarding "flexible" energy dissipation, the system relies on the guide rod 345 and the buffer spring 346 to establish a passive buffering mechanism. The violent transient impact generated at the moment of firing is strictly constrained within the guide rail channel coaxial with the bore axis and rapidly converted into the elastic potential energy of the buffer spring 346 for attenuation, thereby filtering out most of the high-frequency vibration energy.

[0037] like Figure 14 As shown, at the control algorithm level, an Active Disturbance Rejection Control (ADRC) strategy is introduced to address the residual nonlinear impact after filtering by the physical buffer mechanism. Because the recoil burst time is extremely short (milliseconds), traditional feedback control struggles to achieve real-time response. This embodiment utilizes the core component of ADRC, the Extended State Observer (ESO), to uniformly define the residual recoil, modeling error, and external random disturbances experienced by the system as the "total disturbance." The ESO, through real-time observation of the motor angular velocity and current state, can estimate the real-time value of this total disturbance in a very short time. Subsequently, the control algorithm generates a feedforward compensation command that is equal in value to and inversely proportional to the estimated disturbance, and directly superimposes it onto the torque output of each joint motor. This collaborative mode of "physical energy dissipation + feedforward offset" ensures that even when facing a drastic load change at the moment of firing, the output torque of the joint motors maintains extremely high stability, guaranteeing the end-pointing accuracy of the directional launcher 410 under continuous firing conditions.

[0038] like Figure 15 As shown, for the low-frequency Z-axis undulation and fuselage pitch (i.e., gait sway) generated by the four-wheeled foot mobile chassis assembly 100 when traveling on unstructured terrain, this invention breaks away from the traditional mechanical stabilization dependence in the pure algorithm dimension and innovatively proposes an active shock absorption control strategy based on kinematic redundancy.

[0039] The core logic of this control strategy lies in the system's precise dimensionality reduction and multi-priority division of control tasks. The algorithm explicitly defines maintaining the absolute line-of-sight pointing of the end-effector 410 towards the air target as the system's highest priority primary task. Since constraining the direction of a ray in three-dimensional space only requires two degrees of freedom, pitch and yaw, and the base 200 and the robotic arm assembly 300 of this invention form a three-degree-of-freedom kinematic platform including a yaw drive joint module 220, a first pitch joint group 310, and a second pitch joint group 330, the control algorithm, through this asymmetry in task dimensions, successfully releases one redundant kinematic degree of freedom of the robotic arm at the mathematical level and dedicates it specifically to performing the secondary shock absorption task of isolating four-wheeled chassis disturbances.

[0040] During the execution of the multi-priority control law, the system first utilizes the high-frequency inertial measurement unit 425 built into the chassis main body 110 and the inertial measurement unit 425 configured at the end load to extract the Z-axis displacement and attitude fluctuation amount transmitted upward from the chassis in real time. Subsequently, the controller calculates the pseudo-inverse of the Jacobian matrix of the three-axis manipulator under the current configuration and its corresponding null space projection matrix in real time. The system uses the extracted chassis fluctuation disturbance amount as the compensation target and directly maps it into the null space projection matrix, thereby generating secondary compensation commands for the first pitch joint group 310 and the second pitch joint group 330. Due to the mathematical characteristics of null space mapping, the high-frequency reverse linkage folding motion driven by the compensation command of the dual pitch joints will not generate any coupling components in the main task space (i.e., aiming space). Ultimately, the system utilizes this kinematic redundancy degree of freedom to construct an active flexible compensation mechanism. Under the premise of strictly constraining the zero deviation of the line of sight of the terminal directional launch device 410 towards the air target, it adaptively absorbs the vertical and pitch dynamic displacements transmitted upward by the chassis main body 110. From the kinematic dimension of the mechanism, it isolates the low-frequency gait disturbances during travel on unstructured terrain, ensuring the absolute inertial stability of the terminal load under high dynamic off-road conditions.

[0041] like Figure 16 As shown, after completing the high-frequency shock absorption and anti-disturbance compensation of the end effector, in order to ensure that the system has long-term and wide-range continuous tracking capability, this invention constructs a chassis collaborative tracking control strategy in the macroscopic dimension.

[0042] The core of this strategy lies in maintaining the robotic arm assembly 300 within its kinematically redundant workspace. The system monitors the target's macroscopic trajectory and motion trend in real time through the motion control module 140, which is output by the multimodal perception module. When the target is about to exceed the efficient compensation zone of the robotic arm assembly 300 due to high-speed movement, or when the robotic arm joints approach their physical limits, the control algorithm generates a wide-range coarse adjustment command based on the target trajectory prediction. This command is sent from the motion control module 140 to the bionic four-wheeled actuation component 130, causing the main body of the drive chassis 110 to perform macroscopic displacement or heading adjustment towards the target. During this process, the large-scale, low-frequency macroscopic tracking performed by the chassis complements the small-scale, high-frequency precise locking and zero-space shock absorption performed by the robotic arm assembly 300, together forming a "macro-micro synergy" global dynamic tracking closed loop. This ensures that the system will not lose target lock due to the limited workspace of the robotic arm in open and unstructured battlefield environments.

[0043] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A robotic arm assembly for connecting a mobile chassis assembly (100) and a directional launching device (410) of a four-wheeled legged robot, characterized in that, The robotic arm assembly (300) includes: The base (200) is fixedly connected to the mobile chassis assembly (100); The first pitch joint assembly (310) has one end fixedly connected to the base (200) and the other end rotatably connected to the connecting arm (320). Connecting arm (320), the two ends of which are rotatably connected to the first pitch joint group (310) and the second pitch joint group (330), respectively; The second pitch joint assembly (330) is rotatably connected to the connecting arm (320) and is fixedly connected to the clamping assembly (340). A clamping assembly (340) is used to clamp a directional launching device (410). The clamping assembly (340) includes a first clamping plate (342) and a second clamping plate (343) symmetrically clamped on both sides of the directional launching device (410). An energy dissipation assembly is fixedly connected to both the first clamping plate (342) and the second clamping plate (343). The energy dissipation assembly includes a slider (347), a guide rod (345), and a buffer spring (346). The slider (347) and the buffer spring (346) are sleeved on the guide rod (345). The slider (347) is fixedly connected to the second pitch joint assembly (330). The buffer spring (346) is used to apply a damping force to the slider (347) to eliminate the recoil generated during the firing process of the directional launching device (410).

2. The robotic arm assembly according to claim 1, characterized in that, The first clamping base plate (342) and the second clamping base plate (343) are both fixedly connected to the guide rod (345) of the energy dissipation assembly. The central axes of the two guide rods (345) are parallel to the bore axis of the directional launching device (410), and the three are located in the same height plane.

3. The robotic arm assembly according to claim 2, characterized in that, The slider (347) is sleeved on the middle section of the guide rod (345), and the buffer springs (346) are sleeved on both sides of the guide rod (345) located on the slider (347).

4. The robotic arm assembly according to claim 1, characterized in that, The first pitch joint assembly (310) includes a first active joint (311) and a first driven joint (312). The first active joint (311) and the first driven joint (312) are located on both sides of the directional launching device (410) and are fixedly connected to the base (200). The connecting arm (320) includes a first connecting arm (321) and a second connecting arm (322). The second pitch joint assembly (330) includes a second active joint (331) and a second driven joint (332). The two ends of the first connecting arm (321) are rotatably connected to the first active joint (311) and the second active joint (331) respectively through bearings. The two ends of the second connecting arm (322) are rotatably connected to the first driven joint (312) and the second driven joint (332) respectively through bearings.

5. The robotic arm assembly according to claim 4, characterized in that, Both the first active joint (311) and the first driven joint (312) include a first roller bearing. The first roller bearing is a cylindrical orthogonal roller bearing. The first roller bearing includes a bearing inner ring and a bearing outer ring that rotate relative to each other. One of the bearing inner ring or the bearing outer ring is fixedly connected to the first connecting arm (321) or the second connecting arm (322), and the other is fixedly connected to the base (200), so that the first connecting arm (321) and the second connecting arm (322) are respectively rotatably connected to the first active joint (311) and the first driven joint (312) through the bearing. The first active joint (311) also includes a first driving device, which is used to drive the inner ring of the first roller bearing to rotate relative to the outer ring of the bearing, so as to adjust the rotational position of the connecting arm (320).

6. The robotic arm assembly according to claim 5, characterized in that, Both the second active joint (331) and the second driven joint (332) include a second roller bearing. The second roller bearing is also a cylindrical orthogonal roller bearing. The second roller bearing includes a bearing inner ring and a bearing outer ring that rotate relative to each other. One of the bearing inner ring or the bearing outer ring is fixedly connected to the first connecting arm (321) or the second connecting arm (322), and the other is fixedly connected to the slider (347) of the clamping assembly (340), so that the first connecting arm (321) and the second connecting arm (322) are respectively rotatably connected to the second active joint (331) and the second driven joint (332) through the bearing. The second active joint (331) also includes a second drive device for driving the inner ring of the second roller bearing to rotate relative to the outer ring of the bearing, so as to adjust the pitch angle of the clamping assembly (340).

7. The robotic arm assembly according to claim 1, characterized in that, A connecting bridge plate (344) is also fixedly connected between the first clamping substrate (342) and the second clamping substrate (343).

8. The robotic arm assembly according to any one of claims 1 to 7, characterized in that, The base (200) includes a base (210) and a yaw drive joint module (220) located on the base (210). The yaw drive joint module (220) includes a third roller bearing, a third drive device, and a connecting plate. The third roller bearing is a cylindrical orthogonal roller bearing. One of the inner ring or the outer ring of the third roller bearing is fixedly connected to the base (210), and the other is fixedly connected to the connecting plate. The connecting plate is used to support the first pitch joint assembly (310). The third drive device is used to drive the inner ring of the third roller bearing to rotate relative to the outer ring.

9. A four-wheeled legged robot, comprising a mobile chassis assembly (100) and a robotic arm assembly (300), the robotic arm assembly (300) being mounted on the mobile chassis assembly (100), characterized in that, The robotic arm assembly (300) is configured as the robotic arm assembly as described in any one of claims 1 to 8.

10. A control method for a four-wheeled legged robot, characterized in that, For controlling the four-wheeled robot as described in claim 9, comprising: Acquire two-dimensional image data of the target being tracked and extract two-dimensional pixel feature boxes of the target being tracked; A three-dimensional point cloud sequence of the environment in which the tracking target is located is obtained, and the two-dimensional pixel feature box is projected into the three-dimensional point cloud frustum space according to the calibration parameter space to obtain the three-dimensional observation pose data of the tracking target. An asynchronous Kalman filter is constructed to predict the 3D observation pose data of the tracked target, so as to output the 3D pose reference data of the tracked target smoothly and continuously.

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