Self-walking frame and operation machine with same

Abstract

The utility model provides a self-walking frame, which is used for an operation machine and comprises a frame main body used for bearing a working device of the operation machine and detachably connected with a chassis of the operation machine; the walking mechanism is arranged on the frame main body, and the walking mechanism comprises a plurality of telescopic supporting legs; the walking driving mechanism is arranged on the frame main body, the walking driving mechanism is connected with the walking mechanism, and the walking driving mechanism is used for driving the plurality of supporting legs to move so as to drive the self-walking frame to walk. The utility model further provides an operation machine with the frame. The frame can conveniently pass through obstacle terrains in a self-walking mode, so that the transition flexibility of the operation machine is remarkably improved, and the operation range is expanded.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering machinery, and in particular, relates to a frame for an operating machine and an operating machine having the frame. Background Art

[0002] With the development of industry and technology, operating machinery using working devices such as mechanical arms is increasingly widely used in many fields such as engineering construction, high-altitude obstacle removal and agricultural harvesting. Existing operating machinery of this type generally has many defects such as limited operating range and poor adaptability to complex terrain. In particular, the main body of existing operating machinery generally needs to be fixed on a wheeled or crawler chassis and relies on the chassis for movement, while the chassis usually has a large volume and weight, and has poor passing performance in many occasions, resulting in poor adaptability of the operating machinery to complex terrain. Summary of the invention

[0003] The purpose of the present application is to provide a frame for a working machine and a working machine having the frame, which can achieve a wider working range and especially better transfer flexibility compared to the prior art.

[0004] In order to solve the above-mentioned problems, an embodiment of the present application provides a self-propelled frame for a working machine, wherein the frame includes: a frame body for carrying a working device of the working machine and for being detachably connected to a chassis of the working machine; a walking mechanism, wherein the walking mechanism is mounted on the frame body, and the walking mechanism includes a plurality of retractable legs; and a walking drive mechanism, wherein the walking drive mechanism is mounted on the frame body, and the walking drive mechanism is connected to the walking mechanism, and is used to drive the plurality of legs to move so as to drive the self-propelled frame to walk.

[0005] In some embodiments, the telescopic direction of the supporting leg is perpendicular to the direction in which the supporting leg is driven to move by the walking drive mechanism.

[0006] In some embodiments, the direction in which the travel drive mechanism drives the legs to move is parallel to the length direction of the frame body.

[0007] In some embodiments, the self-propelled frame further includes a plurality of translation assemblies, wherein the translation assemblies are installed between each pair of the plurality of legs that are relatively arranged in the width direction of the frame body, and the plurality of translation assemblies are also used to respectively drive the plurality of legs to move so as to drive the self-propelled frame to move.

[0008] In some embodiments, the retractable direction of the legs, the direction in which the legs are driven to move by the travel drive mechanism, and the direction in which the legs are driven to move by the translation assembly are perpendicular to each other.

[0009] In some embodiments, the self-propelled frame further includes a turntable disposed on the frame body for mounting the working device and for driving the working device to rotate.

[0010] In some embodiments, the self-propelled frame further includes a support frame disposed on the frame body for providing auxiliary support for the working device.

[0011] In some embodiments, the self-propelled frame further includes a power control cabinet disposed on the frame body and used for providing power input and control input for the travel drive mechanism and the working device.

[0012] In some embodiments, the self-propelled frame further includes a chassis connection structure disposed on the frame body for detachably connecting to a chassis of the working machine.

[0013] Another embodiment of the present application also provides a working machine, which includes a working device, a chassis, and a self-propelled frame as described in the above embodiment; the working device is installed on the frame body of the self-propelled frame, and the frame body is detachably connected to the chassis; the working device includes a mechanical arm.

[0014] Compared with the prior art, the self-propelled frame for a working machine and the working machine having the frame provided by the above-mentioned embodiment of the present application have obvious advantages. The self-propelled frame can conveniently pass through obstacle terrain by walking, and can be temporarily separated from the chassis when the passing space is relatively narrow or low, so that the working machine is split into two parts with lower heights, improving the traffic capacity, having better adaptability to various terrains, and at the same time can significantly improve the flexibility of transfer and achieve a wider range of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic structural diagram of a working machine provided by one embodiment of the present application when its working device is retracted.

[0017] Figure 2 yes Figure 1 The schematic diagram of the working machine shown is when its working device is deployed.

[0018] Figure 3 yes Figure 1 A schematic diagram of the vertical motion range of the working device of the working machine shown.

[0019] Figure 4 yes Figure 1 Schematic diagram of the horizontal motion range of the working device of the working machine shown.

[0020] Figure 5 yes Figure 1 A schematic diagram of the structure of a manipulator in a working machine is shown.

[0021] Figure 6 yes Figure 5 A schematic longitudinal cross-sectional view of the robot is shown.

[0022] Figure 7 yes Figure 1 The schematic diagram is a comparison of the movement trajectory of the end effector of the working machine shown and the end effector of the existing working machine.

[0023] FIG. 8A to FIG. 8E yes Figure 1 The schematic diagram of the process of the frame of the working machine crossing the obstacle by walking is shown.

[0024] Fig. 9 It is a kind of Figure 1 Flowchart of a method for controlling a working machine shown. DETAILED DESCRIPTION

[0025] The specific embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the description of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0026] The purpose of this application is to provide an operating machine and a corresponding frame with a wider operating range and better transfer flexibility than the prior art, so as to further improve work efficiency in various fields that require the use of heavy-duty long-range mechanical arms for operations.

[0027] Please see first Figure 1 , Figure 2 , Figure 3 and Figure 4In one aspect, a preferred embodiment of the present application provides a frame 2 for a working machine; the frame 2 is a self-propelled frame with an automatic walking function, comprising: a frame body 20 for carrying a working device 1 of the working machine and for being detachably connected to a chassis 3 of the working machine; a walking mechanism, the walking mechanism is mounted on the frame body 20, and the walking mechanism includes a plurality of retractable legs; a walking drive mechanism, the walking drive mechanism is mounted on the frame body 20, the walking drive mechanism is connected to the walking mechanism, and is used to drive the plurality of legs to move to drive the frame 2 to walk.

[0028] A preferred embodiment of another aspect of the present application provides a working machine, which includes a working device 1, a frame 2 as described above, and a chassis 3, wherein the working device 1 is mounted on a frame body 20 of the frame 2, and the frame body 20 is detachably connected to the chassis 3; the working device 1 includes a mechanical arm.

[0029] The working device 1 may further include an end effector mounted on the robot arm, wherein the end effector may be, for example, a robot arm, a welding gun, a nozzle, a drill, etc. In some feasible implementations, the working device 1 may further include a visual sensor such as a camera, a laser radar, or may further include a gimbal carrying a visual sensor.

[0030] The chassis 3 can be an existing crawler chassis or a tire chassis. When the frame 2 is mounted on the chassis 3, the chassis 3 can be used to carry the frame 2 and the working device 1 and travel in an existing manner to drive the frame 2 and the working device 1 to move to the selected work site. For example, when the work machine needs to be transferred over a long distance, or when the road surface during a short transfer is relatively flat and suitable for the chassis 3 to pass through, the chassis 3 can be used to drive the frame 2 and the working device 1 to move by the existing driving method.

[0031] On the other hand, the frame 2 can be detachably mounted on the chassis 3. For example, the frame 2 can be connected to the chassis 3 through existing connection structures such as riveted plates, claws, and catenaries. These connection structures can be separated and reconnected at any time, so that the frame 2 and the chassis 3 can be separated and reconnected according to specific needs. When the frame 2 is mounted on the chassis 3, the traveling mechanism can also be used to drive the frame 2 and the chassis 3 to move together. For example, when the entire operating machine needs to move more accurately on a smaller scale, the chassis 3 can be omitted, and the frame 2 can be driven to move by the traveling mechanism to achieve precise displacement of the moving operation. When the frame 2 is separated from the chassis 3, the chassis 3 can travel independently, the traveling mechanism can drive the frame 2 to travel independently, and the traveling mechanism can also shorten itself to reduce the height of the frame 2 so that it can pass through a relatively low space. This enables the operating machine to meet the needs of transfer under more types of complex terrains. For example, in an environment with many gullies or restricted height, the frame 2 can be separated from the chassis 3, and the frame 2 and the chassis 3 can be controlled to move to the target position independently by walking and driving, and then they can be reassembled together.

[0032] Obviously, the self-propelled frame for working machinery and the working machinery having the frame provided by the above-mentioned embodiment of the present application have obvious advantages. The self-propelled frame can conveniently pass through obstacle terrain by walking, and can also be temporarily separated from the chassis when the passing space is relatively narrow or low, so that the working machinery is split into two parts with lower height, namely the chassis and the frame carrying the working device, and then the chassis and the frame are controlled to reach the destination in driving mode and walking mode respectively, thereby significantly improving the flexibility of transfer and achieving a wider range of operations.

[0033] In some embodiments, the telescopic direction of the supporting leg is perpendicular to the direction in which the supporting leg is driven to move by the walking drive mechanism.

[0034] In some embodiments, the direction in which the travel drive mechanism drives the legs to move is parallel to the length direction of the frame body 20 .

[0035] In some embodiments, the frame 2 further includes a plurality of translation assemblies, wherein the translation assemblies are installed between each pair of the plurality of legs that are relatively arranged in the width direction of the frame body 20, and the plurality of translation assemblies are also used to respectively drive the plurality of legs to move so as to drive the frame 2 to walk.

[0036] In some embodiments, the retractable direction of the legs, the direction in which the legs are driven to move by the travel drive mechanism, and the direction in which the legs are driven to move by the translation assembly are perpendicular to each other.

[0037] In some embodiments, the frame 2 further includes a turntable 201 disposed on the frame body 20 for mounting the working device 1 and for driving the working device 1 to rotate.

[0038] In some embodiments, the frame 2 further includes a support frame 202 disposed on the frame body 20 for providing auxiliary support for the working device 1 .

[0039] In some embodiments, the frame 2 further includes a power control cabinet 29 disposed on the frame body 20 and used for providing power input and control input for the travel drive mechanism and the working device.

[0040] In some embodiments, the vehicle frame 2 further includes a chassis connection structure disposed on the vehicle frame body 20 for detachably connecting to a chassis 3 of the working machine.

[0041] The following is a detailed introduction to the various components of the operating machine and their assembly methods.

[0042] The above-mentioned mechanical arm includes a swivel table 101, a first arm section 102, a first telescopic oil cylinder 103, a second telescopic oil cylinder 104, a connecting rod assembly 105, a second arm section 106, a third telescopic oil cylinder 107, a first telescopic arm 108, an integrated hydraulic valve 109, a hydraulic rotary joint 110, a third arm section 111, a fourth telescopic oil cylinder 112, a swing oil cylinder 114, a fourth arm section 115, a fifth telescopic oil cylinder 116, and a second telescopic arm 117; the end actuator includes a manipulator 118. It can be understood that in other embodiments, the working device 1 may also include other types of mechanical arms and other types of end actuators, as long as they can be installed on the frame 2.

[0043] The turntable 101 is rotatably mounted on the vehicle frame 2, so that the turntable 101 can drive the entire working device 1 to rotate relative to the vehicle frame 2. The rotation axis of the turntable 101 is set to be consistent with or parallel to the height direction of the vehicle frame 2, that is, Figure 2 and Figure 3 The Z-axis directions shown in are consistent or parallel.

[0044] The base of the first boom section 102 is pivotally connected to the turntable 101, and one end of the first telescopic oil cylinder 103 is connected to the turntable 101, and the other end is connected to the middle of the first boom section 102; thus, when the first telescopic oil cylinder 103 changes the distance between its two ends by telescoping, it can drive the first boom section 102 to pivot relative to the turntable 101, wherein the maximum telescopic range of the first telescopic oil cylinder 103 is Figure 3 The maximum pivot angle that can be achieved by this pivoting action is L1. Figure 3The second telescopic oil cylinder 104 and the connecting rod assembly 105 are arranged on the same side of the first boom section 102 as the first telescopic oil cylinder 103. The connecting rod assembly 105 includes a connecting rod frame 105a and a connecting rod 105b. The connecting rod frame 105a is a triangular frame. One end of the connecting rod 105b is pivotally connected to a corner of the connecting rod frame 105a; the second corner of the connecting rod frame 105a is pivotally connected to the first boom section 102; one end of the second telescopic oil cylinder 104 is connected to the middle of the first boom section 102, and the other end is pivotally connected to the third corner of the connecting rod assembly 105; the other end of the connecting rod 105b is pivotally connected to the second boom section 106; the base of the second boom section 106 is pivotally connected to the end of the first boom section 102. Thus, when the second telescopic oil cylinder 104 changes the distance between its two ends by telescoping, the second arm section 106 can be driven to pivot relative to the first arm section 102 through the connecting rod assembly 105, wherein the maximum telescopic range of the second telescopic oil cylinder 104 is Figure 3 The maximum pivot angle that can be achieved by this pivoting action is L2. Figure 3 The first telescopic arm 108 is configured as, for example, an existing telescopic rod structure, one end of which is connected to the end of the second arm section 106. The third telescopic oil cylinder 107 is installed in the first telescopic arm 108, and is used to drive at least two rod sections of the first telescopic arm 108 to move relative to each other, so as to adjust the overall length of the first telescopic arm 108. The maximum telescopic range of the first telescopic arm 108 is Figure 3 The integrated hydraulic valve 109 and the hydraulic rotary joint 110 are installed between the other end of the first telescopic arm 108 and one end of the third arm section 111 to connect the third arm section 111 to the first telescopic arm 108; the hydraulic rotary joint 110 is preferably a large torque 360° hydraulic rotary joint, which is used to drive the third arm section 111 to pivot relative to the first telescopic arm 108, and the maximum pivot angle that can be achieved by the pivot action is Figure 3 In the embodiment, the telescopic motion of the first telescopic cylinder 103, the second telescopic cylinder 104 and the third telescopic cylinder 107 and the pivoting motion of the first arm section 102, the second arm section 106 and the third arm section 111 are preferably limited to a vertical plane, for example, limited to a vertical plane with a vertical plane. Figure 4 The fourth telescopic oil cylinder 112 and the swing oil cylinder 114 are installed between the third arm section 111 and the fourth arm section 115. The fourth telescopic oil cylinder 112 is used to drive the fourth arm section 115 to pivot relative to the third arm section 111, wherein the maximum telescopic range of the fourth telescopic oil cylinder 112 is Figure 3 The maximum pivot angle that can be achieved in two opposite directions is Figure 3In this embodiment, the range of the pivoting motion of the first arm section 102, the second arm section 106, the third arm section 111, and the fourth arm section 115 and the range of the telescopic motion of the first telescopic arm 108 are preferably limited to the same vertical plane, for example, Figure 4 In a plane perpendicular to the plane defined by the X-axis and Y-axis shown in .

[0045] The swing cylinder 114 is used to drive the fourth arm section 115 to swing relative to the third arm section 111. The maximum amplitude that the swing action can reach is Figure 4 The range of motion of the swinging motion is preferably limited to a horizontal plane, for example, Figure 4 The fourth arm section 115 is configured to be within the plane defined by the X-axis and the Y-axis shown in the figure, so that the pivot direction of the pivoting movement of the fourth arm section 115 driven by the fourth telescopic cylinder 112 and the swing direction of the swinging movement of the fourth arm section 115 driven by the swing cylinder 114 are respectively limited in two mutually perpendicular planes. The second telescopic arm 117 is configured as, for example, an existing telescopic rod structure, one end of which is connected to the end of the fourth arm section 115. The fifth telescopic cylinder 116 is installed in the second telescopic arm 117, and is used to drive at least two rod sections of the second telescopic arm 117 to move relative to each other to adjust the overall length of the second telescopic arm 117. The maximum telescopic range of the second telescopic arm 117 is Figure 3 The manipulator 118 is mounted on the other end of the second telescopic arm 117 .

[0046] In this embodiment, the working device 1 preferably also includes a visual sensor 113 mounted on the mechanical arm, and a controller (not shown in the figure) that is communicatively connected to the visual sensor 113 and the mechanical arm. The visual sensor 113 can be a depth camera, which is mounted on the swing cylinder 114 in this embodiment (of course, it can also be mounted at other appropriate positions in other embodiments) to sense the position of the end actuator in real time. The controller can be any existing control device for controlling the working machinery, such as a single-chip microcomputer, which is used to control the mechanical arm to adjust the position of the end actuator according to the sensing results of the visual sensor 113. The specific sensing method of the visual sensor 113 and the specific control method of the controller on the mechanical arm can refer to the existing technology and will not be repeated here.

[0047] Please also read Figure 5 and Figure 6The manipulator 118 includes a rotating cylinder 118a, at least two front-end driving devices 118b, a manipulator connecting arm 118c, at least two claws 118d, a steering wheel 118e, a traction rope 118f, an elastic driving member 118g, at least two first manipulator connecting rods 118h, at least two claw plates 118i, at least two second manipulator connecting rods 118j, and a bracket assembly 119.

[0048] The rotary cylinder 118a is installed on the second telescopic arm 117, and the manipulator connecting arm 118c is connected to the rotary cylinder 118a, so that the rotary cylinder 118a can drive the manipulator connecting arm 118c to rotate. The rotation axis is preferably set to the axis of the manipulator connecting arm 118c itself. The maximum angle that can be reached by the rotation action is Figure 4 The front-end drive device 118b can be, for example, various existing drive devices such as motors, oil cylinders, etc., installed on the manipulator connecting arm 118c; the number of claws 118d corresponds to the front-end drive device 118b, and each claw 118d is connected to the corresponding front-end drive device 118b; the steering wheel 118e is preferably a spherical gear, which is embedded in the claw 118d and meshed with the claw 118d, and a through guide channel (not numbered in the figure) is opened inside the steering wheel 118e along its diameter direction; the front-end drive device 118b can drive the corresponding claw 118d to pivot, thereby driving the steering wheel 118e to rotate through the claw 118d.

[0049] The bracket assembly 119 includes a guide tube 119a and a guide shaft 119b, wherein one end of the guide tube 119a is fixedly inserted into the guide channel opened in the steering wheel 118e, so that the bracket assembly 119 is fixedly connected to the steering wheel 118e; the other end of the guide tube 119a extends out of the steering wheel 118e, and the side surface of the extended end of the guide tube 119a is formed with at least two protruding connecting plates 119c corresponding to the first manipulator connecting rod 118h; one end of the guide shaft 119b is movably mounted in the guide tube 119a, and the other end extends out of the guide tube 119a, and the diameter of the extended end of the guide shaft 119b is enlarged to form a connecting seat 119d. The material of the traction rope 118f is preferably a fiber rope, one end of which is connected to the end of the guide shaft 119b sleeved in the guide tube 119a, and the other end of the traction rope 118f is led out from the guide tube 119a and the guide channel of the steering wheel 118e, passes through the manipulator connecting arm 118c and the rotating oil cylinder 118a, and is connected to the existing traction device (not shown in the figure) such as an electric winch. The elastic driving member 118g is preferably a columnar helical spring, which is sleeved on the part of the guide shaft 119b extending outside the guide tube 119a, and the elastic driving member 118g is pressed between the guide tube 119a and the connecting seat 119d. One end of the first manipulator link 118h is pivotally connected to the end of the corresponding connecting plate 119c, and the other end is pivotally connected to the base of the corresponding claw plate 118i; one end of the second manipulator link 118j is pivotally connected to the connecting seat 119d, and the other end is pivotally connected to the middle of the corresponding claw plate 118i.

[0050] In this way, when the traction rope 118f is pulled by the traction device, the traction rope 118f can pull the guide shaft 119b to overcome the elastic force of the elastic driving member 118g and retract, and then drive the ends of the claw plate 118i to approach each other through the pivoting of the first manipulator link 118h and the second manipulator link 118j, which can be used to clamp the target to be grasped. When the control traction device releases the traction rope 118f, the elastic driving member 118g rebounds, drives the guide shaft 119b back to the initial position, and then drives the ends of the claw plate 118i to move away from each other through the pivoting of the first manipulator link 118h and the second manipulator link 118j, thereby releasing the grasped target. On the other hand, when the front end drive device 118b drives the steering wheel 118e to rotate through the claw 118d, it can drive the entire bracket assembly 119 and the claw plate 118i connected thereto to swing in a preset direction and amplitude, thereby adjusting the working posture of the manipulator 119. In this embodiment, since the steering wheel 118e adopts a spherical gear, the steering wheel 118e can be driven to rotate in multiple directions through the front-end driving device 118b and the claw 118d, thereby driving the bracket assembly 119 and the claw plate 118i to swing in multiple directions. Figure 4 and Figure 5As shown, in this embodiment, the maximum swing amplitude of the bracket assembly 119 and the claw plate 118i in the preset first claw plate swing direction (such as the vertical direction) is α5, and the maximum swing amplitude in the preset first claw plate swing direction (such as the vertical direction) is β2.

[0051] It can be understood that, based on the above-mentioned specific structure, the operating machinery provided in this embodiment can provide its working device 1 with the freedom of rotation and extension in multiple directions, and can achieve higher flexibility compared to the operating machinery of the prior art. Furthermore, in the operating machinery provided in this embodiment, the motion mechanism for realizing rotation and extension does not require the use of very precise and complex structures and components, and the overall structure is relatively simple and has high mechanical strength. Therefore, compared with the prior art, the operating machinery provided in this embodiment has higher flexibility and greater carrying capacity, and can effectively solve the problems of low load capacity of existing operating machinery using long-meter heavy-duty mechanical arms and difficulty in operating in complex environments such as obstacles, narrow alleys, and dense forests.

[0052] In addition, in the working machine provided in this embodiment, its end actuator, such as the manipulator 118, also has higher end flexibility compared with the prior art. Figure 7 When the end effector needs to move in the three directions of X, Y, and Z that are perpendicular to each other in three-dimensional space, for example, it needs to move from an initial position Oi with coordinates (Xi, Yi, Zi) to a target position Oj with coordinates (Xj, Yj, Zj), the end effector of an existing operating machine generally needs to use more than three drive devices to work together to achieve the desired linear motion (p1, p2, p3) in the X, Y, and Z directions, respectively, so as to achieve precise movement from Oi (Xi, Yi, Zi) to Oj (Xj, Yj, Zj). The control process is relatively complex and the execution efficiency is low. In contrast, in the working machine provided in the present embodiment, its end actuator, such as the manipulator 118, utilizes the characteristic of the spherical gear with unlimited freedom beyond the necessary restrictions, and with the assistance of multiple degrees of freedom of movement of other parts of the working device 1, it can move directly to the target position Oj along the shortest path r0 from Oi (Xi, Yi, Zi) to Oj (Xj, Yj, Zj). The operation is simpler, the control logic is concise, and the execution efficiency can be improved by nearly 30% compared with the existing technology.

[0053] In this embodiment, specifically Figure 1 and Figure 4As shown, the frame 2 includes a frame body 20, a plurality of retractable walking mechanisms, a plurality of walking drive mechanisms and translation components for driving the walking mechanisms to move, and a power control cabinet 29. In this embodiment, the number of walking mechanisms is preferably four, namely, the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24; accordingly, the number of walking drive mechanisms is also four, namely, the first walking drive mechanism 251, the second walking drive mechanism 252, the third walking drive mechanism 253, and the fourth walking drive mechanism 254; the number of translation components is two, namely, the first translation component 261 and the second translation component 262. In this embodiment, the walking mechanism adopts a retractable leg structure, and the walking drive mechanism and the translation component both adopt hydraulic cylinders; of course, in other embodiments, the walking drive mechanism and the translation component may also adopt other drive devices such as linear motors.

[0054] The shape of the frame body 20 is preferably a rectangular flat plate structure (structures such as trusses may also be used in other embodiments), on which a turntable 201 for mounting the working device 1 and a support frame 202 for providing auxiliary support for the working device 1 are provided. The turntable 101 of the working device 1 is installed on the turntable 201. The turntable 201 can drive the turntable 101 to rotate according to the existing driving method to drive the entire working device 1 to rotate and obtain a 360-degree omnidirectional working angle. The chassis 3 is detachably connected to the bottom of the frame body 20. The frame 2 may also include a chassis connection structure (not shown in the figure) provided on the frame body 20 for detachably connecting to the chassis 3, such as a riveted plate, a claw, a catenary, etc.

[0055] The first travel drive mechanism 251 and the third travel drive mechanism 253 are installed on the same side edge of the frame body 20, the second travel drive mechanism 252 and the fourth travel drive mechanism 254 are installed on the other side edge of the frame body 20, and the first travel mechanism 21, the second travel mechanism 22, the third travel mechanism 23, and the fourth travel mechanism 24 are respectively installed at the ends of the first travel drive mechanism 251, the second travel drive mechanism 252, the third travel drive mechanism 253, and the fourth travel drive mechanism 254. The first travel mechanism 21, the second travel mechanism 22, the third travel mechanism 23, and the fourth travel mechanism 24 can all realize telescopic movement in accordance with existing methods (for example, a telescopic travel mechanism oil cylinder or linear motor is provided in each travel mechanism) to adjust its own length, and the first travel drive mechanism 251, the second travel drive mechanism 252, the third travel drive mechanism 253, and the fourth travel drive mechanism 254 can also realize telescopic movement in accordance with existing methods to control the movement of the first travel mechanism 21, the second travel mechanism 22, the third travel mechanism 23, and the fourth travel mechanism 24 respectively. The telescopic directions of the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 should preferably be set to be perpendicular to the telescopic directions of the first walking drive mechanism 251, the second walking drive mechanism 252, the third walking drive mechanism 253, and the fourth walking drive mechanism 254, respectively. For example, in this embodiment, the telescopic directions of the first walking drive mechanism 251, the second walking drive mechanism 252, the third walking drive mechanism 253, and the fourth walking drive mechanism 254 are set to Figure 4 The Y-axis direction shown is parallel to the length direction of the frame body 20, so that the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 can move forward and backward relative to the frame body 20; the telescopic direction of the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 is set to Figure 3 The Z-axis direction shown is perpendicular to the frame body 20, so that the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 can drive the frame body 20 to rise and fall. The first translation assembly 261 is installed at the front end of the frame body 20 and connected between the first walking mechanism 21 and the second walking mechanism 22, and the second translation assembly 262 is installed at the rear end of the frame body 20 and connected between the third walking mechanism 23 and the fourth walking mechanism 24.

[0056] The first translation assembly 261 is installed between the first walking mechanism 21 and the second walking mechanism 22, and is used to drive the first walking mechanism 21 and the second walking mechanism 22 to move. The second translation assembly 262 is installed between the third walking mechanism 23 and the fourth walking mechanism 24, and is used to drive the third walking mechanism 23 and the fourth walking mechanism 24 to move. In this embodiment, the direction in which the first translation assembly 261 drives the first walking mechanism 21 and the second walking mechanism 22 to move, and the direction in which the second translation assembly 261 drives the third walking mechanism 23 and the fourth walking mechanism 24 to move are both set to be perpendicular to the extension and retraction directions of the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24, and are also perpendicular to the extension and retraction directions of the first travel drive mechanism 251, the second travel drive mechanism 252, the third travel drive mechanism 253, and the fourth travel drive mechanism 254, for example, set to Figure 2 , Figure 3 and Figure 4 The X-axis direction shown is parallel to the width direction of the frame body 20, so that the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 can move left and right relative to the frame body 20. It can be understood that the first translation assembly 261 can include only one translation drive device for driving the first walking mechanism 21 and the second walking mechanism 22 to translate synchronously, or it can include two translation drives for driving the first walking mechanism 21 and the second walking mechanism 22 to translate respectively. The second translation assembly 262 can include only one translation drive device for driving the third walking mechanism 23 and the fourth walking mechanism 24 to translate synchronously, or it can include two translation drives for driving the third walking mechanism 23 and the fourth walking mechanism 24 to translate respectively.

[0057] The power control cabinet 29 is mounted on the frame body 20, in which a hydraulic pump station and corresponding control circuits are integrated, and is used to provide power input and control input for the above-mentioned power components such as cylinders, motors, etc. of the working device 1 and the frame 2. The specific scheme of the power control cabinet 29 providing power input and control input for the working device 1 and the frame 2 can refer to the existing technology, and no further description is needed here.

[0058] It can be understood that based on the above specific structure, the first running mechanism 21, the second running mechanism 22, the third running mechanism 23, and the fourth running mechanism 24 of the frame 2 can be in two mutually perpendicular directions (for example Figure 4 The X-axis direction and the Y-axis direction shown in the figure are translated, and the two translation directions are perpendicular to each other (for example, Figure 3The frame 2 can be extended and retracted in the Z-axis direction (as shown), so that the frame 2 has flexible short-distance walking and leveling capabilities. When the terrain where the working machine is located is convenient for the chassis 3 to pass through, the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 of the frame 2 can be controlled to retract to avoid contact with the ground, and then the chassis 3 can be controlled to travel according to the prior art. When the working machine encounters an obstacle terrain that is inconvenient for the chassis 3 to pass through, the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 can be controlled to work together to directly travel a short distance to cross the obstacle. For example FIG. 8A to FIG. 8E A specific operation of the working machine by walking across a crack is shown.

[0059] See also FIG. 8A to FIG. 8E When the working machine retracts its various traveling mechanisms and travels through the chassis 3 according to the prior art, if there are cracks on the road ahead that are inconvenient for the chassis 3 to pass through, the working machine can first Fig. 8A As shown, the chassis 3 is controlled to stop near the crack. Figure 8B As shown, the first travel drive mechanism 251 and the second travel drive mechanism 252 are controlled to extend, thereby driving the first travel mechanism 21 and the second travel mechanism 22 to move forward, so that the first travel mechanism 21 and the second travel mechanism 22 pass over the crack. Figure 8C As shown, the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 are controlled to extend together until they touch the ground, and the chassis 3 is propped up, so that the chassis 3 is separated from the ground. Fig.8D As shown, the third travel drive mechanism 253 and the fourth travel drive mechanism 254 are controlled to extend, and the first travel drive mechanism 251 and the second travel drive mechanism 252 are controlled to shorten, so that the frame body 20 and the chassis 3 and the working device 1 connected thereto move forward relative to the first travel mechanism 21, the second travel mechanism 22, the third travel mechanism 23, and the fourth travel mechanism 24 standing on the ground, and cross the crack in a suspended state. Fig. 8E As shown, after the chassis 3 passes over the crack, the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 are controlled to be shortened together, so that the chassis 3 contacts the ground, and at the same time, the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 are restored to the retracted state not contacting the ground, and at this time, the working machine can travel again through the chassis 3. It can be understood that the frame 2 can also be made to travel in other directions through a similar actuation principle.

[0060] Obviously, through the above-mentioned actuation mode, the frame 2 can conveniently travel a short distance to pass through various obstacle terrains, so that the working machine of this embodiment has a stronger obstacle-crossing ability than the prior art. In addition, since the chassis 3 and the frame body 20 are detachably connected, when it is necessary to pass through a relatively narrow or low space, the chassis 3 can be separated from the frame body 20 first, so that the working machine is split into two parts with lower heights, namely the chassis 3 and the frame 2 carrying the working device 1, and then the chassis 3 and the frame 2 are controlled to reach the destination in a driving mode and a walking mode respectively, and then the frame body 20 is controlled to rise, and the chassis 3 and the frame body 20 are reconnected.

[0061] It can be understood that based on the above principle, in the working machine of this embodiment, when the frame 2 is mounted on the chassis 3 and the traveling mechanism is extended to support the frame 2 and make the chassis 3 leave the ground, the traveling mechanism can be used to drive the frame 2 and the chassis 3 to move together. When the frame 2 is mounted on the chassis 3 and the traveling mechanism is shortened to leave the ground, the chassis 2 can be used to drive the frame 2 to move together. When the frame 2 is separated from the chassis 3, the chassis 3 can move independently, and the traveling mechanism can be used to drive the frame 2 to move independently, and the traveling mechanism can also shorten itself to reduce the height of the frame 2 so as to pass through a relatively low space.

[0062] It is understood that in other embodiments, the number of arm segments of the mechanical arm of the working device 1 and the number of the traveling mechanism, traveling drive mechanism and translation assembly of the frame may not be limited to the number in the above embodiments, as long as they can achieve substantially the same functions based on substantially the same actuation principle. In some embodiments, the translation assembly may also be eliminated to further simplify the overall structure.

[0063] In summary, the working device 1 of the operating machinery provided by the present application can realize rotation and extension in multiple directions based on the above-mentioned specific structural scheme, the terminal movement is simple and flexible, and the structure is relatively simple and the mechanical strength is high; in addition, the operating machinery has two moving modes: chassis driving and frame self-propelled. Different moving modes can be selected in real time according to specific terrain requirements and transfer requirements, and the frame 2 can be temporarily separated from the chassis 3 when the space is relatively narrow or low, so that the chassis 3 and the frame 2 can reach the destination by driving and walking respectively, thereby significantly improving the terrain adaptability and transfer flexibility. Therefore, compared with the prior art, the operating machinery has a higher load-bearing capacity, more degrees of freedom, higher operating accuracy, a wider operating range, and better transfer flexibility.

[0064] Fig. 9 A control method for a working machine is shown, and the method can be used to control the working machine provided in the above embodiment to grab a target object. Fig. 9 , the method may include the following steps:

[0065] S1, control the working machine to move to a preset working position. For example, the working machine provided in the above embodiment can be driven to the working position by its chassis 3 according to the prior art, or can be moved to the working position by its frame 2 according to the above specific scheme, or can be moved to the working position by using both the chassis 3 and the frame 2 to move.

[0066] S2, sensing the target object and obtaining the ideal grasping posture of the working machine for the target object. The step S2 may specifically include the following operations: photographing (e.g., by the visual sensor 113) the surrounding environment to find the target object to be grasped by the working machine; if the target object is found, determining the position of the target object, and calculating and obtaining the ideal grasping posture of the working machine for the target object based on the positional relationship between the position of the target object and a preset reference point on the working machine.

[0067] In this embodiment, the preset reference point on the working machine is preferably the center point of the turntable 101. Of course, in other embodiments, other suitable positions on the working machine can also be selected as reference points. The ideal grasping posture can be an inverse kinematic solution of the working machine calculated according to the positional relationship between the position of the target object and the reference point according to the existing algorithm. In other words, if at least one inverse kinematic solution can be obtained for the working machine based on the positional relationship between the position of the target object and the reference point, then the inverse kinematic solution can be used as the ideal grasping posture; if the inverse kinematic solution cannot be obtained for the working machine based on the positional relationship between the position of the target object and the reference point, it is determined that the working machine does not have an ideal grasping posture for the target object at this time.

[0068] S3: If the working machine has an ideal grasping posture for the target object, proceed to step S4.

[0069] S4, using the working machine to grab the target object.

[0070] The method may further comprise the following steps:

[0071] In the step S3, if the working machine does not have an ideal grasping posture for the target object, the process proceeds to step S5;

[0072] S5, determining whether the position deviation between the working machine and the preset working position exceeds a preset deviation threshold; if so, returning to step S1, if not, proceeding to step S6.

[0073] In this embodiment, the position deviation of the working machine preferably includes a lateral deviation ΔL1 and a longitudinal deviation ΔL2, wherein the lateral deviation ΔL1 is defined as the position deviation of the working machine in the width direction of the frame body 20 (for example Figure 2 , Figure 3 and Figure 4 The longitudinal deviation △L2 is defined as the deviation of the working machine in the length direction of the frame body 20 (for example Figure 4 The preset deviation thresholds also include a lateral deviation threshold L6 and a longitudinal deviation threshold L7, wherein the lateral deviation threshold L6 is preferably defined as half of the width of the frame body 20, and the longitudinal deviation threshold L7 is preferably defined as the sum of the lengths of two travel drive mechanisms (e.g., the first travel drive mechanism 251 and the third travel drive mechanism 253, or the second travel drive mechanism 252 and the fourth travel drive mechanism 254) arranged on the same side of the frame body 20 in a fully compressed state, as shown in FIG. Figure 4 shown.

[0074] Accordingly, in this embodiment, step S5 specifically includes the following operations: comparing the lateral deviation △L1 with the lateral deviation threshold value L6, and comparing the longitudinal deviation △L2 with the longitudinal deviation threshold value L7. If △L1>L6 or △L2>L7, it indicates that there is a large deviation between the working machine and the preset working position at this time, so return to the aforementioned step S1, re-control the working machine to move to the preset working position, so as to minimize the position deviation, and then re-execute the subsequent steps of the method. If △L1≤L6 or △L2≤L7, it indicates that the working machine does not deviate much from the preset working position at this time, and there is no need to re-control the entire working machine to move, but enter the subsequent step S6.

[0075] S6, control the frame to move, drive the working device to move to compensate for the position deviation, and then enter step S7. In step S6, based on the above-mentioned specific actuation principle, first control the first leg 21, the second leg 22, the third leg 23, and the fourth leg 24 to extend together to touch the ground, and then drive the frame body 20 to move relative to the ground through the first travel drive mechanism 251, the second travel drive mechanism 252, the third travel drive mechanism 253, the fourth travel drive mechanism 254, the first translation assembly 261, and the second translation assembly 262 to compensate for the position deviation.

[0076] S7, determine the end posture of the working machine with the inverse kinematic solution, and then enter the step S4. In this step S7, since the position deviation has been compensated in the aforementioned step S6, the working machine has been as close to the preset working position as possible, so at this time, the end posture of the working machine with the inverse kinematic solution can be obtained directly according to the existing algorithm such as the genetic algorithm. The end posture with the inverse kinematic solution can be regarded as equivalent to the ideal grasping posture, so the working machine can be used to grasp the target object based on the end posture with the inverse kinematic solution, that is, after the step S7, the step S4 can be entered to complete the grasping of the target object.

[0077] Furthermore, in some embodiments, the control method of the operating machine may further include the following steps: S8, after step S4, determining whether the operating machine has successfully grasped the target object; if the operating machine fails to successfully grasp the target object, returning to step S2, i.e. re-sensing the target object and executing corresponding subsequent steps.

[0078] It can be understood that the control method of the working machine provided in the present application can select different position compensation methods according to the position deviation between the working machine and the preset working position. When the position deviation is large, the working machine is controlled to move again as a whole, and then the subsequent steps of the entire control method are re-executed; when the position deviation is small, it is not necessary to move the working machine as a whole, and it is only necessary to control its frame to drive the working device to move to compensate for the deviation, and then directly obtain the end posture of the working machine with the kinematic inverse solution as the ideal grasping posture. In this way, the operation of position compensation and determining the ideal grasping posture can be simplified when the position deviation is small, reducing the workload of the working machine in processing data and executing actions. Therefore, controlling the working machine provided by the aforementioned embodiment to grasp the target object through the control method of the working machine helps to further improve the working efficiency, reduce energy consumption, and extend the service life of the working machine.

[0079] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A self-propelled frame for use in working machinery, characterized in that: The frame comprises: A frame body for carrying the working device of the working machine and for being detachably connected to the chassis of the working machine; A walking mechanism, the walking mechanism is installed on the frame body, and the walking mechanism includes a plurality of retractable legs; A travel drive mechanism is installed on the frame body, and the travel drive mechanism is connected to the travel mechanism, and is used to drive the multiple legs to move so as to drive the self-propelled frame to travel.

2. The self-propelled vehicle frame according to claim 1, characterized in that: The telescopic direction of the supporting legs is perpendicular to the direction in which the supporting legs are driven to move by the walking driving mechanism.

3. The self-propelled vehicle frame according to claim 2, characterized in that: The direction in which the legs are driven to move by the travel drive mechanism is parallel to the length direction of the frame body.

4. The self-propelled vehicle frame according to claim 1, characterized in that: The self-propelled frame also includes a plurality of translation assemblies, which are installed between each pair of the plurality of legs that are relatively arranged in the width direction of the self-propelled frame body, and the plurality of translation assemblies are also used to drive the plurality of legs to move respectively to drive the self-propelled frame to move.

5. The self-propelled vehicle frame according to claim 4, characterized in that: The telescopic direction of the legs, the direction in which the legs are driven to move by the walking drive mechanism, and the direction in which the legs are driven to move by the translation assembly are perpendicular to each other.

6. The self-propelled vehicle frame according to claim 1, characterized in that: The self-propelled frame further comprises a turntable arranged on the frame body and used for mounting the working device and driving the working device to rotate.

7. The self-propelled vehicle frame according to claim 1, characterized in that: The self-propelled frame also includes a support frame arranged on the frame body and used for providing auxiliary support for the working device.

8. The self-propelled vehicle frame according to claim 1, characterized in that: The self-propelled frame also includes a power control cabinet arranged on the frame body and used for providing power input and control input for the travel drive mechanism and the working device.

9. The self-propelled vehicle frame according to claim 1, characterized in that: The self-propelled frame further includes a chassis connection structure disposed on the frame body and used for detachably connecting to a chassis of the working machine.

10. A working machine, characterized in that: The working machine includes a working device, a chassis, and a self-propelled frame as described in any one of claims 1 to 9; the working device is mounted on the frame body of the self-propelled frame, and the frame body is detachably connected to the chassis; the working device includes a mechanical arm.

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