CN113733111A - Wheel leg and foot self-reconfigurable mobile robot - Google Patents

Abstract

Translated fromChinese

一种轮腿足自重构移动机器人，包括车体、轮腿足移动组件、多功能末端释放及回收模块、软体机械臂、多功能末端，具有轮行、腿行，以及洞穴探测功能的移动机器人平台，四边形连杆腿与足部配合实现腿行功能，与车轮配合实现轮行功能，软体机械臂上设计有多功能末端，软体机械臂与多功能末端结合实现样品抓取、机器人监视等功能，多功能末端与软体机械臂分开后移动进入洞穴内部等进行探测，探测完成后返回软体机械臂与软体机械臂重构。该机器人具有地形适应能力强，洞穴等复杂地形探测能力强的优点。

A wheel-legged self-reconfigurable mobile robot, comprising a vehicle body, a wheel-legged and foot-moving component, a multi-functional end release and recovery module, a soft robotic arm, a multi-functional end, and a mobile robot with wheel walking, leg walking, and cave detection functions Robot platform, the quadrilateral link legs cooperate with the feet to realize the function of leg movement, and cooperate with the wheels to realize the function of wheel movement. The software robot arm is designed with a multi-functional end, and the software robot arm and the multi-function end are combined to realize sample grabbing, robot monitoring, etc. Function, the multi-functional end is separated from the software manipulator and then moves into the cave for detection. After the detection is completed, it returns to the software manipulator and the software manipulator is reconstructed. The robot has the advantages of strong terrain adaptability and strong ability to detect complex terrain such as caves.

Description

Wheel leg and foot self-reconfigurable mobile robot

Technical Field

The invention relates to a wheel-leg-foot self-reconstruction mobile robot, and belongs to the field of deep space exploration and space robots.

Background

With the development of space detection technology, the star surface detection region is being converted from the traditional flat region to the region with higher scientific value but high detection difficulty, such as south pole, north pole, meteorite crater, karst cave and the like. The terrain of the areas is complex, the characteristics of easy collapse of the star surface, large gradient, uneven height, more broken stones and the like exist, and high requirements are provided for the performance of the star surface mobile robot, such as strong obstacle crossing capability, difficulty in collapse, difficulty in escaping capability and the like. The conventional typical moon and mars moving robots such as the rabbit No. 1, the rabbit No. 2, the courage No., the opportunity No. and the curiosity No. all adopt a six-wheel passive suspension mode to move, detection is carried out on flat areas of the moon and the mars, six wheels passively adapt to the star surface terrain, and the terrain adaptability is high. However, the mobile robot is limited by the diameter of the wheels and the wheel type moving scheme, and has weak obstacle crossing capability, difficulty removing capability, gravel pile and other moving capabilities, and does not have the capability of detecting the karst cave. In order to meet the mobile detection requirements of terrain complex areas in star tables such as moon and mars, the patent provides a wheel-leg-foot composite self-reconfigurable mobile robot, which mainly solves the problems of obstacle crossing, difficulty getting out of position, steep slope karst cave climbing detection and the like of the mobile robot on the star tables.

The prior Jade hare No. 1 and Jade hare No. 2 lunar vehicles and the courage, opportunity and curiosity Mars vehicles adopt six-wheel type passive suspension design and move by wheels; patent CN201120087131.X provides a wheel-leg type crank-slider six-wheel lunar rover, and a carriage is provided with a crank-slider mechanism connected with a power system, and the crank-slider mechanism is respectively arranged in the middle part and the front and rear ends of the carriage. The crank-slider mechanism comprises a crankshaft, a wheel connecting rod, a wheel guide rod and a wheel guide rail, the wheel guide rod is in sliding fit with the wheel guide rail, road condition detection devices are arranged at the front end and the rear end of the carriage, the wheel-leg crank-slider six-wheel lunar rover is also provided with a visual mast, a solar panel and a mechanical acquisition arm, the visual mast is driven by a gear and a rack to lift, the solar panel is unfolded and retracted in a folding mode, the mechanical acquisition arm adopts a five-rod linkage mechanism, and a spiral blade and a probe are arranged at the front end of the mechanical acquisition arm; patent CN200810030900.5 provides a pavement self-adaptation rhombus lunar vehicle moving system, adopts the structure of four-wheel triaxial rhombus chassis, has that the topography adaptability is strong, compact structure, lightweight degree is high, cross-country performance is good, the automobile body gesture is steady, the advantage that the reliability is high.

The wheel leg crank block six-wheel lunar rover of patent CN201120087131.X realizes the gait through the crank block motion, and foot motion trail is single, and obstacle crossing ability is weak, does not have foot's mobility, and the arm of configuration adopts the connecting rod form to realize, and working space is little, does not have the detectability to cave etc.. The pavement self-adaptive diamond lunar vehicle moving system proposed by patent CN200810030900.5 only has moving capability, and lacks detection capabilities of star surface sampling, surveying and the like. The two patents are greatly different from the wheel-leg self-reconfigurable robot provided by the text in the aspects of composition, functions and the like.

Disclosure of Invention

The technical problem solved by the invention is as follows: aiming at the problems that the traditional mobile robot is weak in obstacle crossing capability, difficulty getting-off capability, gravel pile and other moving capabilities and does not have karst cave and other special terrain detection capabilities in the prior art, a wheel-leg-foot self-reconstruction mobile robot is provided.

The technical scheme for solving the technical problems is as follows:

the utility model provides a wheel leg foot is from reconstructing mobile robot, includes that automobile body, wheel leg foot remove subassembly, multi-functional end release and retrieve module, software arm, multi-functional end, wherein:

the multifunctional tail end releasing and recovering module is arranged at the top of the vehicle body, the soft mechanical arm takes the multifunctional tail end releasing and recovering module as a base and is arranged on the multifunctional tail end releasing and recovering module, the multifunctional tail end releasing and recovering module used for releasing or recovering the multifunctional tail end is communicated with the soft mechanical arm through a connecting cable, and the tail end of the soft mechanical arm is provided with a multifunctional tail end.

When the soft mechanical arm is connected with the multifunctional tail end, the multifunctional tail end is an execution mechanism, and sample collection and camera monitoring are carried out under the control of the soft mechanical arm; when the software arm and multi-functional end throw off, multi-functional end is connected with multi-functional end release and recovery module through connecting cable, gathers environmental information and enters into specific topography and carries out regional the exploration, drags the recovery through connecting cable after the exploration is accomplished.

The wheel leg and foot moving assembly comprises a leg base, a leg steering joint, a leg pitching joint, an upper connecting rod, a lower connecting rod, a wheel pitching joint, a force sensor, a wheel steering joint, a steering arm rod, a wheel driving joint, wheels and feet, wherein the wheels are driven by the wheel driving joint;

the leg pitching joints control the height of the wheel leg and foot moving assemblies to be unfolded and folded, when the wheel leg and foot moving assemblies perform foot type movement, the feet are adjusted to be in contact with the star watch through the wheel pitching joints, the leg pitching joints in the leg and foot moving assemblies move in a coordinated mode to achieve movement of the feet on the star watch, and in the moving process, the leg pitching joints perform coordinated control on the upper connecting rod and the lower connecting rod according to force feedback signals of the force sensor to achieve flexible contact of the feet and the star watch.

The wheel leg and foot moving assembly can walk on a soft star watch by using wheels as feet.

When the multifunctional tail end is disconnected with the soft mechanical arm, the multifunctional tail end is connected with a connecting cable through the butt joint interface and is moved through the grabbing mechanism, the monitoring camera 5-3 is adopted to collect surrounding environment information in the moving process, and the monitoring camera and the butt joint interface are arranged on the base.

And in the moving process of the multifunctional tail end, the self state of the wheel-leg-foot combined type mobile robot is visually monitored by the monitoring camera.

In the wheel leg and foot moving assembly, the number of leg pitching joints, the number of upper connecting rods and the number of lower connecting rods are all 2.

The number of the wheel leg and foot moving assemblies is 4.

In the multi-functional end, snatch the mechanism quantity and be 4.

The wheel leg and foot moving assembly realizes rotary motion through a leg steering joint, the quadrilateral connecting rods formed by the two upper connecting rods and the two lower connecting rods are coordinately controlled through a leg pitching joint to change the pose, the grabbing mechanisms are independently controlled, the grabbing mechanisms are coordinately controlled to move asynchronously, and the grabbing operation can be realized to recognize the target pose and the characteristics of the collected target.

Compared with the prior art, the invention has the advantages that:

(1) the invention provides a wheel-leg-foot self-reconstruction mobile robot, which integrates multiple functions of wheel walking, leg walking, crab walking, vehicle body posture adjustment, operation, mobile self-reconstruction, cave detection and the like, greatly improves the capabilities of the star watch mobile detection robot in the aspects of movement, obstacle crossing, escaping, sample collection and the like, enriches the types of the star watch mobile robot, and provides a self-reconstruction tail end scheme which gives consideration to the operation and the movement functions; when the tail end is separated from the mechanical arm, the moving function is realized, and severe environments such as caves, pits and the like can be detected;

(2) the invention adopts a design scheme of the wheel leg and foot moving assembly, and the single wheel leg and foot moving assembly realizes different poses of wheels or feet by driving the quadrilateral connecting rod. The four wheel leg and foot moving assemblies can realize leg walking of the robot through gait coordination. When the robot walks in a wheel type mode, the height and the pose of the four wheel leg and foot moving assemblies are controlled in real time, so that the robot has active buffer damping in the moving process, and the robot can move stably and quickly.

Drawings

FIG. 1 is a schematic diagram of a wheel-leg-foot self-reconfigurable mobile robot provided by the invention;

FIG. 2 is a schematic diagram of the multifunctional end-detached flexible robotic arm of the present invention;

FIG. 3 is a schematic view of a wheel leg and foot moving assembly provided by the present invention;

FIG. 4 is a schematic view of the multifunctional end provided by the present invention

Detailed Description

A wheel-leg-foot self-reconfigurable mobile robot is provided with a mobile robot platform with wheel walking, leg walking and cave detection functions, wherein a quadrilateral connecting rod leg is matched with a foot to realize the leg walking function and is matched with a wheel to realize the wheel walking function, a multifunctional tail end is designed on a soft mechanical arm, the soft mechanical arm is combined with the multifunctional tail end to realize the functions of sample grabbing, robot monitoring and the like, the multifunctional tail end and the soft mechanical arm are separated and then move into the cave to perform detection, and the soft mechanical arm are returned to reconfigure after the detection is completed. The robot has the advantages of strong terrain adaptability, and strong detection capability of complex terrains such as caves and the like.

The wheel leg foot self-reconfiguration mobile robot specifically comprises a vehicle body, a wheel leg foot moving assembly, a multifunctional tail end releasing and recovering module, a soft mechanical arm and a multifunctional tail end, wherein the vehicle body is a carrier of the wheel leg foot moving assembly, the multifunctional tail end releasing and recovering module, the soft mechanical arm and the multifunctional tail end;

when the soft mechanical arm is connected with the multifunctional tail end, the multifunctional tail end is an execution mechanism, and sample collection and camera monitoring are carried out under the control of the soft mechanical arm; when the soft mechanical arm is disconnected with the multifunctional tail end, the multifunctional tail end is connected with the multifunctional tail end releasing and recovering module through a connecting cable, environment information is collected and enters a specific terrain to carry out regional detection, and the environment information is dragged and recovered through the connecting cable after the detection is finished;

the wheel leg and foot moving assembly comprises a leg base, a leg steering joint, a leg pitching joint, an upper connecting rod, a lower connecting rod, a wheel pitching joint, a force sensor, a wheel steering joint, a steering arm rod, a wheel driving joint, wheels and feet, wherein the wheels are driven by the wheel driving joint;

the leg pitching joints control the height of the wheel leg and foot moving assemblies to be unfolded and folded, when the wheel leg and foot moving assemblies perform foot type movement, the feet are adjusted to be in contact with the star watch through the wheel pitching joints, the leg pitching joints in the leg and foot moving assemblies move in a coordinated mode to achieve movement of the feet on the star watch, and in the moving process, the leg pitching joints perform coordinated control on the upper connecting rod and the lower connecting rod according to force feedback signals of the force sensor to achieve flexible contact of the feet and the star watch.

The wheel leg and foot moving assembly can walk on a soft star watch by using wheels as feet.

When the multifunctional tail end is disconnected with the soft mechanical arm, the multifunctional tail end is communicated with a connecting cable through the butt joint interface and moves through the grabbing mechanism, the monitoring camera 5-3 is adopted to collect surrounding environment information in the moving process, and the monitoring camera and the butt joint interface are arranged on the base;

the self state of the wheel-leg-foot combined type mobile robot is visually monitored by a monitoring camera in the moving process of the multifunctional tail end;

in the wheel leg and foot moving assembly, the number of leg pitching joints, the number of upper connecting rods and the number of lower connecting rods are all 2; the number of the wheel leg and foot moving assemblies is 4; in the multi-functional end, the number of grabbing mechanism is 4.

The wheel-leg-foot moving assembly realizes rotary motion through a leg steering joint, the leg pitching joint coordinately controls a quadrilateral connecting rod consisting of two upper connecting rods and two lower connecting rods to change the pose, the grabbing mechanisms are independently controlled, the grabbing mechanisms coordinately control the non-synchronous movement, and the grabbing operation can be realized to perform target pose and feature recognition on the collected target.

Specifically, the leg steering joint can realize the rotary motion of the whole wheel leg and foot moving assembly; the two upper connecting rods and the two lower connecting rods form a quadrilateral connecting rod, and the two leg pitching joints are coordinated and controlled to realize the pose change of the four-deformation connecting rod, so that the pose change of the wheels and the foot is realized; a force sensor is arranged between a wheel pitching joint and a wheel steering joint, so that the contact force between a wheel or a foot and a star catalogue can be measured in real time, and the measured value can be used for robot movement control;

the tail end mainly comprises a butt joint interface, a base, a monitoring camera, four grabbing mechanisms and the like. The four grabbing mechanisms are independently controlled, and the four grabbing mechanisms can perform coordinated movement to generate grabbing operation; when the tail end is arranged on the star catalogue, the asynchronous state can be moved through coordination control among the four grabbing mechanisms. The tail end is provided with a monitoring camera, the camera can identify the pose, the characteristics and the like of a target when the monitoring camera is held, and the monitoring camera can identify and record the surrounding environment when the monitoring camera is walking;

the multifunctional tail end can be separated from the soft mechanical arm and enter a large cave, a pit and the like for detection, and after the detection is finished, the multifunctional tail end returns to the parent robot under the self-movement or cable dragging. The multifunctional tail end is connected with the soft mechanical arm through a cable, and the cable can not only exchange information, but also transmit energy and bear dragging force.

The following is further illustrated with reference to specific examples:

in the present embodiment, as shown in fig. 1 to 4, the wheel-leg-foot composite self-reconfigurable mobile robot is mainly composed of avehicle body 1, four wheel-leg-foot moving components 2, a multi-functional end releasing and recoveringmodule 3, a softmechanical arm 4, amulti-functional end 5, and the like.

The wheel leg andfoot moving assembly 2 comprises a leg base 2-1, a leg steering joint 2-2, two leg pitching joints 2-3, two upper connecting rods 2-4, two lower connecting rods 2-5, a wheel pitching joint 2-6, a force sensor 2-7, a wheel steering joint 2-8, a steering arm rod 2-9, a wheel driving joint 2-10, wheels 2-11, feet 2-12 and the like.

The multifunctional tail end releasing and recoveringmodule 3 is arranged on the top of thevehicle body 1 and is used for releasing or recovering a connecting cable 3-1 between themultifunctional tail end 5 and the flexible mechanical arm on the one hand and a base of the flexiblemechanical arm 4 on the other hand.

The softmechanical arm 4 is arranged at the top of thevehicle body 1, and the tail end is provided with amultifunctional tail end 5. Themultifunctional tail end 5 mainly comprises a butt joint interface 5-1, a base 5-2, a monitoring camera 5-3, four grabbing mechanisms 5-4 and the like. When the soft mechanical arm is connected with the multifunctional tail end, the multifunctional tail end serves as an execution mechanism, and can be used for sample collection, robot multi-phase camera monitoring and the like under the control of the soft mechanical arm; meanwhile, the soft mechanical arm has strong deformation capability and can carry a multifunctional tail end to enter a cave in a shallow layer of the earth surface for sample collection; in addition, the multifunctional tail end can be separated from the soft mechanical arm, the multifunctional tail end becomes an independent small robot after separation, and energy and information interaction is carried out between the small robot and the wheel-leg-foot self-reconstruction robot through a connecting cable 3-1. The multifunctional tail end moves through the grabbing mechanism 5-4, the monitoring camera 5-3 is adopted to collect surrounding environment information in the moving process, the multifunctional tail end can enter areas, such as caves, pits, cliffs and the like, which cannot be reached by the self-reconfigurable robot with wheel legs, to carry out detection, and the multifunctional tail end can be dragged and recovered through the connecting cable 3-1.

The first specific embodiment is as follows: when the wheel-leg-foot combined type mobile robot moves in a wheel type mode, wheels 2-11 of the four wheel-leg-foot moving assemblies 2 are in contact with a star catalogue, and wheel driving joints 2-10 drive the wheels 2-11 to move. In the moving process, each wheel leg and foot movingassembly 2 adjusts the moving direction of wheels 2-11 through wheel steering joints 2-8, and two leg pitching joints 2-3 perform coordinated control on two upper connecting rods 2-4 and two lower connecting rods 2-5 according to force feedback signals of force sensors 2-7, so that the active control of the wheels 2-11 in the moving process in contact with a star catalogue is realized, and the active buffering is realized. Meanwhile, the leg pitching joints 2-3 can realize the unfolding and folding of the wheel leg and foot movingassembly 2 in the height direction; when the wheel-leg-foot combined type mobile robot moves in a foot type, the feet 2-12 are in contact with the star watch through adjustment of the wheel pitch joints 2-6, and then the two leg pitch joints 2-3 in each wheel-leg-foot moving assembly 2 move in a coordinated mode to realize the movement of the feet 2-12 on the star watch. In the moving process of the robot, the two leg pitching joints 2-3 coordinate and control the two upper connecting rods 2-4 and the two lower connecting rods 2-5 according to force feedback signals of the force sensors 2-7, and flexible contact between the feet 2-12 and the star catalogue can be realized. In the soft star table, in order to prevent collapse, the wheel-leg-foot combined type mobile robot can also adopt 2-11 parts as feet to walk.

The second specific embodiment: the wheel-leg-foot combined type mobile robot can adjust the postures of height, side inclination, front-back pitching and the like, and when the height of thevehicle body 1 can be adjusted by driving the upper connecting rod 2-4 and the lower connecting rod 2-5 to synchronously unfold and fold by the leg pitching joints 2-3 of the four wheel-leg-foot moving components 2; when the heights of the four wheel leg and foot movingassemblies 2 are not consistent, thevehicle body 1 can have different inclined postures.

The third concrete implementation scheme is as follows: the wheel-leg-foot combined type mobile robot can move in all directions, and the steering of the wheel-leg-foot moving assembly 2 is changed into a joint 2-2 by a leg; the steering of the wheels 2-11 is realized by the wheel steering joints 2-8.

The fourth specific embodiment: the wheel-leg-foot combined type mobile robot can utilize the softmechanical arm 4 and themultifunctional tail end 5 to perform operations such as sampling, monitoring and the like. Sampling is realized by clamping four grabbing mechanisms 5-4 of themultifunctional tail end 5; monitoring is accomplished by the use of a monitoring camera 5-3 on themulti-function tip 5 by moving themulti-function tip 5 to different positions by the softrobotic arm 4. The monitoring camera 5-3 can also visually monitor the state of the wheel-leg-foot composite mobile robot itself.

The fifth concrete embodiment: the wheel-leg-foot combined type mobile robot can separate themultifunctional tail end 5 from the softmechanical arm 4, and themultifunctional tail end 5 and the soft mechanical arm are connected through the cable 3-1 after the multifunctional tail end and the soft mechanical arm are separated. The cable 3-1 transmits control information of the robot to themultifunctional tail end 5, the four grabbing mechanisms 5-4 are in contact with the star catalogue, and the four grabbing mechanisms 5-4 move on the star catalogue through gait coordination. Themultifunctional tip 5, which is detached from the soft robotic arm, can enter the cavity for detection. After the detection of the cave, the multifunctional end releasing and recoveringmodule 3 recovers the cable 3-1, and themultifunctional end 5 is pulled back to the end position of the soft mechanical arm, and the multifunctional end releasing and recovering module and the soft mechanical arm are mechanically connected through the butt joint interface 5-1.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Those skilled in the art will appreciate that the details of the invention not described in detail in this specification are well within the skill of those in the art.

Claims (10)

Translated fromChinese

1.一种轮腿足自重构移动机器人，其特征在于：1. a wheel-legged self-reconfiguration mobile robot is characterized in that:包括车体、轮腿足移动组件、多功能末端释放及回收模块、软体机械臂、多功能末端，其中：Including car body, wheel leg foot moving components, multi-functional end release and recovery module, soft robotic arm, multi-functional end, including:所述车体为轮腿足移动组件、多功能末端释放及回收模块、软体机械臂、多功能末端的载体，所述多功能末端释放及回收模块安装于车体顶部，软体机械臂以多功能末端释放及回收模块为底座，并安装于多功能末端释放及回收模块上，用于释放或回收多功能末端的多功能末端释放及回收模块与软体机械臂间通过连接电缆连通，软体机械臂末端安装有多功能末端。The vehicle body is the carrier of the wheel, leg and foot moving components, the multi-function end release and recovery module, the software robotic arm, and the multi-function end. The multi-function end release and recovery module is installed on the top of the vehicle body. The end release and recovery module is the base and is installed on the multi-function end release and recovery module. Mounted with multifunctional end.2.根据权利要求1所述的一种轮腿足自重构移动机器人，其特征在于：2. a kind of wheel-legged self-reconfigurable mobile robot according to claim 1, is characterized in that:软体机械臂与多功能末端连接时，多功能末端为执行机构，于软体机械臂操控下进行样品采集、相机监视；软体机械臂与多功能末端脱开时，多功能末端通过连接电缆与多功能末端释放及回收模块连接，对环境信息进行采集并进入特定地形进行区域开展探测，探测完成后通过连接电缆拖拽回收。When the software manipulator is connected to the multi-function end, the multi-function end is the actuator, which is controlled by the software manipulator for sample collection and camera monitoring; when the software manipulator is disconnected from the multi-function end, the multi-function end is connected to the multi-function end through a connecting cable. The terminal release and recovery module is connected to collect environmental information and enter the specific terrain for detection in the area. After the detection is completed, it can be dragged and recovered through the connecting cable.3.根据权利要求1所述的一种轮腿足自重构移动机器人，其特征在于：3. a kind of wheel-legged self-reconfigurable mobile robot according to claim 1, is characterized in that:所述轮腿足移动组件包括腿基座、腿转向关节、腿俯仰关节、上连杆、下连杆、车轮俯仰关节、力传感器、车轮转向关节、转向臂杆、车轮驱动关节、车轮、足部，所述车轮由车轮驱动关节驱动，轮腿足移动组件通过车轮转向关节调整车轮行进方向，腿俯仰关节根据力传感器发送的力反馈信号，对上连杆、下连杆进行协调控制，控制车轮与星表接触以实现主动缓冲；The wheel-leg-foot moving assembly includes a leg base, a leg steering joint, a leg pitching joint, an upper link, a lower link, a wheel pitching joint, a force sensor, a wheel steering joint, a steering arm, a wheel driving joint, a wheel, a foot The wheel is driven by the wheel drive joint, the wheel leg foot moving component adjusts the wheel travel direction through the wheel steering joint, and the leg pitch joint coordinates the upper link and the lower link according to the force feedback signal sent by the force sensor. The wheels are in contact with the star table for active cushioning;腿俯仰关节控制轮腿足移动组件高度展收，当轮腿足移动组件进行足式运动时，足部通过车轮俯仰关节调节与星表接触，各腿足移动组件中的腿俯仰关节协调运动以实现足部于星表移动，移动过程中，腿俯仰关节根据力传感器的力反馈信号，对上连杆、下连杆协调控制以实现足部与星表的柔顺接触。The leg pitch joint controls the height extension and retraction of the wheel, leg and foot moving assembly. When the wheel leg and foot moving assembly performs foot motion, the foot is adjusted to contact the star table through the wheel pitch joint, and the leg pitch joint in each leg and foot moving assembly moves in coordination to Realize the movement of the foot on the star table. During the movement process, the leg pitch joint controls the upper link and the lower link coordinately according to the force feedback signal of the force sensor to realize the compliant contact between the foot and the star table.4.根据权利要求3所述的一种轮腿足自重构移动机器人，其特征在于：4. a kind of wheel-legged self-reconfigurable mobile robot according to claim 3, is characterized in that:所述轮腿足移动组件于松软星表可采用车轮作为足部进行行走。The wheel-leg-foot-moving assembly can use wheels as the feet for walking in the slack star watch.5.根据权利要求3所述的一种轮腿足自重构移动机器人，其特征在于：5. a kind of wheel-legged self-reconfigurable mobile robot according to claim 3, is characterized in that:所述多功能末端包括对接接口、基座、监视相机、抓取机构，当多功能末端与软体机械臂脱开时，多功能末端通过对接接口于连接电缆接通，通过抓取机构进行移动，移动过程中采用监视相机5-3对周围环境信息进行采集，监视相机、对接接口均设置于基座上。The multifunctional end includes a docking interface, a base, a monitoring camera, and a grabbing mechanism. When the multifunctional end is disengaged from the software robotic arm, the multifunctional end is connected to the connecting cable through the docking interface, and moves through the grabbing mechanism. During the moving process, the surveillance camera 5-3 is used to collect the surrounding environment information, and the surveillance camera and the docking interface are all arranged on the base.6.根据权利要求5所述的一种轮腿足自重构移动机器人，其特征在于：6. a kind of wheel-legged self-reconfigurable mobile robot according to claim 5, is characterized in that:所述多功能末端移动过程中通过监视相机同时对轮腿足复合式移动机器人自身状态进行视觉监视。During the movement of the multi-functional terminal, the state of the wheel-leg-foot compound mobile robot is simultaneously visually monitored by a monitoring camera.7.根据权利要求3所述的一种轮腿足自重构移动机器人，其特征在于：7. a kind of wheel-legged self-reconfigurable mobile robot according to claim 3, is characterized in that:所述轮腿足移动组件中，腿俯仰关节、上连杆、下连杆数量均为2个。In the wheel-leg-foot moving assembly, the number of leg pitching joints, upper connecting rods, and lower connecting rods are all two.8.根据权利要求3所述的一种轮腿足自重构移动机器人，其特征在于：8. a kind of wheel-legged self-reconfigurable mobile robot according to claim 3, is characterized in that:所述轮腿足移动组件数量为4个。The number of the wheel leg and foot moving components is 4.9.根据权利要求5所述的一种轮腿足自重构移动机器人，其特征在于：9. a kind of wheel-legged self-reconfigurable mobile robot according to claim 5, is characterized in that:所述多功能末端中，抓取机构数量为4个。In the multifunctional end, the number of grasping mechanisms is 4.10.根据权利要求3所述的一种轮腿足自重构移动机器人，其特征在于：10. A kind of wheel-legged self-reconfigurable mobile robot according to claim 3, characterized in that:所述轮腿足移动组件通过腿转向关节实现回转运动，通过腿俯仰关节协调控制两个上连杆和两个下连杆组成的四边形连杆进行位姿变化，所述抓取机构间独立控制，各抓取机构协调控制进行不同步态移动，并可实现抓握操作对采集目标进行目标位姿、特征识别。The wheel-leg-foot moving component realizes the rotary motion through the leg steering joint, and the quadrilateral link composed of two upper links and two lower links is coordinated and controlled through the leg pitch joint to change the position and posture, and the grasping mechanisms are independently controlled. , the grasping mechanisms coordinate and control to move in different synchronous states, and can realize the grasping operation to identify the target pose and feature of the collected target.

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