CN1007720B - Walking mechanism - Google Patents

Abstract

The present invention relates to a walking mechanism with a rotary guideway steering device, which is used for a walking machine, and the horizontal movement guideways of the leg of the walking mechanism are rotary guideways. All the rotary guideways are arranged on a horizontal movement machine frame, and the synchronized rotation of each rotary guideway and a vehicle body is ensured by a rotating transmission device arranged in the horizontal movement machine frame during rotation. The leg mechanism is a separable linear mechanism of a three-dimensional movement.

Description

Walking mechanism

Mechanism is walked in a kind of walking that the invention belongs in trolley-bus vehicular transport walking machine (B62D57/02) or the industrial robot (B25J05/00).

The leg mechanism of walking mechanism adopts scaling device more at present, this is because but scaling device has advantages such as motion linear separation and motion amplification when doing space or plane motion, can obtain desired space motion leg track easily with mutually orthogonal guide track system or actuating system.Because there is the difficulty in the overlapping machine design of guide rail in three-dimensional scaling device, so the two-dimentional scaling device of many again employings is as leg mechanism.In order to make the walking machine skidding and to turn to, need leg mechanism to have three degree of freedom, so generally all two-dimentional scaling device is contained on the framework, framework can be rotated around certain root axle of health and obtain the space motion ability of leg but when leg is done space motion, just lost its original motion advantage of linear separation fully like this, in algorithm and control, increased difficulty, thereby made walking vehicle turn to problem to become complicated.For example the six-legged walking machine ASV of document [" walking vehicle theory " Chen Bingcong, the armoring corp of engineers in Beijing institute] described Ohio State Univ-Columbus USA research is a representative type example.Its leg mechanism is that the top and the vehicle body of framework are hinged in the vertical mutually ⊥ of the being contained in shape of the motion guide rail framework of two-dimentional its level of simple-type scaling device and vertical both direction, can move inwards or outwards under the promotion of oil cylinder.Therefore the leg mechanism of this walking machine has 3 degree of freedom.Its six legs are along vehicle body both sides symmetric arrangement, turning to computing machine of it controlled, control when this walking machine turns to is more complex during than straight line moving, this is because of the motion that turns to the computer-chronograph control system must go out at least 19 degree of freedom of six legs simultaneously, the mutual coordination of the path of motion of vehicle body and leg in the time of could guaranteeing to turn to.No matter this is to form in control system, and algorithm and program all are complicated problems on realizing.Obviously it is impossible will realizing turning under the general technology condition, can turn to even resemble described in the example, but because it need constantly change step when turning to, adjust center of gravity, change attitude, will inevitably exist turning velocity slow, the shortcoming of manoevreability difference, simultaneously cost is increased substantially, reduce Practical Performance.

Another representative type example is open day on July 9th, 1985 of american documentation literature US4527650() described walking machine, its leg mechanism also is the two-dimentional scaling device that adopts, this scaling device is contained on the vertical framework, this framework and health link and can a vertical axes on health swing, this leg also is that three degree of freedom is arranged, and its six legs are the radiation-like symmetry and are distributed on the hexahedral vehicle body.Two motion guidance points of two dimension scaling device are not directly to link to each other with the linear actuator leading screw but pass through two connecting rods to link to each other with leading screw, but so just lost the advantage of scaling device motion linear separation, on control algorithm, produce heart linearity, though this walking machine has omnibearing exercise performance and comes the advantage of the gabarit shape and size of conversion vehicle body by the pivot angle that changes the leg mechanism framework, even the complexity in the control that it is occurred not only all can exist first example turning to when turning to when straight line moving time the and a series of shortcomings of bringing thus.

Purpose of the present invention is exactly for the advantage of good utilisation scaling device more, solves the problem that turns to of walking machine traveling gear, under the prior art condition, realize walking machine turn to flexibly and for future walking machine the control that turns to method and apparatus is provided.

For this purpose, the present invention notices that the linear separability of the motion of scaling device can make that the level of walking machine is vertical, horizontal side to or level turn to and the motion linear separation of vertically lifting leg, and the working direction of noticing the walking machine that the convergent-divergent leg mechanism is housed only with the consistent characteristics of direction of the horizontal moving guide rail of its leg mechanism, realize turning to of walking machine with the direction of change leg mechanism horizontal guide rail.

Main points of the present invention have been to introduce the horizontal moving guide rail that rotary guide rail is a leg mechanism.When walking machine turns to, utilize steering transmission linkage that the horizontal moving guide rail effect step of each bar leg is rotated, the horizontal motion direction that changes leg is the sense of motion of walking machine.The rotating shaft of each rotary rail and steering transmission linkage all are contained in the tubbiness frame, obviously this frame is when turning to, can only do translation, for having turning under the true meaning, the direction that can allow fuselage also rotate synchronously and be consistent with rotary rail makes head all the time towards working direction.The introducing of rotary rail makes the one dimension guide rail finish the two-dimensional guide function, has overcome the overlapping disadvantage of many guide rails of using three-dimensional simple-type scaling device to exist.The leg number is optional more than four under the situation that guarantees the steady stability balance, is best with six legs, eight legs, and heavy walking machine can suitably increase the leg number, and leg is answered center symmetry circumference equivalent arrangements.

Fig. 1 is a scheme scheme drawing that this walking mechanism is used for six sufficient walking vehicles.Fig. 2 is the scheme drawing that turns to of this walking machine.Wherein solid line is represented the position that walking machine is current, and dotted line or long and short dash line represent that walking machine turns over a position after the angle.The direction that walking machine that arrow refers to advances.Fig. 3 is a kind of motion principle figure of three-dimensional simple-type scaling device.

As shown in Figure 1, frame (12) is a garden shape or polygonal barrel-like structure, the top is provided with upper bearing plate (13) and lower support plate (27), be evenly equipped with the both sides that equate with the leg number on the bucket wall (14) groove of the upright guide rail of leg mechanism (23) (11) (16) is housed, slide block (22) can slide up and down in guide rail (11).The upper bearing plate (13) of frame (12) links to each other with fuselage (1) with swivel bearing (3) by the vertical hollow shaft (9) of fuselage (1).The horizontal guide rail of leg mechanism (23) be one group by horizontal guide rail (17) and with horizontal guide rail (17) rotary rail perpendicular and that form for the vertical hollow rotating shaft (19) of one with it, its vertical hollow rotating shaft (19) links to each other with the lower support plate (27) of frame (12), the center symmetry is distributed on the lower support plate (27) of frame (12), can rotate relative to lower support plate (27) under the driving of steer-drive.Steering transmission linkage is formed in gear (4), (5), axle (6), gear (8), (10), is contained between upper bearing plate (13) and the lower support plate (27); Axle (6) links to each other with lower support plate (27) by bearing seat (7), and the overall gear ratio of steering transmission linkage is 1, guarantees fuselage (1) when walking machine turns to, and the horizontal guide rail on each rotary rail (17) rotates and guarantee their direction unanimity synchronously.Steering transmission linkage can replace with can make fuselage (1) and the type of drive that each rotary rail rotates synchronously various machineries with any hydraulic pressure, compressed-air controlled, electric power.The method through the three-dimensional simple-type scaling device of equivalent transformation, conversion that leg mechanism is made up of connecting rod (26), (24), (25), (27) is to guarantee former pilot point R, Q, servo-actuated point P[Fig. 3] the position and the equivalent triangle at their places is constant that connecting rod is carried out translation or prolongation, do compactness that helps leg mechanism and the strained condition of improving leg mechanism like this, bring convenience to design.Leg mechanism among Fig. 1 (23) is exactly through a kind of form after the conversion.Its pilot point R links to each other with slide block (18) with Hooke's coupling in the upper end of connecting rod (21).Pilot point Q links to each other with slide block (22) in the upright guide rail with Hooke's coupling on connecting rod (25), and the plane of movement that the direction of above-mentioned two Hooke's couplings will limit whole leg mechanism is vertical with horizontal guide rail in any position.Servo-actuated point P joins with ball with foot (15) in bar (26) lower end.The various type of drive that can the produce straight-line displacement slide block (22) in the upright guide rail (11) and the available any machinery of motion of the slide block (18) in the horizontal guide rail (17), liquid, compressed-air controlled electric power or that mix are come start.As driving with oil cylinder (2) or (20), this main designing requirement and existence conditions according to oneself is decided.

In fact the introducing of rotary rail comes down to provide a cylindrical coordinates system to the motion of pin, with the three degree of freedom of controlling each leg respectively the time, also simplified the The whole control algorithm, because of the control of the horizontal motion of walking machine at any time and vertical motion all be linear separability from.

Of the present inventionly compare Yu prior art, have following outstanding advantages: (1) is rotary rail structure reasonably, has given full play to and utilized the You point of three-dimensional convergent-divergent mechanism, has simplified Zheng control system and algorithm; (2) but the Zai leg Yu in the nonslipping situation in ground Zhuan to; (3) continuously Zhuan to (be limit Zou limit Zhuan and dog-leg path do not occur); (4) can a Zhuan to (namely do not change leg Zhuan and cross any angle, Zhe is that the right boundary of Zi animal is beyond one's reach); But more outstanding You point is mechanical type transfer unlike the conventional vehicles complexity of You, Zai Zhuan to the time can not rely on computer help realize Zhuan to, make internal memory and the time of computer free the balance of concentrating one's energy to control health, the coordination of Zi attitude, leg and carry out more more complicated operations. Even the Yun of all rotary rails moving also all the Yong computer control, what above-mentioned You order still possesses, but walking machine Zi You selection this moment foothold, finish various gait walkings, the typical Zhu Zuo of leg mechanism mark system is greatly simplified control algolithm, thereby has improved the practicality of walking machine. Rotary rail Yong one dimension guide rail is finished the two-dimensional guide function, Gram has been inhaled the guide rail gravity treatment, has alleviated the Chong amount, makes the three-dimensional simple-type convergent-divergent You of mechanism possibility by the general Yong Yu of Zhi leg mechanism design.

The present invention can be used for walking vehicle, mine walking machine and Mobile Industrial Robot etc.

Claims (6)

1, a kind of walking mechanism, it is by fuselage, frame, horizontal guide rail, upright guide rail, leg mechanism and driving device are formed, feature of the present invention is that horizontal guide rail (17) also is that one is formed rotary rail with vertically hollow shaft (19) is vertical, the gear (4) of the steering transmission linkage in the frame (12) is fixed in the upper end of vertical hollow shaft (19), leg mechanism (23) is connected with upright guide rail (2) on being fixed in a barrel wall (14) by slide block (22), be connected with horizontal guide rail (17) by slide block (18) again, fuselage (1) is connected with frame (12) by swivel bearing (3), is fixed in the vertical hollow shaft (9) at fuselage (1) center and the gear (10) of steering transmission linkage and is connected.

2,, it is characterized in that vertical hollow shaft (19) the center symmetry in the said rotary rail is distributed on the lower support plate (27) of frame (12), and equate with the leg number according to the said walking mechanism of claim 1.

3, according to the said walking mechanism of claim 1, a bucket wall (14) that it is characterized in that frame (12) is gone up uniform that equate with the leg number and both sides the groove (16) of guide rail (11) is housed.

4, according to the said walking mechanism of claim 1, it is characterized in that passing to wheel word by the gear (4) that is contained in vertical hollow shaft (19) one ends, forms with gear (4) gears in mesh (5), gear (8) with gear (8) gears in mesh (10), also can be by HM Hydraulic Motor, controllable motor or rotary oil cylinder replacement.

5, according to the said walking mechanism of claim 1, it is characterized in that by the leg mechanism that connecting rod (26), (25), (24), (21) are formed be three-dimensional simple-type scaling device, pilot point R is connected with horizontal guide rail (17) by slide block (18), and pilot point Q is connected with straight guide (11) by slide block (20).

6, according to the said walking mechanism of claim 1, it is characterized in that said walking machine is more than four legs, be the best with six legs, eight legs.

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