CN104401418A - Double-feet air cushion boot type walking robot and walking method thereof - Google Patents
Double-feet air cushion boot type walking robot and walking method thereof Download PDFInfo
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- CN104401418A CN104401418A CN201410605016.5A CN201410605016A CN104401418A CN 104401418 A CN104401418 A CN 104401418A CN 201410605016 A CN201410605016 A CN 201410605016A CN 104401418 A CN104401418 A CN 104401418A
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- air cushion
- swing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention relates to a walking mechanism of a robot and a walking method thereof. A double-feet air cushion boot type walking robot is characterized in that. swaying thighs (3) are arranged on the two sides of a hip part board (9), swaying shanks (5) are connected to the lower ends of the swaying thighs (3), the lower ends of the swaying shanks (5) are connected with air cushion boots (6) by a ball hinged structure, controllable bolts (4) are arranged between the swaying thighs (3) and the swaying shanks (5), the lower parts of the swaying shanks (5) extend out of supporting horizontal rods (11), at least one vertical spring is arranged between each supporting horizontal rod (11) and a top layer hard board (17), the structure of each air cushion boot (6) is that a soft apron (15) is arranged on the lower part of the corresponding top layer hard board (17), an air-blowing draught fan (14) driven by an air-blowing draught fan motor (13) is arranged above each top layer hard board (17), and the walking method of the robot provides and limits the operation characteristic in an operation segmenting mode. The robot is simple in structure, small in two-leg freedom degree and low in control unit requirement, two feet bear the load during walking, the walking stability is good, the ground specific pressure has better inclusiveness for complicated ground, and the energy using efficiency is high.
Description
Technical field
The present invention relates to a kind of traveling gear and traveling method thereof of robot, especially a kind of robot walking configuration of walking in air cushion boots mode and traveling method thereof.
Background technology
Up to now, at the field of research of walking robot, mostly adopt multi-joint, multivariant imitative personal structure, and the swing of its to be all the motions in joint by controlling leg in traveling process realize then leg completes the movement of robot, which results in existing two-foot walking robot complex structure, control that difficulty is large, poor stability and the problem such as energy utilization efficiency is low.Traditional biped robot monopodia in traveling process lands simultaneously, and grounding pressure is large, cannot pass through soft terrain.Therefore, for above deficiency, need technical progress to realize control stiffness and the crossing ability problem of two-foot walking robot.
Through finding existing technical literature retrieval:
Chinese utility model patent number: 200920105112.8, title: a kind of three bar biped walking mechanisms.This utility model structure is simple, engine is arranged on wherein one foot on, intermediate connecting rod is driven to do gyroscopic movement by revolute pair, so only drive with an engine and realize two sufficient ground connection walkings, solve existing two-foot walking robot complex structure, control the large problem of difficulty, but still there is single pin and land in this technology, the problem that walking stability is inadequate, and do not consider the crossing ability problem on soft terrain.
Chinese invention patent application number: 201210554495.3, title: a kind of two-foot walking robot.Every bar leg of this two-foot walking robot has freedom degree hip-joint, degree of freedom knee joint, degree of freedom ankle-joint.On slope, under the complex road surfaces such as ladder, the multiple driving progression such as walking, climbing, turning can be realized.But every bar leg of this technology needs to control separately, complex structure, and degree of freedom is many, be unfavorable for keeping stable, also do not consider the walk problem on soft terrain simultaneously.
Chinese invention patent application number: 201010109042.0, title: air cushion type walking vehicle.Each two of machinery foot after in before this air cushion type walking vehicle comprises, point two rows are distributed in the car body left and right sides side by side, and each sufficient structure is identical, designs simultaneously and also comprises drive motor, control mechanism, sealed air chamber, booster fan, air-blowing blower motor and make a video recording first-class.But this air cushion type walking vehicle needs six legs to move, and considers the crossing ability problem on soft terrain but does not have good controller performance.
From above, by literature search, do not find the correlative study achievement for two sufficient air cushion shoe walking robots.Therefore, air cushion technology, can innovatively for the traveling gear of bipod walking robot from now on provides a new rational solution in the application in two-foot walking robot field.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of two-foot walking robot, can be implemented in the walking on soft terrain, walking stability is good, and structure is simple, and degree of freedom is few, controls difficulty little.
Object of the present invention is realized by following technical scheme.
A kind of two sufficient air cushion shoe walking robots, is characterized in that:
Can the shaft-like swing thigh of swing in the arranged on left and right sides configuration of hip plate, the lower end swinging thigh connect can before and after the shaft-like swing shank that rotates, the lower end swinging shank connects the top layer hardboard of air cushion boots upper surface with spherical hinge structure;
At swing thigh with swing between shank and arrange controlled latch, described controlled latch has and inserts locking and release two states, and insert locking state and can place restrictions on two rod members and mutually rotate, remain on a straight line or certain angle, release position two rod member can rotate mutually;
Support rail is stretched out in the bottom of described swing shank, arranges at least one uprighting spring between support rail and top layer hardboard;
The structure of described air cushion boots is at the bottom of top layer hardboard configuration flexible skirt, arranges the air-blowing blower fan driven by air-blowing blower motor above top layer hardboard; Air-blowing fanman oppose described air cushion boots inflation, flexible skirt upwards expands and lifts, and forms certain air gap with ground; Air-blowing blower fan quit work described air cushion boots venting, flexible skirt retracted downward falls;
On described hip plate, configuration can drive the drive motor of described swing thigh swing, and described hip plate also configures control unit;
Described control unit can control inflation and the stopping of air-blowing blower fan; The swing or static swinging thigh can be controlled; Locking or the release of controlled latch can be controlled.
Further, the flexible skirt of described air cushion boots is up-small and down-big shape, and arranges the circumferential clasp of some dimensions from top to bottom.
Further, described spherical hinge structure is a gimbal structure, and be fixedly connected on and swing between shank lower end and air cushion boots top layer hardboard, described support rail is circular, described swing shank rod member is positioned at annulus central authorities, and described uprighting spring is that a diameter is greater than the sleeve swinging shank rod member.
Further, described spherical hinge structure is that a ball is arranged on and swings between shank lower end and air cushion boots top layer hardboard in two shallow pit patterns, described support rail is the horizontal plate respectively stretched out in swing shank front and rear direction, and described uprighting spring is configure vertical extension spring respectively below forward and backward horizontal plate.
Further, at the hip ring of described hip plate periphery configure ring-type, described hip ring is becket that is circular or rectangle.
Further, in the position that the configuration of described hip plate arranged on left and right sides swings thigh, configuration can the swing arm of swing respectively again, and the swaying direction of side swing arm is contrary with the swing thigh swaying direction of homonymy, identical to the swing thigh swaying direction of opposite side.
Further, described air cushion boots shape of cross section is circular or oval or long waist shaped.
Further, spring washer is configured in the junction of described swing thigh and hip plate.
A traveling method for two sufficient air cushion shoe walking robots as described in preceding solution, is characterized in that: described robot goes round and begins again and to walk with following action:
Ith action: both sides air-blowing blower fan does not work, both sides air cushion boots are not inflated, and flexible skirt shrinks, the controlled latch locking in both sides, and the drive motor on the hip plate of both sides does not work, thigh of rolling to each side is that vertical configuration is upright together with swing shank;
IIth action: wherein side air-blowing fanman oppose described air cushion boots inflation, flexible skirt upwards expands and lifts, the controlled latch of homonymy is opened, drive motor work on homonymy hip plate, with side oscillation thigh forward rocking motion, form an angle with same side oscillation shank shape, until flexible skirt is expanded to bottom, extreme higher position form air gap, now controlled latch is locked this action definition as lifting leg action;
IIIth action: homonymy air-blowing blower fan works on, described air cushion boots bottom is maintained and forms air gap, homonymy drive motor works on, forward rocking motion is continued to setpoint distance with side oscillation thigh, opposite side swings thigh, and together with swinging, shank is linearly to turn forward, hip plate height reduces, and is across leg action by this action definition;
IVth action: homonymy air-blowing blower fan does not work, described air cushion boots shrink, and homonymy drive motor does not work, with the unpowered constraint of side oscillation thigh, controlled latch is opened, and returning to downwards gradually with to swing shank linearly with side oscillation thigh, is the leg action that falls by this action definition;
After this, opposite side repeat the IIth, III, IV action makes two legs reconsolidate uprightly to complete a walking to walk.
Further, while a side oscillation thigh forward rocking motion, the swing arm synchronous forward rocking motion with it of opposite side.
When the present invention works: left and right leg follow procedure replaces forward rocking motion successively, and as left leg first moves forward certain distance, right leg moves forward identical distance again, or moves forward the distance of twice, complete the overall movement forward of robot.And when wherein one leg forward moving duty, another one leg and ground keep relative static conditions.During as left leg work, right leg and ground keep static, and relative sliding does not occur, vice versa.
In order to the clearer traveling method understanding robot of the present invention, also can from robot lift leg, move one's steps and land three actions carry out decomposition explain, in the process that robot moves forward, for left leg, need to complete following action successively:
The first step, lifts leg action.After robot switches on power, according to the control signal that control unit sends, the air-blowing blower motor work in left side, air cushion boots are filled with gas-pressurized to the left, and air cushion inflation expands.Air cushion boots entirety is lifted by cushion lift, is lifting before and after leg action, and controlled latch locking makes leg play a supportive role; Lifting in leg course of action, controlled latch is opened and is made to swing thigh and " knee joint " swung between shank can free bend.
Second step, action of moving one's steps.Drive motor work on the hip plate of left side, makes left side swing thigh, swing shank forward rocking motion, drives left side air cushion boots to move forward.When moving to a suitable position, drive motor quits work, and the distance of movement is a step-length.Across in leg course of action, air-blowing blower motor maintenance work, controlled latch locking.
3rd step, fall leg action.Controlled latch is opened, and air-blowing blower motor quits work, and cushion lift disappears, and air cushion shrinks, and completes leg action, and controlled latch continuation locking subsequently makes leg play a supportive role.
Now the air cushion boots on right side are not inflated, and the controlled latch on right side is still locked, and swing thigh and swing shank in a straight line, playing a supportive role.
For achieving the above object, the technical solution used in the present invention is:
A kind of two-foot walking robot is provided, comprise: air cushion boots, air-blowing blower fan, air-blowing blower motor, spring device, swing thigh, controlled latch, swing shank, swing arm, hip ring, drive motor, power supply and control unit, wherein swing thigh and swing shank and jointly form and lead leg, and connected by controlled latch; Whole leg structure one end is connected by rotating shaft with hip plate, the other end is connected with spring device by ball pivot with air cushion boots, both can support, again can at certain angle scale oscillation, air-blowing blower fan is placed on air cushion boots, completes the operations such as the inflation of air cushion boots, venting by controlling air-blowing blower motor; Drive motor is connected with swing thigh, completes the swing of robot leg by controlling drive motor; Controlled latch is equipped with at knee joint place, the lifting of air cushion boots and decline time latch open, other time latch locking leg is played a supportive role; Control unit is arranged on the hip plate in hip ring, and power supply can be external.
Described leading leg uses material need have enough rigidity, and its cross-sectional plane can be square, oblong or circle.
Described swing arm chooses identical material with leading leg, and is arranged on hip plate both sides, and is connected with contralateral leg by physical construction, realizes the automatic reverse motion of arm and leg, suppresses the torsion of robot health in swinging kick process, keep balance.
Described air cushion boots comprise: top layer hardboard and flexible skirt, it are provided with air-blowing blower fan and air-blowing blower motor.Wherein top layer stiff board material can be aluminum alloy or other materials, which is provided with admission port, is connected with air-blowing blower fan.Flexible skirt divides three layers or Multi-layer design, up-small and down-big, and between three layers of apron, arrange card bad.Air cushion boots shape of cross section can be circular, oval or other shape.
Spring device of the present invention comprises support rail, spring and ball pivot can adopt the following two kinds structure:
One, ball pivot is that a ball is arranged between swing shank and air cushion boots in two shallow pit patterns, and described spring is extension spring, is strained and fixed between the support rail swinging shank and air cushion boots top layer hardboard.
Its two, ball pivot is a gimbal structure, and be fixedly connected on and swing between shank lower end and air cushion boots top layer hardboard, described spring is support spring.
Described hip plate: drive motor is arranged on hip plate, drive the swing swinging thigh, hip plate can be arranged in the hip ring of solid shape annulus, and drive motor and control unit are configured in hip ring, the profile of hip is better, and is convenient to the installation swinging thigh.
Described control unit comprises: air-blowing air-blower control unit, drive motor control unit and controlled latch control unit.Wherein air-blowing air-blower control unit is in order to control the work of air-blowing blower fan, and drive motor control unit is in order to control drive motor work, and controlled latch control unit is in order to control opening and locking of controlled latch.
Beneficial effect of the present invention, by literature search, does not find the correlative study achievement for air cushion shoe two-foot walking robot.The present invention is directed to the deficiency that prior art exists, first air cushion technology and biped robot are combined, novelty propose a kind of two sufficient air cushion shoe walking robots, under simple controlled condition, realize class biped walking, for walking robot family with the addition of a newcomer.Robot architecture is simple, and two legs are class straight-bar mechanism, and be provided with the knee joint of controlled latch, degree of freedom is little, significantly reduce the requirement of corresponding control unit; In the process of walking, even if when dynamic locomopion, remain that both feet support, two foots all bear vertical load, and center of gravity is only mobile among a small circle, can not occur to roll or anteversion and retroversion phenomenon, improve the stability of advancing of mechanism; Air cushion boots grounding pressure is little, on soft terrain the strong and air cushion boots of crossing ability and connecting device design ingenious, better pardon can be had to complicated ground; Air cushion boots friction force while bearing compared with large pressure and between ground is little, can reach higher energy utilization efficiency.
Accompanying drawing explanation
Fig. 1 is an example structure schematic diagram of the present invention two sufficient air cushion shoe walking robot;
Fig. 2 is an embodiment of robot of the present invention, the configuration schematic diagram of hip ring and internal part;
Fig. 3 is an embodiment of robot of the present invention, swings the schematic diagram of shank, air cushion boots and bindiny mechanism;
Fig. 4 is an embodiment of robot of the present invention, simple motion schematic diagram in walking process;
Fig. 5 is an embodiment of the traveling method of the present invention two sufficient air cushion shoe walking robot, is decomposed into upright, and lifts leg, diagram across leg, leg three walking motion that fall.
In figure: 1, hip ring; 2, swing arm; 3, thigh is swung; 4, controlled latch; 5, shank is swung; 6, air cushion boots; 7, drive motor; 8, control unit; 9, hip plate; 10, becket; 11, support rail; 12, vertically extension spring; 13, air-blowing blower motor; 14, air-blowing blower fan; 15, flexible skirt; 16, snap ring; 17, top layer hardboard; 18, spherical hinge structure.
Detailed description of the invention
Structure of the present invention is further described below in conjunction with accompanying drawing.
A kind of two sufficient air cushion shoe walking robots, can the shaft-like swing thigh 3 of swing in the arranged on left and right sides configuration of hip plate 9, the lower end swinging thigh 3 connect can before and after the shaft-like swing shank 5 that rotates, swing the lower end of shank 5 connects air cushion boots 6 upper surface top layer hardboard 17 with spherical hinge structure 18;
At swing thigh 3 with swing between shank 5 and arrange controlled latch 4, described controlled latch 4 has and inserts locking and release two states, and insert locking state and can place restrictions on two rod members and mutually rotate, remain on a straight line or certain angle, release position two rod member can rotate mutually;
Support rail 11 is stretched out in the bottom of described swing shank 5, arranges at least one uprighting spring 12 between support rail 11 and top layer hardboard 17;
The structure of described air cushion boots 6 is at the bottom of top layer hardboard 17 configuration flexible skirt 15, arranges the air-blowing blower fan 14 driven by air-blowing blower motor 13 above top layer hardboard 17; Air-blowing blower fan 14 works and to inflate described air cushion boots 6, and flexible skirt 15 upwards expands and lifts, and forms certain air gap with ground; The air-blowing blower fan 14 described air cushion boots 6 that quit work are exitted, and flexible skirt 15 retracted downward falls;
On described hip plate 9, configuration can drive the drive motor 7 of described swing thigh 3 swing, and described hip plate 9 also configures control unit 8;
Described control unit 8 can control inflation and the stopping of air-blowing blower fan 14; The swing or static swinging thigh 3 can be controlled; Locking or the release of controlled latch 4 can be controlled.
The flexible skirt 15 of described air cushion boots 6 in up-small and down-big shape, and arranges the circumferential clasp 16 of some dimensions from top to bottom.Flexible skirt 15, by up-small and down-big design, increases and contact area of ground, reduces blower fan power consumption while reducing specific pressure, and there is better pardon to ground, general point three layers are designed to good, in order to prevent extending out of air cushion, arrange card bad 16 between three layers or multilayer apron.
Described spherical hinge structure 18 is a gimbal structure, be fixedly connected on and swing between shank 5 lower end and air cushion boots 6 top layer hardboard, described support rail 11 is in circular, described swing shank 5 rod member is positioned at annulus central authorities, described uprighting spring 12 is that a diameter is greater than the sleeve swinging shank 5 rod member, and this project plan comparison is simple.
Described spherical hinge structure 18 is that a ball is arranged on and swings between shank lower end 5 and air cushion boots 6 top layer hardboard in two shallow pit patterns, described support rail 11 is the horizontal plate respectively stretched out in swing shank 5 front and rear direction, described uprighting spring 12 is configure vertical extension spring respectively below forward and backward horizontal plate, this scheme is with strong points, the requirement tilted forward and back during main satisfied walking.
At the hip ring 1 of described hip plate 9 periphery configure ring-type, described hip ring 1 is becket 10 that is circular or rectangle.Make the structure of hip and profile more reasonable, attractive in appearance.
In the position that the configuration of described hip plate 9 arranged on left and right sides swings thigh 3, configuration can the swing arm 2 of swing respectively again, and the swaying direction of side swing arm 2 is contrary with swing thigh 3 swaying direction of homonymy, identical to swing thigh 3 swaying direction of opposite side.Improve walking balance, stationarity.
Described air cushion boots 6 shape of cross section is circular or oval or long waist shaped, can configure the flexible skirt 15 compared with suitable shape, favourable inflation and walking.
Spring washer is configured with the junction of hip plate 9, for offsetting the trickle side on oscillation swung when thigh 3 is walked forward at described swing thigh 3.
As the traveling methods of aforementioned two sufficient air cushion shoe walking robots, described robot goes round and begins again and to walk with following action:
Ith action: both sides air-blowing blower fan 14 does not work, both sides air cushion boots 6 are not inflated, and flexible skirt 15 shrinks, and the controlled latch 4 in both sides is locked, and the drive motor 7 on both sides hip plate 9 does not work, thigh 3 of rolling to each side is upright in vertical configuration together with swing shank 5;
IIth action: wherein side air-blowing blower fan 14 works and to inflate described air cushion boots 6, flexible skirt 15 upwards expands and lifts, the controlled latch 4 of homonymy is opened, start working to coordinate the drive motor 7 on the lifting homonymy hip plate 9 of air cushion boots, with side oscillation thigh 3 forward rocking motion, form an angle with same side oscillation shank 5 shape, until flexible skirt 15 is expanded to bottom, extreme higher position form air gap, now controlled latch 4 is locked;
IIIth action: homonymy air-blowing blower fan 14 works on, described air cushion boots 6 bottom is maintained and forms air gap, homonymy drive motor 7 works on different rotating speeds, drive and continue forward rocking motion to setpoint distance with side oscillation thigh 3, opposite side swings thigh 3, and together with swinging, shank 5 is linearly to turn forward, hip plate 9 height reduction;
IVth action: homonymy air-blowing blower fan 14 does not work, described air cushion boots 6 shrink, and homonymy drive motor 7 does not work, and with the unpowered constraint of side oscillation thigh 3, controlled latch 4 is opened, and return to swing shank 5 linearly gradually downwards with side oscillation thigh 3;
After this, opposite side repeat the IIth, III, IV action makes two legs reconsolidate uprightly to complete a walking to walk.
While side oscillation thigh 3 forward rocking motion, the swing arm 2 synchronous forward rocking motion with it of opposite side.
Below in conjunction with the drawings and specific embodiments, goal of the invention of the present invention is described in further detail, the present embodiment is implemented lower premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but therefore embodiments of the present invention are not defined in following examples.
As shown in Figure 1, described two sufficient air cushion shoe walking robots comprise hip ring 1, and this is as robot waist; Swing thigh 3 and swing shank 5, being connected by controlled latch 4, common formation robot is led leg; Robot is led leg and air cushion boots 6, and this is as robot leg.Robot leg comprises left leg and right leg, and left leg, right leg are all connected with robot waist and hip ring 1.The swing arm 2 of robot chooses identical material with leading leg, and be arranged on hip ring both sides, and be connected with contralateral leg by physical construction, realize the automatic reverse motion of arm and leg, this is as the arm of robot.
As shown in Figure 2, described robot waist, namely hip ring comprises: drive motor 7, control unit 8, hip plate 9 and becket 10.Wherein, becket 10 chooses the rigid material of lightweight, plays solid shape and supporting role; Hip plate 9 is installed in the inner and is fixed with becket 10; Drive motor 7 and control unit 8 are arranged on hip plate 9; Robot leg and hip ring and robot waist, by being rotationally connected, form two revolute pairs; Drive motor is connected with swing thigh, drives the swing swinging thigh.Control unit 8 comprises: air-blowing blower motor control unit, drive motor control unit and controlled latch control unit, operationally control each motor respectively.
As shown in Figure 3, described robot leg comprises: lead leg, air cushion boots 6, air-blowing blower motor 13, air-blowing blower fan 14 and spring device.Wherein: leading leg is connected by spring device with air cushion boots, and air-blowing blower motor 13, air-blowing blower fan 14 are placed on air cushion boots, the inflation of air cushion boots, bleed air operation is completed by controlling blower motor 13.
Described leading leg uses material need have enough rigidity, and its cross-sectional plane can be square, oblong or circle.
Described air cushion boots comprise: top layer hardboard 17 and flexible skirt 15, and wherein top layer stiff board material can be aluminum alloy or other materials, which is provided with admission port, is connected with air-blowing blower fan 14.Flexible skirt 15 points three layers design, by up-small and down-big design, increase and contact area of ground, reduce blower fan power consumption, and have better pardon to ground while reducing specific pressure.In order to prevent extending out of air cushion, card bad 16 is set between three layers of apron.
Described spring device comprises: support rail 11, vertically extension spring 12 and ball pivot 18.Ball pivot 18 is arranged on leads leg and between air cushion boots, makes air cushion foot have better comformability under different surface conditions.Be symmetrical arranged a pair support rail 11 before and after lead leg, be fixedly connected with leading leg, and vertical extension spring 12 is set between support rail 11 and air cushion boots, ensure to lead leg and can only swing near vertical position.
During the present embodiment work: the sufficient rational distance of advancing forward that strides successively about two sufficient air cushion shoe walking robots, complete the overall movement forward of robot.First, left foot completes and strides, and namely completes and lifts leg, across leg and the leg action that falls.
The first step, lifts leg action.After robot connects external source, according to the control signal that control unit 8 sends, controlled latch 4 is opened, and air-blowing blower motor 13 works, and is filled with gas-pressurized by the through hole on top layer hardboard 17 to air cushion boots 6, and air cushion inflation expands.Air cushion boots 6 entirety is lifted by cushion lift, and keeps the ground Clearance, completes and lifts leg action.Lift after leg completes, controlled latch 4 is locked again.
Second step, across leg action.Drive motor 7 in hip ring 1 works, and makes forward rocking motion of leading leg, and drives air cushion boots 6 to move forward.When moving to a suitable position, drive motor 7 quits work, and the distance of movement is a step-length.Across in leg course of action, air-blowing blower motor 13 keeps work, and controlled latch 4 is locked.
3rd step, fall leg action.Controlled latch is opened, and air-blowing blower motor 13 quits work, and cushion lift disappears, and air cushion shrinks, and completes leg action.Controlled latch 4 continues locking leg is played a supportive role subsequently.
Left sufficient action all completes, and now the sufficient air-blowing blower motor in left and right does not all work, and left and right two air cushion boots all shrink, the locking of controlled latch, and two lead leg intersection.Identical with left foot subsequently, right foot successively by lifting leg, complete across leg and the leg that falls and stride, come back to the state parallel with left foot.Now, two sufficient air cushion shoe walking robot entirety have pushed ahead a suitable distance, i.e. a step-length.
Two sufficient air cushion shoe walking robot two foots are independent to be controlled, and can change robot travel distance in theory, therefore can suitably choose different step-lengths for different operating modes by the operating time controlling drive motor.
Obviously, the above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Every belong to technical scheme of the present invention the apparent change of extending out or variation be still in the row of protection scope of the present invention.
Claims (10)
1. two sufficient air cushion shoe walking robots, is characterized in that:
Can the shaft-like swing thigh (3) of swing in the arranged on left and right sides configuration of hip plate (9), the lower end swinging thigh (3) connect can before and after the shaft-like swing shank (5) rotated, the lower end swinging shank (5) connects the top layer hardboard (17) of air cushion boots (6) upper surface with spherical hinge structure (18);
Between swing thigh (3) and swing shank (5), controlled latch (4) is set, described controlled latch (4) has inserts locking and release two states, insertion locking state can be placed restrictions on two rod members and mutually be rotated, remain on a straight line or certain angle, release position two rod member can rotate mutually;
Support rail (11) is stretched out in the bottom of described swing shank (5), arranges at least one uprighting spring (12) between support rail (11) and top layer hardboard (17);
The structure of described air cushion boots (6) is in the bottom of top layer hardboard (17) configuration flexible skirt (15), arranges the air-blowing blower fan (14) driven by air-blowing blower motor (13) in the top of top layer hardboard (17); Air-blowing blower fan (14) work is to described air cushion boots (6) inflation, and flexible skirt (15) upwards expands and lifts, and forms certain air gap with ground; Air-blowing blower fan (14) quit work described air cushion boots (6) venting, flexible skirt (15) retracted downward falls;
The drive motor (7) of described swing thigh (3) swing can be driven in the upper configuration of described hip plate (9), described hip plate (9) also configures control unit (8);
Described control unit (8) can control inflation and the stopping of air-blowing blower fan (14); The swing or static swinging thigh (3) can be controlled; Locking or the release of controlled latch (4) can be controlled.
2. two sufficient air cushion shoe walking robots according to claim 1, it is characterized in that the flexible skirt (15) of described air cushion boots (6) is in up-small and down-big shape, and the circumferential clasp (16) of some dimensions is from top to bottom set.
3. two sufficient air cushion shoe walking robots according to claim 1, it is characterized in that described spherical hinge structure (18) is a gimbal structure, be fixedly connected on and swing between shank (5) lower end and air cushion boots (6) top layer hardboard, described support rail (11) is in circular, described swing shank (5) rod member is positioned at annulus central authorities, and described uprighting spring (12) is that a diameter is greater than the sleeve swinging shank (5) rod member.
4. two sufficient air cushion shoe walking robots according to claim 1, it is characterized in that described spherical hinge structure (18) is that a ball is arranged on and swings between shank lower end (5) and air cushion boots (6) top layer hardboard in two shallow pit patterns, described support rail (11) is the horizontal plate respectively stretched out in swing shank (5) front and rear direction, and described uprighting spring (12) for configure vertical extension spring respectively below forward and backward horizontal plate.
5. two sufficient air cushion shoe walking robots according to claim 1, it is characterized in that the hip ring (1) in described hip plate (9) periphery configure ring-type, described hip ring (1) is becket (10) that is circular or rectangle.
6. two sufficient air cushion shoe walking robots according to claim 1, configuration can the swing arm (2) of swing respectively again in the position that it is characterized in that swinging thigh (3) in the configuration of described hip plate (9) arranged on left and right sides, the swaying direction of side swing arm (2) is contrary with swing thigh (3) swaying direction of homonymy, identical to swing thigh (3) swaying direction of opposite side.
7. two sufficient air cushion shoe walking robots according to claim 1, is characterized in that described air cushion boots (6) shape of cross section is for circular or oval or long waist shaped.
8. two sufficient air cushion shoe walking robots according to claim 1, is characterized in that configuring spring washer described swing thigh (3) and the junction of hip plate (9).
9. a traveling method for two sufficient air cushion shoe walking robots as claimed in claim 1, is characterized in that: described robot goes round and begins again and to walk with following action:
Ith action: both sides air-blowing blower fan (14) does not work, both sides air cushion boots (6) are not inflated, flexible skirt (15) shrinks, the controlled latch in both sides (4) are locked, drive motor (7) on both sides hip plate (9) does not work,, thigh of rolling to each side (3) is upright in vertical configuration together with swing shank (5);
IIth action: wherein side air-blowing blower fan (14) work is to described air cushion boots (6) inflation, flexible skirt (15) upwards expands and lifts, the controlled latch of homonymy (4) is opened, drive motor (7) work on homonymy hip plate (9), with side oscillation thigh (3) forward rocking motion, form an angle with same side oscillation shank (5) shape, until flexible skirt (15) is expanded to bottom, extreme higher position form air gap, now controlled latch (4) locking, by this action definition for lifting leg action;
IIIth action: homonymy air-blowing blower fan (14) works on, described air cushion boots (6) bottom is maintained and forms air gap, homonymy drive motor (7) works on, forward rocking motion is continued to setpoint distance with side oscillation thigh (3), opposite side swings thigh (3) and turns forward together with swing shank (5) is linearly, this action definition is across leg action by hip plate (9) height reduction;
IVth action: homonymy air-blowing blower fan (14) does not work, described air cushion boots (6) are shunk, homonymy drive motor (7) does not work, with side oscillation thigh (3) unpowered constraint, controlled latch (4) is opened, returning to downwards gradually with to swing shank (5) linearly with side oscillation thigh (3), is the leg action that falls by this action definition;
After this, opposite side repeat the IIth, III, IV action makes two legs reconsolidate uprightly to complete a walking to walk.
10. the traveling method of two sufficient air cushion shoe walking robots according to claim 9, is characterized in that: while side oscillation thigh (3) forward rocking motion, swing arm (2) the synchronous forward rocking motion with it of opposite side.
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