CN104973159A - Narrow foot three-dimensional pure passive walker - Google Patents
Narrow foot three-dimensional pure passive walker Download PDFInfo
- Publication number
- CN104973159A CN104973159A CN201510365883.0A CN201510365883A CN104973159A CN 104973159 A CN104973159 A CN 104973159A CN 201510365883 A CN201510365883 A CN 201510365883A CN 104973159 A CN104973159 A CN 104973159A
- Authority
- CN
- China
- Prior art keywords
- leg
- foot
- hip
- narrow
- pure passive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a narrow foot three-dimensional pure passive walker which comprises a pair of straight legs, a pair of narrow-arc-shaped feet which are connected to the lower ends of the legs through connectors and a hip made of a rigid rod-shaped shaft, joints, rotating around the hip, of the leg parts are replaced by bearings, and the legs are both provided with balance weights. According to the narrow foot three-dimensional pure passive walker, a complete biped walking form is achieved, the device is concise and exquisite, the lateral balance problem during walking is solved due to the novel foot design, the gait cycle can be adjusted by means of the leg design, and the leg and foot connector can adjust the length of the pace. The narrow foot three-dimensional pure passive walker has reference significance for research of rehabilitation of medical devices for the legs and the feet, has wider application prospect in the field of toys and even has great value and potential application in military application.
Description
Technical field
The present invention relates to a kind of running gear, particularly a kind of device that can realize passive walking in three-dimensional walking surface.
Background technology
At present, the research of robot is all a focus in countries in the world, especially like a raging fire especially to the research of the two leg walking robot of anthropomorphic form.The biped running gear emerged at present has achieved the achievement of many worth accreditations in apery walking, but generally all still there are some defects, such as (1) is not the biped robot in complete meaning, comprise the Ranger of picture Cornell university, it is the function realizing simple two legs with four legs, can only be the walking in two-dimensional sense; (2) power consumption is too large, is not suitable for practical application, comprises the ASIMO as Japanese HONDA company, although possess complete apery form, the robot of active form, consume energy very large; (3) although possess complete biped walking form, foot is too roomy, do not have good morphologic anthropomorphic effect, and apparatus structure is too complicated, as: the Denise of Dutch Delft university, the Toddler etc. of MIT.(4) although possess complete biped 3D walking step state, but the sideway movement in walking process needs to apply to control, also just the pure passive walking that can not realize truly is said, as: the arc foot 3D passive walking device etc. of people's researchs such as A.D Ames, A.D Kuo.
Summary of the invention
In view of above deficiency, the object of the present invention is to provide a kind of biped walking device, this walking device is the device that can realize passive walking in three-dimensional walking surface, and this running gear has simple for structure, the natural feature of walking step state.
The invention provides a kind of walking device not needing the ACTIVE CONTROL applying guarantee side direction balance just can realize passive walking.The technical scheme of concrete employing is: the pure passive walking device of a kind of narrow sufficient 3D, comprise a pair straight leg, the upper end of described straight leg is connected with hip, straight leg realizes around the bearing that rotates through of hip, the lower end of described straight leg connects narrow arc foot with pair of leg foot adaptor union respectively, and two described straight legs arrange mass.
Further, described hip bag draws together Hip leg adaptor union, bearing and rod-type axle, and the two ends of rod-type axle are socketed bearing respectively, and bearing is fixedly connected with the center of Hip leg adaptor union, and the lower end of Hip leg adaptor union is fixedly connected with the upper end of straight leg.
Further, the upper end of described leg foot adaptor union is provided with the cylindrical hole for fixing straight leg lower end, and the lower end of leg foot adaptor union has the groove slightly larger than foot width, for fixing foot.
Further, the width of described foot approximates straight leg diameter, and foot bottom surface is arcwall face, and cambered surface radius is greater than the length of hip to heel.
Particularly, described mass can along straight leg up-down adjustment.Mass is several, dispersibles mobile adjustment each position on straight leg, also can move integrally somewhither.Mass is selected can along the spiral nut adjusted up and down of straight leg.
The invention provides the pure passive walking device of a kind of 3D, this running gear possesses complete biped walking form, and device is very succinct, very ingenious, side direction equilibrium problem when solving walking with the design of a kind of brand-new foot, and leg design can adjust gait cycle, leg foot adaptor union can adjust paces length, make use of the self-stabilization of passive walking, the natural dynamics of gait, just can realize 3D passive walking without the need to applying control torque.This device, on the rehabilitation medical of leg foot, toy art has sizable application prospect, even in Military Application, also has of great value potential application.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is hip structural representation;
Fig. 3 is the walking process diagram of walking device;
Fig. 4 is the periodic motion diagram of curves of walking device; (a) left and right leg systemic velocity-time curve, dotted line is for first to lead leg; (b) left and right leg barycenter cireular frequency-time curve, dotted line is for first to lead leg;
In figure: 1-hip, the straight leg of 2-, 3-mass, 4-leg foot adaptor union, 5-foot.6-Hip leg adaptor union, 7-bearing, 8-rod-type axle.
Detailed description of the invention
Below with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail; Should be appreciated that preferred embodiment only in order to the present invention is described, instead of in order to limit the scope of the invention.Because two legs and two foots are symmetrical structures in the present invention, so only describe one, the structure of another is consistent with it.
See Fig. 1, the pure passive walking device of a kind of narrow sufficient 3D, comprise a pair straight leg 2, the upper end of described straight leg 2 is connected with hip 1, straight leg 2 realizes around the bearing 7 that rotates through of hip 1, the lower end of described straight leg 2 connects narrow arc foot 5 with pair of leg foot adaptor union 4 respectively, and two described straight legs 2 arrange mass 3.
See Fig. 2, hip leg connects joint, and realize primarily of bearing, main purpose guarantees that leg freely can rotate around hip.Hip 1 bag draws together Hip leg adaptor union 6, bearing 7 and rod-type axle 8, and the two ends of rod-type axle 8 are socketed bearing 7 respectively, and bearing 7 is fixedly connected with the center of Hip leg adaptor union 6, and the lower end of Hip leg adaptor union 6 is fixedly connected with the upper end of straight leg 2.Guarantee that leg freely can rotate around hip.
The upper end of described leg foot adaptor union 4 is provided with the cylindrical hole for fixing straight leg 2 lower end, and leg foot adaptor union 4 can rotate around leg.The lower end of leg foot adaptor union 4 has the groove slightly larger than foot 5 width, and for fixing foot 5, foot 5 is all designed with screw hole with leg foot adaptor union 4, is screwed foot and adaptor union.Leg foot adaptor union 4 upper end can be rotated around rod-type leg, and mode can adjust the angle of foot and working direction whereby, can adjust the walking paces length of walking device further, the walking step state cycle.
The width of described foot 5 approximates straight leg 2 diameter, and foot 5 bottom surface is arcwall face, and cambered surface radius is greater than the length of hip 1 to heel.
Described mass 3 can move up and down adjustment along leg, adopt in the present embodiment and can prolong the spiral nut adjusted up and down of leg as mass, the centroid position of walking device can be changed further, and then the walking step state cycle of walking device can be changed, paces length.See Fig. 1, mass 3 is 3 right, dispersibles mobilely to regulate each position on straight leg 2, also can move integrally somewhither.
Walking device described in the present embodiment is passive walking, and walking device supporting leg can roll along foot camber line, forward rocking motion of simultaneously leading leg, walking device have simultaneously side direction and vector to two motions, and do not need sideway movement to control.
In embodiment, walking device is positioned on slope, and design parameter is arranged as shown in table 1 parameter.Time initial, with right leg for supporting leg, left leg for leading leg, the rotative speed of a given walking device side direction, also just say initial angular velocity around vector to spin velocity.
Table 1 specifically implements parameter
Shown in Fig. 3, it is the passive walking process of walking device.First (in figure (1), (2) and (3) process), walking device is under the effect of initial side direction kinetic energy, with right leg for supporting leg, right leg is along foot arcuate rotation, left leg starts forward swing simultaneously, left leg put supporting leg when moving forward, when supporting leg arrives toe, and heel contact of leading leg; Then (in figure (4), (5) and (6) process), due to gravity supplementing device energy, device, using left leg as new supporting leg, along foot arcuate rotation, has leg as new beginning forward swing of leading leg.The whole passive walking motion of walking device, just with such periodic motion process, achieves the pure passive walking of 3D on the slope.
Shown in Fig. 4, be the Velocity-time of leg barycenter in the passive walking process of walking device, cireular frequency-time curve movement, can see that walking device has comparatively significantly cycle walking step state feature.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (8)
1. the one kind narrow pure passive walking device of sufficient 3D, it is characterized in that: comprise a pair straight leg (2), the upper end of described straight leg (2) is connected with hip (1), straight leg (2) realizes around the bearing (7) that rotates through of hip (1), the lower end of described straight leg (2) connects narrow arc foot (5) by pair of leg foot adaptor union (4) respectively, and two described straight legs (2) arrange mass (3).
2. the pure passive walking device of a kind of narrow sufficient 3D according to claim 1, it is characterized in that: described hip (1) Bao Kuo Hip leg adaptor union (6), bearing (7) and rod-type axle (8), the two ends of rod-type axle (8) are socketed bearing (7) respectively, (lower end that the center of 7) Yu Hip leg adaptor unions (6) is fixedly connected with ， Hip leg adaptor union (6) is fixedly connected with the upper end of straight leg (2) bearing.
3. the pure passive walking device of a kind of narrow sufficient 3D according to claim 1, it is characterized in that: the upper end of described leg foot adaptor union (4) is provided with the cylindrical hole for fixing straight leg (2) lower end, the lower end of leg foot adaptor union (4) has the groove slightly larger than foot (5) width, for fixing foot (5).
4. the pure passive walking device of a kind of narrow sufficient 3D according to claim 1,2 or 3, it is characterized in that: the width of described foot (5) approximates straight leg (2) diameter, foot (5) bottom surface is arcwall face, and cambered surface radius is greater than the length of hip (1) to heel.
5. the pure passive walking device of a kind of narrow sufficient 3D according to claim 1,2 or 3, is characterized in that: described mass (3) can along straight leg (2) up-down adjustment.
6. the pure passive walking device of a kind of narrow sufficient 3D according to claim 4, is characterized in that: described mass (3) can along straight leg (2) up-down adjustment.
7. the pure passive walking device of a kind of narrow sufficient 3D according to claim 5, is characterized in that: described mass (3) is several, dispersibles mobile adjustment at the upper each position of straight leg (2), also can move integrally somewhither.
8. the pure passive walking device of a kind of narrow sufficient 3D according to claim 1,2,3,6 or 7, is characterized in that: described mass (3) is selected can along the spiral nut adjusted up and down of straight leg (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510365883.0A CN104973159B (en) | 2015-06-29 | 2015-06-29 | A kind of narrow sufficient pure passive walking devices of 3D |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510365883.0A CN104973159B (en) | 2015-06-29 | 2015-06-29 | A kind of narrow sufficient pure passive walking devices of 3D |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104973159A true CN104973159A (en) | 2015-10-14 |
| CN104973159B CN104973159B (en) | 2017-07-25 |
Family
ID=54270248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510365883.0A Active CN104973159B (en) | 2015-06-29 | 2015-06-29 | A kind of narrow sufficient pure passive walking devices of 3D |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104973159B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105799806A (en) * | 2016-03-18 | 2016-07-27 | 重庆邮电大学 | Three-dimensional human-simulating walking device and control method thereof |
| WO2018082330A1 (en) * | 2016-11-01 | 2018-05-11 | 深圳光启合众科技有限公司 | Walking control method and device for biped robot, and robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1097860A2 (en) * | 1999-11-05 | 2001-05-09 | Honda Giken Kogyo Kabushiki Kaisha | Legged walking robot |
| JP2006142465A (en) * | 2004-11-25 | 2006-06-08 | Institute Of Physical & Chemical Research | Biped locomotion robot and walking control method |
| CN103707952A (en) * | 2014-01-13 | 2014-04-09 | 重庆邮电大学 | Narrow-foot type passive walking device and control method thereof |
| CN203601426U (en) * | 2013-12-02 | 2014-05-21 | 西北农林科技大学 | Six-freedom-degree narrow footprint double-foot walking-racing robot |
| CN104512493A (en) * | 2014-12-12 | 2015-04-15 | 重庆邮电大学 | Gear transmission halving upper body energy-saving passive walking device and control method thereof |
| CN204296909U (en) * | 2014-12-25 | 2015-04-29 | 中国矿业大学 | One kind humanoid robot series parallel type pedipulator |
-
2015
- 2015-06-29 CN CN201510365883.0A patent/CN104973159B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1097860A2 (en) * | 1999-11-05 | 2001-05-09 | Honda Giken Kogyo Kabushiki Kaisha | Legged walking robot |
| JP2006142465A (en) * | 2004-11-25 | 2006-06-08 | Institute Of Physical & Chemical Research | Biped locomotion robot and walking control method |
| CN203601426U (en) * | 2013-12-02 | 2014-05-21 | 西北农林科技大学 | Six-freedom-degree narrow footprint double-foot walking-racing robot |
| CN103707952A (en) * | 2014-01-13 | 2014-04-09 | 重庆邮电大学 | Narrow-foot type passive walking device and control method thereof |
| CN104512493A (en) * | 2014-12-12 | 2015-04-15 | 重庆邮电大学 | Gear transmission halving upper body energy-saving passive walking device and control method thereof |
| CN204296909U (en) * | 2014-12-25 | 2015-04-29 | 中国矿业大学 | One kind humanoid robot series parallel type pedipulator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105799806A (en) * | 2016-03-18 | 2016-07-27 | 重庆邮电大学 | Three-dimensional human-simulating walking device and control method thereof |
| CN105799806B (en) * | 2016-03-18 | 2017-11-10 | 重庆邮电大学 | A kind of three-dimensional apery walking device and its control method |
| WO2018082330A1 (en) * | 2016-11-01 | 2018-05-11 | 深圳光启合众科技有限公司 | Walking control method and device for biped robot, and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104973159B (en) | 2017-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103707952B (en) | Narrow sufficient passive walking device and control method thereof | |
| CN102514645B (en) | Spherical rolling robot | |
| CN104986244B (en) | Drive lacking running gear and its control method | |
| CN102923204B (en) | Multi-degree-of-freedom two-wheeled robot with variable gravity center | |
| CN101229832B (en) | Omnidirectional moving spherical robot | |
| US20140188279A1 (en) | Method for controlling gait of robot | |
| CN104648515B (en) | Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof | |
| CN105799806B (en) | A kind of three-dimensional apery walking device and its control method | |
| CN105015642B (en) | By single motor-driven semi-passive walking device and its rotating direction control method | |
| CN103372281B (en) | Elliptical machine | |
| CN104973159A (en) | Narrow foot three-dimensional pure passive walker | |
| CN104512493B (en) | Control method of gear transmission halving upper body energy-saving passive walking device | |
| CN102615649A (en) | Rolling double four-parallelogram robot | |
| KR20100022931A (en) | Compact pedal assembly | |
| CN105905183A (en) | Upper body-halving walking device | |
| CN102975785B (en) | Tripod robot | |
| CN104742997A (en) | Double-twisted rocker type passive walking device | |
| CN101927796A (en) | Single-power parallelogram two-foot moving mechanism | |
| CN103600784A (en) | Symmetric continuous-jump bounce robot | |
| CN108945136A (en) | A kind of spherical roll of joint type climbs converting machine people | |
| CN105774939A (en) | Novel semi-passive quadruped robot turning structure and control method thereof | |
| CN206026950U (en) | Many function body educate training with horse -vaulting | |
| CN204587070U (en) | Emulation walking steel wire mechanical device | |
| CN104859744B (en) | Robot slides in driven wheeled swing arm omnidirectional | |
| CN203494101U (en) | Elliptical machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210426 Address after: 450018 1601, 16th floor, Henan enterprise union building, Shangxian street, Mingli Road, Zhengdong New District, Zhengzhou City, Henan Province Patentee after: Zhongyuan power intelligent robot Co., Ltd Address before: 400065 Chongqing Nan'an District huangjuezhen pass Chongwen Road No. 2 Patentee before: CHONGQING University OF POSTS AND TELECOMMUNICATIONS |
|
| TR01 | Transfer of patent right |