CN104973159B - A kind of narrow sufficient pure passive walking devices of 3D - Google Patents
A kind of narrow sufficient pure passive walking devices of 3D Download PDFInfo
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- CN104973159B CN104973159B CN201510365883.0A CN201510365883A CN104973159B CN 104973159 B CN104973159 B CN 104973159B CN 201510365883 A CN201510365883 A CN 201510365883A CN 104973159 B CN104973159 B CN 104973159B
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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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses the narrow sufficient pure passive walking devices of 3D of one kind, including a pair of straight legs portions, the narrow arc foot for leg lower end being connected to connector a pair, the hip made of rigid rod-type axle, leg is replaced around the joint of hip pivot with bearing, and there is mass in two legs portion.The present invention possesses complete biped walking form, and device is very succinct, very ingenious, and lateral equilibrium problem during walking is solved with a kind of brand-new foot design, and leg design can adjust gait cycle, and leg foot connector can adjust paces length.The device has reference in the rehabilitation medical instrument research of leg foot, has sizable application prospect on toy art, or even in Military Application be also to have of great value potential application.
Description
Technical field
It is more particularly to a kind of to realize the dress of passive walking in three-dimensional walking surface the present invention relates to a kind of running gear
Put.
Background technology
At present, the research of robot is all a focus, especially the biped running machine to anthropomorphic form in countries in the world
The research of people is even more like a raging fire.The biped running gear emerged at present has achieved many worth accreditations in apery walking
Achievement, but it is general all or there are some defects, such as (1) is not the biped robot in complete meaning, including picture
The Ranger of Cornell universities, it is the function that simple two leg is realized with four legs, can only be the row in two-dimensional sense
Walk；(2) consume energy too big, be not suitable for practical application, including as the ASIMO of HONDA companies of Japan, although possess complete humanoid
State, but the robot of active form, consume energy very big；(3) although possessing complete biped walking form, foot is excessively wide
Greatly, without good morphologic anthropomorphic effect, and apparatus structure is excessively complicated, such as：Dutch Delft universities
Denise, MIT Toddler etc..(4) although possessing the lateral movement in complete biped 3D walking step states, walking process
Need to apply control, also with regard to saying the pure passive walking that can not be realized truly, such as：A.D Ames, A.D Kuo et al. is studied
Arc foot 3D passive walking devices etc..
The content of the invention
In view of not enough above, it is an object of the invention to provide a kind of biped walking device, the walking device can be achieved on three
The device of passive walking in walking surface is tieed up, the running gear has simple for structure, the characteristics of walking step state is natural.
The present invention, which provides a kind of active control for ensureing laterally to balance that need not apply, can just realize the row of passive walking
Walk device.The technical scheme specifically used is：A kind of narrow sufficient pure passive walking devices of 3D, including a pair of straight legs, the upper end of the straight legs
It is connected with hip, straight legs are realized around the rotation of hip by bearing, the lower end of the straight legs is connected with the sufficient connector of a pair of legs respectively
Narrow arc foot is connect, mass is set in two straight legs.
Further, the hip bag includes Hip legs connector, bearing and rod-type axle, and the two ends of rod-type axle are socketed bearing respectively,
The lower end that the center of bearing Yu Hip leg connectors is fixedly connected with , Hip leg connectors is fixedly connected with the upper end of straight legs.
Further, the upper end of the sufficient connector of the leg is provided with the cylindrical hole for fixing straight legs lower end, and leg is connected enough
The lower end of device has the groove slightly larger than foot width, for fixing foot.
Further, the width of the foot is approximately equal to straight legs diameter, and foot bottom surface is arcwall face, and cambered surface radius is more than hip
To the length of heel.
Specifically, the mass can be adjusted along above and below straight legs.Mass is several, and dispersible mobile regulation is straight
Each position on leg, can also be moved integrally somewhither.Mass is from the nut that spirally can be up and down adjusted along straight legs.
The present invention provides a kind of pure passive walking devices of 3D, and the running gear possesses complete biped walking form, and
Device is very succinct, very ingenious, and lateral equilibrium problem during walking is solved with a kind of brand-new foot design, and leg design can
To adjust gait cycle, leg foot connector can adjust paces length, make use of the self-stabilization of passive walking, gait is naturally moved
Mechanical characteristic, 3D passive walkings can be just realized without applying control moment.The device is on the rehabilitation medical of leg foot, toy neck
There is sizable application prospect on domain, or even in Military Application be also to have of great value potential application.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is hip structural representation；
Fig. 3 illustrates for the walking process of walking device；
Fig. 4 is the periodic motion curve map of walking device；(a) left and right leg systemic velocity-time graph, dotted line is first to swing
Leg；(b) left and right leg barycenter angular speed-time graph, dotted line is first to lead leg；
In figure：1- hips, 2- straight legs, 3- mass, 4- legs foot connector, 5- foots.6- Hip leg connectors, 7- bearings,
8- rod-type axles.
Embodiment
Below with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail；It should be appreciated that preferred embodiment
Only for the explanation present invention, the protection domain being not intended to be limiting of the invention.Because two legs and two foots are in the present invention
Symmetrical structure, so only describing one, the structure of another is consistent therewith.
Referring to Fig. 1, a kind of narrow sufficient pure passive walking devices of 3D, including a pair of straight legs 2, upper end and the hip 1 of the straight legs 2 connect
Connect, straight legs 2 are realized around the rotation of hip 1 by bearing 7, the lower end of the straight legs 2 connects narrow with the sufficient connector 4 of a pair of legs respectively
Arc foot 5, sets mass 3 in two straight legs 2.
Referring to Fig. 2, hip leg connection joint is mainly realized that main purpose is to ensure that leg can be around hip certainly by bearing
By rotating.The bag of hip 1 includes Hip legs connector 6, bearing 7 and rod-type axle 8, and the two ends of rod-type axle 8 are socketed bearing 7 respectively, bearing 7 with
The lower end that the center of Hip legs connector 6 is fixedly connected with , Hip legs connector 6 is fixedly connected with the upper end of straight legs 2.Ensure leg
Can freely it be rotated around hip.
The upper end of the sufficient connector 4 of the leg is provided with the cylindrical hole for fixing the lower end of straight legs 2, and leg foot connector 4 can
To be rotated around leg.The lower end of leg foot connector 4 has the groove slightly larger than the width of foot 5, for fixing foot 5, foot 5 with
Leg foot connector 4 is designed with screw hole, is screwed foot and connector.Leg foot connector 4 upper end can be around rod-type
Leg is rotated, and mode can adjust foot and the angle of direction of advance whereby, can further adjust the walking paces of walking device
Length, walking step state cycle.
The width of the foot 5 is approximately equal to the diameter of straight legs 2, and the bottom surface of foot 5 is arcwall face, and cambered surface radius is arrived more than hip 1
The length of heel.
The mass 3 can move up and down use in adjustment, the present embodiment along leg can prolong leg spirally upper downward
Whole nut can further change the centroid position of walking device, and then can change the walking step of walking device as mass
State cycle, paces length.Referring to Fig. 1, mass 3 is 3 pairs, dispersible mobile regulation each position in straight legs 2, also can integrally be moved
Move somewhither.
Walking device described in the present embodiment is passive walking, and walking device supporting leg can be rolled along foot camber line, simultaneously
Lead leg and swing forward, walking device have simultaneously lateral and vector to two motions, and do not need lateral movement to control.
In embodiment, walking device is positioned on slope, and design parameter is set as shown in the parameter of table 1.When initial, using right leg as
Supporting leg, left leg gives one lateral rotary speed of walking device to lead leg, also just say initial angular velocity around vector to rotation
Tarnsition velocity.
Parameter is embodied in table 1
It is the passive walking process of walking device shown in Fig. 3.First ((1), (2) and (3) process in figure), walking device is first
Begin under lateral kinetic energy effect, using right leg as supporting leg, right leg is along foot arcuate rotation, while left leg starts forward swing, left leg was put
When supporting leg moves forward, when supporting leg reaches toe, heel contact of leading leg；Then ((4), (5) and (6) mistake in figure
Journey), due to supplement of the gravity to device energy, device is using left leg as new supporting leg, along foot arcuate rotation, there is leg conduct
New beginning forward swing of leading leg.The whole passive walking motion of walking device is real on the slope just with such periodic motion process
The pure passive walkings of 3D are showed.
Shown in Fig. 4, be walking device passive walking during leg barycenter Velocity-time, the motion of angular speed-time is bent
Line, it can be seen that walking device has more obvious cycle walking step state feature.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, it is clear that those skilled in the art
Member can carry out various changes and modification to the present invention without departing from the spirit and scope of the present invention.So, if the present invention
These modifications and variations belong within the scope of the claims in the present invention and its equivalent technologies, then the present invention is also intended to include these
Including change and modification.
Claims (7)
1. a kind of narrow sufficient pure passive walking devices of 3D, it is characterised in that：Including a pair of straight legs（2）, the straight legs（2）Upper end and hip
Portion（1）Connection, straight legs（2）Around hip（1）Rotation pass through bearing（7）Realize, the straight legs（2）Lower end use a pair of legs respectively
Sufficient connector（4）Connect narrow arc foot（5）, in two straight legs（2）Upper setting mass（3）；The hip（1）Including
Hip leg connectors（6）, bearing（7）With rod-type axle（8）, rod-type axle（8）Two ends be socketed bearing respectively（7）, bearing（7）Yu Hip legs
Connector（6）Center be fixedly connected with , Hip leg connectors（6）Lower end and straight legs（2）Upper end be fixedly connected.
2. a kind of narrow sufficient pure passive walking devices of 3D according to claim 1, it is characterised in that：The sufficient connector of the leg（4）'s
Upper end is provided with for fixing straight legs（2）The cylindrical hole of lower end, leg foot connector（4）Lower end have be slightly larger than foot（5）
The groove of width, for fixing foot（5）.
3. the narrow sufficient pure passive walking devices of 3D of one kind according to claim 1 or claim 2, it is characterised in that：The foot（5）Width
It is approximately equal to straight legs（2）Diameter, foot（5）Bottom surface is arcwall face, and cambered surface radius is more than hip（1）To the length of heel.
4. the narrow sufficient pure passive walking devices of 3D of one kind according to claim 1 or claim 2, it is characterised in that：The mass（3）Can be with
Along straight legs（2）Adjust up and down.
5. a kind of narrow sufficient pure passive walking devices of 3D according to claim 3, it is characterised in that：The mass（3）Can edge
Straight legs（2）Adjust up and down.
6. a kind of narrow sufficient pure passive walking devices of 3D according to claim 4, it is characterised in that：The mass（3）To be some
Individual, dispersible mobile regulation is in straight legs（2）Upper each position, can also be moved integrally somewhither.
7. a kind of narrow sufficient pure passive walking devices of 3D according to claim 1,2,5 or 6, it is characterised in that：The mass（3）
From can be along straight legs（2）The nut of spiral adjustment up and down.
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 |
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| Publication Number | Publication Date |
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| CN104973159A CN104973159A (en) | 2015-10-14 |
| CN104973159B true CN104973159B (en) | 2017-07-25 |
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| CN201510365883.0A Active CN104973159B (en) | 2015-06-29 | 2015-06-29 | A kind of narrow sufficient pure passive walking devices of 3D |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108001556B (en) * | 2016-11-01 | 2020-05-12 | 深圳光启合众科技有限公司 | Walking control method and device of biped robot and robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4279425B2 (en) * | 1999-11-05 | 2009-06-17 | 本田技研工業株式会社 | Foot structure of legged walking robot |
| JP4707372B2 (en) * | 2004-11-25 | 2011-06-22 | 独立行政法人理化学研究所 | Biped robot and its 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 |
| CN103707952B (en) * | 2014-01-13 | 2016-01-20 | 重庆邮电大学 | Narrow sufficient passive walking device and control method thereof |
| CN104512493B (en) * | 2014-12-12 | 2017-01-11 | 重庆邮电大学 | Control method of gear transmission halving upper body energy-saving passive walking device |
| CN204296909U (en) * | 2014-12-25 | 2015-04-29 | 中国矿业大学 | One kind humanoid robot series parallel type pedipulator |
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| CN104973159A (en) | 2015-10-14 |
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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 |