CN104986244B - Drive lacking running gear and its control method - Google Patents
Drive lacking running gear and its control method Download PDFInfo
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- CN104986244B CN104986244B CN201510430528.7A CN201510430528A CN104986244B CN 104986244 B CN104986244 B CN 104986244B CN 201510430528 A CN201510430528 A CN 201510430528A CN 104986244 B CN104986244 B CN 104986244B
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Abstract
The present invention relates to a kind of drive lacking running gear and its control method, belongs to semi-passive walking technology field.The device includes bent axle, platform, support block, hip, leg, control device；Bent axle provides rotary power for leg；Support platform provides support for running gear, is fixed with each two hip joints and control device around thereon；Hip includes left hip and right hip, each hip by crankshaft rocker connect inside and outside two straight legs, a spherical foot is fixed in every straight legs lower end；Control device includes data acquisition device, drive device and master control set, the information that the master control set real-time processing data harvester obtains, by controlling drive device to adjust the rotating speed of driving motor.The apparatus structure is simple, easy-to-use easily to make；Meanwhile the present apparatus cleverly solves the problems, such as that 2D walkings are led leg and wipes ground, for walking step state naturally, parameter domain of attraction is big, energy consumption is low, there is very big application space in real life.
Description
Technical field
The invention belongs to robotic technology field, is related to a kind of semi-passive walking technology, more particularly to a kind of drive lacking row
Walking apparatus and its control method.
Background technology
Now, robot technology is that the focus of countries in the world research, the especially research of passive walking robot are even more to be somebody's turn to do
The frontier science and technology in field.At present, good achievement is had been achieved in the research of semi-passive walking robot both at home and abroad, is researched and developed
Various model machines are gone out.Such as the Ranger robots of Cornell universities, as the semi-passive walkings of most successful 2D in the world at present
Device, walking energy efficiency are very close with mankind's walking.The MIT semi-passive walking robot Toddler of 3D, foot design
Walking device is contacted to earth in advance by vacillating now to the left, now to the right to avoid leading leg, be passive walking device most intelligent at present.The country is to quilt
The research of dynamic walking device focuses primarily upon the research of the two-dimentional passive walking device to similar Ranger, and it is also mainly pair to study
The theoretical research of model.
However, be applied to 2D passive walkings there is presently no a kind of simple structure wipes ground, rotation to solve the problems, such as to lead leg
Turn knee joint or ankle-joint is required for increasing the extra free degree, model can be made to become more complicated, corresponding physical prototyping
Build and control algolithm etc. can all increase difficulty.Therefore, a kind of simple and reasonable, easy to control semi-passive walking device of design
It is particularly important.
The content of the invention
In view of this, can be fine it is an object of the invention to provide a kind of drive lacking running gear and its control method
Solve the problems, such as robot 2D walking lead leg wipe ground, walking step state is naturally, parameter domain of attraction is big, and energy consumption is low, in real life
In have very big application space.
To reach above-mentioned purpose, the present invention provides following technical scheme：
A kind of drive lacking running gear, including bent axle, platform, hip, leg, control device；The bent axle carries for leg
For rotary power, it is divided into left bent axle and right bent axle, wherein left bent axle and the crankshaft rocker that right bent axle is full symmetric structure；It is described
Platform provides support for running gear, is fixed with hip and control device thereon；The hip includes left hip and right hip, left
Hip and right hip are full symmetric left and right two parts, and left and right hip is two support blocks being fixed on platform；Under support block
Hold for setting crankshaft rocker structure, upper end is used to setting turn-knob joint, and by crankshaft rocker connect inside and outside two straight legs, often
A spherical foot is fixed in bar straight legs lower end；The control device includes data acquisition device, drive device and master control set, institute
The information of master control set real-time processing data harvester acquisition is stated, by controlling drive device to adjust the rotating speed of driving motor；
Support block includes left support body and right support body；Crankshaft rocker is by intermediate propeller shaft, roll to each side axle and power transmission shaft and both sides
The rocking handle composition that swinging axle is fixedly connected；Both ends of the drive shaft sets the lower side bearing rotated freely through left and right supporter；It is described
Fixed conveyor wheel among power transmission shaft, passes through belt and motor synchronous axial system；Described swinging axle one end is fixed with rocking handle, other end rotation
Turn to be arranged on rotary four-way；The rotary four-way is made up of side opening and device to hole, and swinging axle passes through side opening inner bearing and can be free
Rotation, leg is through device to hole and is fastenedly connected；The turn-knob joint is rotatably provided in support block upper end side opening, sets straight legs thereon
The spacing hole of rotational steps.
Further, the leg is four long straight legs, and its top is held through turn-knob joint line axis, can be in its interior free skating
Dynamic, middle and upper part passes through and is fixed in rotary four-way device to hole.
Present invention also offers a kind of method for controlling above-mentioned drive lacking running gear, following steps are specifically included：
A) device is connected, is turned on the power, device starts；
B) two motors turn clockwise 10 °, and crankshaft rocker rotates 10 °, and walking device center of gravity leans forward；
C) two motor rotate counterclockwise, ground is left to lead leg, another is supporting leg, and walking device upper body surrounds supporting leg
Momentum, which is provided, by previous step carries out inverted pendulum；
D) lead leg forward swing during, master control set handle in real time incremental encoder, absolute type encoder and
The data of gyroscope collection, upper body acceleration is calculated by gyroscope, so as to regulation motor faster rotational speed or slow down reducing or
Improving swing speed makes walking device steady；When lead leg overlapped with supporting leg when, master control set sends motor unloading command, swing
Leg is freely put；
E) when electric machines test is to reverse impulse, illustrate to lead leg and contacted to earth, at this moment lead leg switches over supporting leg,
Device is continued to complete c) to d) action step.
The beneficial effects of the present invention are：The semi-passive running gear of drive lacking provided by the invention, passes through hip structure
Realize and receive leg in walking process automatically, leg is straight legs, is point contact type with the ground way of contact, reduces the complexity of structure；The dress
Put it is simple in construction, it is easy-to-use easily to make；Meanwhile the present apparatus cleverly solves the problems, such as that 2D walkings are led leg and wipes ground, walking step state is naturally, ginseng
Number domain of attraction is big, and energy consumption is low, there is very big application space in real life.
Brief description of the drawings
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below and carried out
Explanation：
Fig. 1 is the physical model schematic diagram of the present invention；
Fig. 2 is the structural representation of the present invention；
Fig. 3 is the hip schematic diagram of the present invention；
Fig. 4 is the walking schematic diagram of device；
Wherein, crankshaft rocker 1, turn-knob joint 2, outer legs 3, inner side leg 4, master control set 5, drive device 6, wherein：Shake
Handle 11, rotary four-way 12；Spacing hole 21, support block 22, motor 61, transmission device 62.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
Fig. 1 is the physical model schematic diagram of the present invention, as illustrated, the hip crankshaft length is d, radius of crankshaft
For r (being used to change leg collapsing length and walking step state size), crankshaft rotation angle α, hip top barycenter quality is m,
Hip bottom barycenter quality is M；It is φ to lead leg with supporting leg angle, and the supporting leg and ground perpendicular angle are θ；It is described double
It is k to turn round joint portion torsion spring coefficient of elasticity；The slope inclination angle is γ.
As shown in Figure 2,3, whole device includes：Platform；Hip, contain crankshaft rocker 1, turn-knob joint 2, rocking handle 11, rotation
Turn four-way 12, spacing hole 21 and support block 22；Leg, contain outer legs 3 and inner side leg 4；Control device, filled containing data acquisition
Put, drive device 6 and master control set 5；Drive device contains motor 61 and transmission device 62；The support block 22 is passive walking
The support section of device, for fixed drive device 6 and realize leg rotation crankshaft rocker 1, top makes leg by rocking handle 11
Its top of portion passes through the linear bearing of turn-knob joint 2, can be in it slidably, and middle and upper part passes through and is fixed on rotary four-way 12
On；The turn-knob joint 2 is rotatably provided in the upper end side opening of support block 22, and the spacing hole 21 on turn-knob joint 2 sets the rotation of leg
Amplitude；The control device also includes power supply, is powered for each energy dissipation device；The motor 61 provides enough power for walking；
The hip is one of core of the present invention, and the drive lacking that can realize the device by the mechanical structure of hip is walked.
Based on above thought, the present invention also provide it is a kind of to the semi-passive walking device control method of drive lacking, before setting in motion
The interior outboard legs of device are forks and ground is angled is in static balancing, and wherein one leg is defined as supporting leg, separately
One leg is defined as leading leg.As shown in figure 4, its travelling control process is as follows：Comprise the following steps：
A) device is connected, is turned on the power, device starts；
B) two motors turn clockwise 10 °, and crankshaft rocker rotates 10 °, and walking device center of gravity leans forward；
C) two motor rotate counterclockwise, ground is left to lead leg, another is supporting leg, and walking device upper body surrounds supporting leg
Momentum, which is provided, by previous step carries out inverted pendulum；
D) lead leg forward swing during, master control set handle in real time incremental encoder, absolute type encoder and
The data of gyroscope collection, upper body acceleration is calculated by gyroscope, so as to which regulation motor faster rotational speed (slowing down) (carries to reduce
It is high) swing speed makes walking device steady；Overlapped when leading leg with supporting leg, i.e., when angle α, φ are 0, master control set sends electricity
Machine unloading command, free pendulum of leading leg；
E) when electric machines test is to reverse impulse, illustrate to lead leg and contacted to earth, at this moment lead leg switches over supporting leg,
Device is continued to complete c) to d) action step.
It can be seen that the running gear realizes walking process by rotating crankshaft rocker structure；Leg is straight legs portion, reduces knee and closes
Section control；Foot is the sufficient formula of point, reduces the complexity of structure, simple in construction, easy-to-use easily to make, the present apparatus cleverly solves 2D walkings
Lead leg and wipe ground problem, walking step state has bigger application space naturally, energy consumption is low in real life.
The device make use of the autostability of passive walking, and gait is natural, energy-efficient dynamics, and controls
Mode is also very simple.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
Cross above preferred embodiment the present invention is described in detail, it is to be understood by those skilled in the art that can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (3)
- A kind of 1. drive lacking running gear, it is characterised in that：Including bent axle, platform, hip, leg, control device；The bent axle provides rotary power for leg, is divided into left bent axle and right bent axle, wherein left bent axle and right bent axle are completely right Claim the crankshaft rocker of structure；The platform provides support for running gear, is fixed with hip and control device thereon；The hip Including left hip and right hip, left hip and right hip are full symmetric left and right two parts, and left and right hip is fixed on flat for two Support block on platform；Support block lower end is used to set crankshaft rocker structure, and upper end is used to set turn-knob joint, and is shaken by bent axle Two straight legs inside and outside bar connection, a spherical foot is fixed in every straight legs lower end；The control device include data acquisition device, Drive device and master control set, the information that the master control set real-time processing data harvester obtains, by controlling driving dress Put the rotating speed of regulation motor；Support block includes left support body and right support body；Crankshaft rocker by intermediate propeller shaft, roll to each side axle and power transmission shaft with The rocking handle composition that axle of rolling to each side is fixedly connected；Both ends of the drive shaft sets the lower side bearing rotated freely through left and right supporter； Fixed conveyor wheel among the power transmission shaft, passes through belt and motor synchronous axial system；Described swinging axle one end is fixed with rocking handle, another End is rotatably provided on rotary four-way；The rotary four-way is made up of side opening and device to hole, and swinging axle passes through side opening inner bearing and can Rotate freely, leg is through device to hole and is fastenedly connected；The turn-knob joint is rotatably provided in support block upper end side opening, sets thereon The spacing hole of straight legs rotational steps.
- A kind of 2. drive lacking running gear according to claim 1, it is characterised in that：The leg is four long straight legs, Its top is held through turn-knob joint line axis, can be in it slidably, and middle and upper part passes through and is fixed in rotary four-way device to hole.
- A kind of 3. method for controlling drive lacking running gear as claimed in claim 1 or 2, it is characterised in that：Including following step Suddenly：A) control device is connected, is turned on the power, control device starts；B) two motors turn clockwise 10 °, and crankshaft rocker rotates 10 °, and running gear center of gravity leans forward；C) two motor rotate counterclockwise, leave ground to lead leg, another be supporting leg, running gear upper body surround supporting leg according to Momentum, which is provided, by previous step carries out inverted pendulum；D) lead leg during swinging forward, master control set handles incremental encoder, absolute type encoder and gyro in real time The data of instrument collection, upper body acceleration is calculated by gyroscope, so as to regulation motor faster rotational speed or slowed down to reduce or improve Swing speed makes running gear steady；When lead leg overlapped with supporting leg when, master control set sends motor unloading command, leads leg Freely put；E) when electric machines test is to reverse impulse, illustrate to lead leg and contacted to earth, at this moment lead leg switches over supporting leg, walking Device is continued to complete c) to d) action step.
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| CN201510430528.7A CN104986244B (en) | 2015-07-21 | 2015-07-21 | Drive lacking running gear and its control method |
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| CN201510430528.7A CN104986244B (en) | 2015-07-21 | 2015-07-21 | Drive lacking running gear and its control method |
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| CN104986244B true CN104986244B (en) | 2018-03-16 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411818B (en) * | 2016-01-08 | 2018-03-09 | 广州足步医疗科技有限公司 | A kind of bionical sufficient formula walking aid device with drive control |
| CN105774939B (en) * | 2016-03-29 | 2018-06-15 | 重庆邮电大学 | A kind of semi-passive quadruped robot turning structure and its control method |
| CN106394716B (en) * | 2016-07-05 | 2018-07-13 | 河海大学常州校区 | A kind of shipping stair climbing auxiliary device |
| CN106218749A (en) * | 2016-09-05 | 2016-12-14 | 重庆邮电大学 | A kind of novel semi-passive walking across fault device and control method thereof |
| CN107416064B (en) * | 2017-05-12 | 2019-07-02 | 山东大学 | A kind of quadruped robot slope surface movement mass center method of adjustment |
| CN109625116B (en) * | 2018-12-18 | 2020-12-15 | 江汉大学 | Semi-passive walking robot capable of doing knee bending movement and control method |
| CN112026952A (en) * | 2020-08-29 | 2020-12-04 | 上海大学 | Symmetric borderless wheel model motion behavior adjusting method based on stopped motion attraction domain |
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| 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 |
| CN103481965A (en) * | 2013-09-27 | 2014-01-01 | 重庆邮电大学 | Low-power dissipation running gear and control method based on intelligent terminal |
| CN103707952A (en) * | 2014-01-13 | 2014-04-09 | 重庆邮电大学 | Narrow-foot type passive walking device and control method thereof |
| CN104648515A (en) * | 2015-01-14 | 2015-05-27 | 重庆邮电大学 | Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof |
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Patent Citations (4)
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|---|---|---|---|---|
| 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 |
| CN103481965A (en) * | 2013-09-27 | 2014-01-01 | 重庆邮电大学 | Low-power dissipation running gear and control method based on intelligent terminal |
| CN103707952A (en) * | 2014-01-13 | 2014-04-09 | 重庆邮电大学 | Narrow-foot type passive walking device and control method thereof |
| CN104648515A (en) * | 2015-01-14 | 2015-05-27 | 重庆邮电大学 | Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof |
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Effective date of registration: 20180201 Address after: 510000 Guangdong province Guangzhou high tech Industrial Development Zone open source road 11 B8 second floor 221 room Applicant after: Guangzhou foot Medical Technology Co., Ltd. Address before: 400065 Chongqing Nan'an District huangjuezhen pass Chong Road 28 and 44 Building 1 unit 6-1 Applicant before: CHONGQING ZUBU TECHNOLOGY CO., LTD. |
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