CN105346617B - Sufficient formula walking robot - Google Patents
Sufficient formula walking robot Download PDFInfo
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- CN105346617B CN105346617B CN201510686298.0A CN201510686298A CN105346617B CN 105346617 B CN105346617 B CN 105346617B CN 201510686298 A CN201510686298 A CN 201510686298A CN 105346617 B CN105346617 B CN 105346617B
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- robot
- walking
- adjutage
- arm support
- mechanical arm
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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
A kind of sufficient formula walking robot is provided, including：Energy conversion device at least part locking walking mechanism after walking mechanism stops movement, to convert kinetic energy into potential energy；And/or it is kinetic energy to unlock walking mechanism by the potential energy of storage after walking mechanism starts movement.So as to efficiently utilize sufficient formula walking robot generated kinetic energy in the process of walking；Impact of the kinetic energy to robot components can be reduced.After walking mechanism starts movement, it is kinetic energy by the potential energy of storage, so as to provide portion of energy in start-up course for sufficient formula walking robot, then the energy consumption in sufficient formula walking robot start-up course is reduced, so as to extend the service life of sufficient formula walking robot power source, the service life of sufficient formula walking robot is then extended.Additionally provide a kind of energy conversion method of sufficient formula walking robot.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of foot formula walking robot.
Background technology
With the development of science and technology robot is applied to industrial production, health care, national defence space, clothes more and more widely
The fields such as industry of being engaged in, sufficient formula walking robot have many advantages, such as that action is flexible, environmental suitability is strong, robustness is high, can be in the mankind not
The extreme environment work that can set foot in, and it is applied to field work, mitigation rescue, military surveillance, space probation, polar region scientific investigation
The fields of grade, become the indispensable important tool of the mankind.
In the prior art, the leg of sufficient formula walking robot is usually made of thigh arm and shank arm, and the knee of robot closes
Section and hip joint bear larger load.Therefore, sufficient formula walking robot motor needs in moment start-up course overcome very
High-torque, this process can consume big energy.And robot reduces speed again in moment stopped process, not only waste is big
The kinetic energy of amount, and since the walking mechanism of sufficient formula walking robot is usually rigid element, in moment stopped process, to row
The impact for walking mechanism is larger, be easy to cause mechanical loss, reduces the service life of robot.
How to effectively utilize generated kinetic energy during robot ambulation and how to reduce moment stopped process
In to walking mechanism generate impact become urgent problem to be solved.
Invention content
The application provides a kind of sufficient formula walking robot and its energy conversion method, to realize the energy of sufficient formula walking robot
Amount conversion.
According in a first aspect, provide a kind of sufficient formula walking robot in a kind of embodiment, including：
Robot body；Walking mechanism is used to support robot body and mobile robot ontology；Energy conversion device,
It is arranged in walking mechanism, is accessibly connected with walking mechanism；Energy conversion device walking mechanism stop it is mobile after at least
Part contact locking walking mechanism, potential energy is converted by the kinetic energy of robot body and/or walking mechanism；And/or it is walking
It is kinetic energy that mechanism, which starts to unlock walking mechanism after moving by the potential energy being stored in energy conversion device,.
According to second aspect, a kind of energy conversion method of sufficient formula walking robot is provided in a kind of embodiment, including：
After walking mechanism stops movement, adjutage extends the center of gravity for raising robot body, energy conversion device locking
Adjutage and mechanical arm support, potential energy is converted by the kinetic energy of robot body and/or walking mechanism；Start to move in walking mechanism
After dynamic, adjutage shortens the center of gravity for reducing robot body, and the potential energy of robot body and/or walking mechanism is
Energy.
According to the sufficient formula walking robot and energy conversion method of above-described embodiment, due to stopping moving in walking mechanism
Afterwards, energy conversion device at least partly contact locking walking mechanism, the kinetic energy of robot body and/or walking mechanism is converted into
Potential energy, so as to efficiently utilize sufficient formula walking robot generated kinetic energy in the process of walking；Also, since kinetic energy being inhaled
Receipts are converted into potential energy, so as to reduce impact of the kinetic energy to robot components.After walking mechanism starts movement, due to energy
Reforming unit unlocks walking mechanism, is kinetic energy by the potential energy of storage, so as to be sufficient formula walking robot in start-up course
Portion of energy is provided, then reduces the energy consumption in sufficient formula walking robot start-up course, so as to extend sufficient formula vehicle with walking machine
The service life of device people's power source then extends the service life of sufficient formula walking robot.
As preferred technical solution, using the adjutage that can be moved to axial and mechanical arm support as vehicle with walking machine
Structure, can since the center of gravity of robot body, energy conversion device locking adjutage and mechanical arm support are raised in adjutage elongation
The kinetic energy of robot body and/or walking mechanism is converted into gravitional force and adjutage shortens reduction robot body
The gravitional force of robot body and/or walking mechanism can be converted into kinetic energy by center of gravity.So that the walking mechanism of the robot
It is simple in structure, compact, it is easy to accomplish.
As preferred technical solution, elastic component is connected between mechanical arm support and robot body, in vehicle with walking machine
After structure stops movement, on the one hand, can further convert kinetic energy into the elastic potential energy of elastic component, preferably store sufficient formula walking
Kinetic energy caused by robot；On the other hand, it due to the introducing of elastic component, improves between mechanical arm support and robot body
Compliance so that walking mechanism stop it is mobile after, reduce the impact to robot components.
Description of the drawings
Fig. 1 a and Fig. 1 b are a kind of sufficient formula walking robot structure diagram disclosed by the embodiments of the present invention,
Wherein：Fig. 1 a are a kind of posture schematic diagram at a certain moment in sufficient formula walking robot walking process；
Fig. 1 b are posture schematic diagram when standing after a kind of sufficient formula walking robot stopping is mobile；
Fig. 2 is a kind of a kind of structure diagram of walking mechanism disclosed in the present embodiment；
Fig. 3 is a kind of structure diagram of lockable mechanism disclosed in the present embodiment；
Fig. 4 is a kind of structural representation of latch disclosed in the present embodiment；
Fig. 5 is a kind of another structure diagram of walking mechanism disclosed in the present embodiment；
Fig. 6 a, Fig. 6 b, Fig. 6 c, Fig. 6 d and Fig. 6 e are moved to stopping for a kind of Hexapod Robot walking disclosed in the present embodiment
Out of phase schematic diagram during standing；
Fig. 7 a, Fig. 7 b, Fig. 7 c, Fig. 7 d and Fig. 7 e are started for a kind of Hexapod Robot disclosed in the present embodiment by stopping standing
The out of phase schematic diagram of walking movement.
Specific embodiment
The present invention is described in further detail below by specific embodiment combination attached drawing.
Different postures can be presented in sufficient formula walking robot in the process of walking, please refer to Fig.1 a and Fig. 1 b, for the present invention
A kind of foot formula walking robot structure diagram disclosed in embodiment, wherein, Fig. 1 a are the foot formula walking robot walking process
In a certain moment posture, Fig. 1 b be the foot formula walking robot stop it is mobile after standing when posture.In general, robot is stopping
Center of gravity when only moving is higher than the center of gravity of moving process, and of the invention is contemplated that：Robot is produced in moving process of walking
Raw kinetic energy is converted into the potential energy of robot stopping immediately；And when starting mobile be kinetic energy by the potential energy of storage, with
Required torque when supplementing its startup to robot.
In embodiments of the present invention, a and Fig. 1 b are please referred to Fig.1, sufficient formula walking robot disclosed in the present embodiment includes：Machine
Device human body 1, walking mechanism 2 and energy conversion device (being not shown in figure label), wherein,
Walking mechanism 2 is used to support robot body 1 and mobile robot ontology 1, in general, walking mechanism 2 is closed including hip
Section, thigh, knee joint and shank, wherein, for connecting thigh and robot body 1, knee joint is used to connect thigh hip joint
And shank.
Energy conversion device is arranged in walking mechanism 2, is accessibly connected with walking mechanism 2；Energy conversion device exists
Walking mechanism 2 stops at least part locking walking mechanism 2 after movement, by robot body 1 and/or the kinetic energy of walking mechanism 2
It is converted into potential energy；And/or the gesture that will be stored in energy conversion device far from walking mechanism 2 after walking mechanism 2 starts movement
Kinetic energy can be converted into.In the present embodiment, since sufficient formula walking robot is in moving process of walking, center of gravity has high and low
Different variations, after sufficient formula walking robot stops mobile, center of gravity is higher than the center of gravity in walking process, therefore, when sufficient formula
After walking robot stops movement, energy conversion device locking walking mechanism 2 can be by robot body 1 and/or walking mechanism
2 kinetic energy is converted into potential energy and stores；And when walking mechanism 2 starts mobile, energy conversion device is right far from walking mechanism 2
It is unlocked, and the center of gravity of robot can be caused to decline, and then the potential energy of storage is dynamic needed for robot ambulation
Energy.
It should be noted that it is at least partly locked after walking mechanism 2 stops movement in the present embodiment, it is possible to measure reforming unit
Only during walking mechanism 2, locking should be carried out to walking mechanism 2 before the decline of 1 center of gravity of robot body.
In a particular embodiment, it please refers to Fig.2, for the structure diagram of walking mechanism disclosed in the present embodiment, the walking
Mechanism includes：Thigh 21 and shank 22, wherein, thigh 21 is connected to robot body 1, thigh 21 and shank by hip joint 2A
It is connected between 22 by knee joint 2B.
Wherein, shank 22 includes：Mechanical arm support 221 and adjutage 22, mechanical arm support 221 and the knee of walking mechanism close
Save 2B flexible connections；Adjutage 22 is connected to mechanical arm support 221, can axial (such as Fig. 2 dotted line sides of relative mechanical arm support 221
To shown) it is mobile, adjutage 222 provides mobile power for robot body for contacting ground.In a particular embodiment, please
It is the present embodiment shank planing surface structure diagram with reference to figure 3, mechanical arm support 221 is hollow structure, and adjutage 222 passes through machine
The through-hole of tool arm support 221 can be relatively moved with mechanical arm support 221 and be connect.As a result, when energy conversion device locking, extension
Arm 22 and mechanical arm support 221 are fixed；When energy conversion device, which unlocks, to be disconnected, adjutage 22 can be in mechanical arm support 221
The axial movement of relative mechanical arm support 221 in through-hole.
It please refers to Fig.2, energy conversion device includes：Lockable mechanism 3, lockable mechanism 3 and mechanical arm support 221 and adjutage
222 flexible connections.Lockable mechanism 3 with solid mechanical arm support 221 and prolongs for locking machinery arm support 221 and adjutage 222
Semi-girder 222, when lockable mechanism 3 unlock disconnect when, adjutage 222 can relative mechanical arm support 221 move.Specifically, in sufficient formula
In walking robot walking process, adjutage 222 is shunk relative to mechanical arm support 221,3 locking solid mechanical arm of lockable mechanism
Stent 221 and adjutage 222 so that keep relatively low center of gravity in sufficient formula walking robot moving process；When sufficient formula running machine
When the mobile preparation of people's stopping is kept standing position, the unlock of lockable mechanism 3 disconnects so that adjutage 222 can relative mechanical arm support
221 movements, at this point, under the effect of inertia of robot body, can cause 222 relative mechanical arm support 221 of adjutage to stretch, when
When being stretched to predeterminated position, 3 locking solid mechanical arm support 221 of lockable mechanism and adjutage 222, so that the weight of robot
The heart is raised, and then, is converted kinetic energy into potential energy and is stored.
In a particular embodiment, it please refers to Fig.3, lockable mechanism includes：Latch 31, elastomer 32 and return member 33,
In：
Latch 31 includes the first end face and second end face that are oppositely arranged, the first end face and adjutage of latch 31
222 side can contact setting, and elastomer 32 and return member 33 are arranged on the second end face of latch 31.In the present embodiment,
Elastomer 32 is used to provide pressure to the second end face of latch 31, so that the first end face of latch 31 compresses adjutage
222, with solid mechanical arm support 221 and adjutage 222；Return member 33 is used to provide pulling force to the second end face of latch 31,
So that the first end face of latch 31 is far from adjutage 222, so that adjutage 222 and mechanical arm support 221 opposite can move
It is dynamic.In a preferred embodiment, please refer to Fig.4, be the present embodiment latch 31 a kind of structural representation, the first of latch 31
End face offers the arc groove to match with the side of adjutage 222, to increase 31 first end face of latch and adjutage 222
The contact area of side, so as to preferably locking adjutage 222.In a particular embodiment, the side wall of mechanical arm support 221
On can offer through-hole or straight slot, lockable mechanism is mounted in the through-hole or straight slot.It should be noted that in the present embodiment,
It is not intended to limit and opens up the shape of through-hole or straight slot on mechanical 221 side wall of arm support, as long as lockable mechanism can be placed.At this
In embodiment, elastomer 32 can be spring, shrapnel or other elasticity that pressure can be provided to the second end face of latch 31
Component, the pressure that elastomer 32 is provided should be able to solid mechanical arm support 221 and adjutages 222；Return member 33 can be example
Such as electromagnet, after electromagnet obtains electric (or power-off), pressure that elastomer 32 is overcome to be provided attracts latch 31 so that lock
The first end face of stops 31 disconnects latch 31 and adjutage 222 far from adjutage 222, then unlock so that mechanical arm support
221 and adjutage 222 can relatively move.
In order to enable latch 31 can preferably locking adjutage 222, in a preferred embodiment, outside adjutage 222
Lines can also be distributed in side, to increase the frictional force between 31 first end face of latch and the side of adjutage 222.
It should be noted that giving a kind of specific locking mode in the present embodiment, those skilled in the art are according to upper
The enlightenment of embodiment is stated, the scheme of other deformations can also be used, should be the equivalent replacement of above-described embodiment, such as：Locking
Gear structure is made in the first end face of block 31, and the outside of adjutage 222 is equipped with the engaging tooth (such as rack) coordinated with it, works as lock
When the first end face of stops 31 and the outer side contacts of adjutage 222, gear engagement, so as to which locking secures mechanical arm support 221
With adjutage 222；When the first end face of latch 31 is far from adjutage 222, unlock is disconnected mechanical arm support 221 and prolongs
Semi-girder 222.
In a preferred embodiment, Fig. 5 is please referred to, bullet is also associated between mechanical arm support 221 and robot body 1
Property part 4, to improve the compliance between mechanical arm support 221 and robot body 1, on the other hand, when sufficient formula walking robot
When stopping mobile keeping standing position, part kinetic energy can be also converted into elastic potential energy and stored, more effectively realized dynamic
Conversion between energy-potential energy.Specifically, elastic component 4 can be such as spring, and the coefficient of elasticity of spring can rule of thumb be set
It puts.
Based on formula walking robot sufficient disclosed in above-described embodiment, the present embodiment also discloses a kind of sufficient formula walking robot
Energy conversion method, which includes the following steps：
After walking mechanism stops movement, adjutage extends the center of gravity for raising robot body, energy conversion device locking
Adjutage and mechanical arm support, potential energy is converted by the kinetic energy of robot body and/or walking mechanism；Start to move in walking mechanism
After dynamic, adjutage shortens the center of gravity for reducing robot body, and the potential energy of robot body and/or walking mechanism is
Energy.
In a preferred embodiment, adjutage elongation is when raising the center of gravity of robot body, go back stretched mechanical arm support and
The part kinetic energy of robot body and/or walking mechanism is converted into elastic potential energy by the elastic component between robot body.
Sufficient formula walking robot is suitable for monopodia, biped and multi-foot robot disclosed in the present embodiment, for ease of this field
Technical staff understands, is illustrated by taking the sufficient artificial Hexapod Robot of formula running machine as an example below.
Fig. 6 a, Fig. 6 b, Fig. 6 c, Fig. 6 d and Fig. 6 e are please referred to, the phase of stopping immediately is moved to for Hexapod Robot walking
Bitmap, wherein, heavy line is level ground.In Fig. 6 a-6e, direction shown in V is Hexapod Robot direction of advance, usual six foots machines
Device people is advanced with triped gait, for example, the left front leg L1 of Hexapod Robot direction of advance, it is right in leg R2 and left back leg L3 form the
One swing group, the right front leg R1 of Hexapod Robot direction of advance, left leg L2 and right rear leg R3 form the second swing group, the first pendulum
Dynamic group and the second swing group are respectively two group of three angular oscillatory motion group of Hexapod Robot.
Fig. 6 a are please referred to, robot is during normal walking, and the adjutage of all legs is relative to its mechanical arm support
It shrinks, the securing elongated arm of lockable mechanism locking of each leg and mechanical arm support.The hip joint of first swing group and second is swung
The hip joint alternatively swinging of group, the toe of adjutage is contacted with ground drives robot body to be moved along the walking of V directions, is walking
In the process, robot keeps relatively low center of gravity.
Fig. 6 b and Fig. 6 c are please referred to, when preparing to stop mobile, each hip joint of the first swing group is corresponded to for robot
Lead leg L1, R2 and L3 be rocked to lofty perch (can certainly close on) after, each lockable mechanism solution of the first swing group
Lock disconnects corresponding adjutage so that each adjutage is under gravity with respect to the mechanical arm branch where it in the first swing group
Frame stretches.When each adjutage is stretched to contact ground in the first swing group, each lockable mechanism in the first swing group is right again
Corresponding adjutage carries out locking；Alternatively, when each adjutage is stretched to extreme position in the first swing group, it is each in the first swing group
Lockable mechanism again carries out corresponding adjutage locking, and hip joint continues to swing the toe contact ground so that each adjutage.
Fig. 6 d and Fig. 6 e are please referred to, behind each toe contact ground of the first swing group, due to the effect of inertia, robot
Ontology can be continued to move to along V directions, until robot keep stand posture, as shown in fig 6d.At this point, the second swing group
Each lockable mechanism unlock disconnects corresponding adjutage so that the adjutage of respectively lead leg in the second swing group R1, L2 and R3 are in weight
It is stretched under the action of power with respect to the mechanical arm support where it until contacting ground, as shown in fig 6e.In a preferred embodiment,
After the adjutage of respectively lead leg in the second swing group R1, L2 and R3 are stretched up to contact ground, each locking of the second swing group
Mechanism can carry out locking to each adjutage again.
Comparison diagram 6a and Fig. 6 e, due to the effect of robot inertia so that the first swing group is after stopping swinging, robot
Ontology still can be moved along V directions, under the stiction effect on each toe of the first swing group and ground so that robot sheet
Body can be rotated around the first swing group hip joint to be risen, so as to increase the center of gravity of robot, then, by robot moving process
In generated kinetic energy be converted into gravitional force, and pass through and the gravitional force is stored under lockable mechanism locking.
Fig. 7 a, Fig. 7 b, Fig. 7 c, Fig. 7 d and Fig. 7 e are please referred to, starts walking movement immediately by stopping for Hexapod Robot
Phase diagram, wherein, heavy line is level ground, direction shown in V be Hexapod Robot direction of advance.It is identical with Fig. 6 a-6e,
The left front leg L1 of Hexapod Robot direction of advance, it is right in leg R2 and left back leg L3 form the first swing group, Hexapod Robot is advanced
The right front leg R1 in direction, left leg L2 and right rear leg R3 form the second swing group, and the first swing group and the second swing group are respectively
Two group of three angular oscillatory motion group of Hexapod Robot.
Fig. 7 a and Fig. 7 b are please referred to, when not actuated walking is mobile, the adjutage of all legs is relative to its machine for robot
Tool arm support stretches, and the securing elongated arm of lockable mechanism locking of each leg and mechanical arm support, the first swing group and second are swung
The leg of group is each perpendicular to ground, as shown in Figure 7a.When robot starts walking movement, the L1, R2 that leads leg of the first swing group,
L3 forward swings, hip joint in the first swing group and knee joint along robot direction of advance V at an angle, and the L1, R2 that leads leg,
The toe of L3 contacts to earth, in order to enable robot can move ahead along V directions, hip joint needs to provide relative to pendulum to robot body
The torque that dynamic leg L1, R2, L3 toe rotates (as shown in T1 directions in Fig. 7 b) counterclockwise, so that robot center of gravity leans forward, is realized
Robot moves ahead, at this point, the lockable mechanism of the first swing group remains unchanged, locking is respectively led leg the adjutage of L1, R2, L3.At the same time
Or ground is delayed, the lockable mechanism unlock of the second swing group disconnects lockable mechanism so that the R1 that respectively leads leg in the second swing group,
The mechanical arm support of L2, R3 decline under gravity with respect to the adjutage where it, and the center of gravity of robot declines, at this point,
It stores gravitional force therein and is converted into kinetic energy.During robot center of gravity declines so that robot body is relative to the
One swing group toe moves straight down, since the center of gravity of robot has leaned forward, robot potential energy is machine at this time
Device human body rotates counterclockwise the kinetic energy of torque relative to L1, R2, L3 toe of leading leg, thus when providing forward for robot
Part torque.Until the mechanical arm support of respectively lead leg in the second swing group R1, L2, R3 are relative under the adjutage where it
When reducing as far as possible, each lockable mechanism corresponding adjutage of locking again in the second swing group, at this point, the posture of robot
As shown in Figure 7b.
Fig. 7 c are please referred to, mechanical arm support the prolonging where relative to it of respectively lead leg in the second swing group R1, L2, R3
After semi-girder drops to minimum point, lead leg L1, R2, L3 of the first swing group lift forward swing, at this point, robot body is by the second pendulum
Dynamic group is supported in ground.
Fig. 7 d and Fig. 7 e are please referred to, lead leg L1, R2, L3 of the first swing group lift forward swing to toe and contact to earth.Robot
Ontology continues to move ahead under the action of inertia, at this point, lead leg L1, R2, L3 of the first swing group become supporting leg, supports machine
Device human body, as shown in figure 7d.Lead leg R1, L2, R3 of first swing group start to swing, and move ahead and are provided further for robot
Power, at this point, the unlock of each lockable mechanism disconnects corresponding adjutage in the first swing group, respectively swung in the first swing group
Leg L1, R2, L3 utilize the gravity of itself so that each adjutage is relative to respective mechanical arm stent collapses, until being contracted to most
Low spot, each lockable mechanism respective adjutage of locking again in the first swing group.Each pendulum in first, second swing group as a result,
Dynamic leg is converted to the posture of normal walking, and the potential energy of storage is also completely converted into kinetic energy.Hexapod Robot presses normal triangle step
State is advanced, as shown in figure 7e.
It should be noted that there are many gaits of Hexapod Robot walking, it is impossible to exhaust in this application, according to above-mentioned reality
Apply the enlightenment of example, those skilled in the art can be derived from when using other gaits, how to be realized between kinetic energy-potential energy
Conversion.I.e.：After robot stops walking, when robot body rises to peak, locking walking mechanism；Start in robot
After walking, corresponding walking mechanism is unlocked when robot center of gravity leans forward, so that the center of gravity of robot declines.
It should be noted that only being illustrated by taking Hexapod Robot as an example above, the complete of the present embodiment can not be regarded as
Portion's technical solution.The thought that those skilled in the art are covered according to above-mentioned example, it can be deduced that other robots such as monopodia,
The scheme of two foots, multi-foot robot kinetic energy-potential energy.
Sufficient formula walking robot disclosed in the present embodiment, using robot in moving process and stopping being presented immediately
Different postures, lockable mechanism is set in walking mechanism：
(1) after robot stops movement, the corresponding walking mechanism of lockable mechanism locking, on the one hand, realize robot
Kinetic energy is converted into potential energy；On the other hand, kinetic energy caused by robot moving process is potential energy at least partly by sorption enhanced, from
And impact of the kinetic energy to robot components can be reduced.
(2) after robot starts movement, with reference to the state that robot center of gravity leans forward relative to supporting leg, corresponding row is unlocked
Mechanism is walked, the potential energy of storage is moved ahead required kinetic energy for robot, assistance overcomes part torque, then reduces foot
Energy consumption in formula walking robot start-up course so as to extend the service life of sufficient formula walking robot power source, is then prolonged
The service life of sufficient formula walking robot is grown.
Kinetic energy in its motion process can be converted into gravitional force as much as possible by robot disclosed in the present embodiment, and
Kinetic energy required during robot starting movement is converted into, design structure is simple, of low cost.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not limiting
The system present invention.For those skilled in the art, thought according to the present invention can also be made several simple
It deduces, deform or replaces.
Claims (5)
1. a kind of foot formula walking robot, which is characterized in that including：
Robot body；
Walking mechanism is used to support robot body and mobile robot ontology；
Energy conversion device is arranged in the walking mechanism, is accessibly connected with the walking mechanism；
Energy conversion device walking mechanism described at least part locking after the walking mechanism stops movement, by described in
Robot body and/or the kinetic energy of the walking mechanism are converted into potential energy；And/or it is solved after the walking mechanism starts movement
It is kinetic energy to lock the walking mechanism by the potential energy being stored in the energy conversion device；
The walking mechanism includes：
Mechanical arm support is connect with the knee articulation of walking mechanism；
Adjutage is connected to the mechanical arm support, can relatively described mechanical arm stent axial movement；
The energy conversion device includes：
Lockable mechanism is flexibly connected with the mechanical arm support and the adjutage；The lockable mechanism is used for machine described in locking
Tool arm support and the adjutage are described when the lockable mechanism disconnects with the fixation mechanical arm support and the adjutage
Adjutage can be moved relative to the mechanical arm support；
The lockable mechanism includes：Latch, elastomer and return member；
The latch includes the first end face and second end face that are oppositely arranged, the first end face of the latch and the extension
The side of arm can contact setting, and the elastomer and the return member are arranged on the second end face of the latch；
The elastomer is used to provide pressure to the second end face of the latch, described in the first end face of the latch compresses
Adjutage, with the fixation mechanical arm support and the adjutage；
The return member is used to provide pulling force to the second end face of the latch, and the first end face of the latch is far from described
Adjutage, so that the adjutage and the mechanical arm support can relatively move.
2. foot formula walking robot as described in claim 1, which is characterized in that the elastomer is shrapnel；The return member
For electromagnet.
3. foot formula walking robot as claimed in claim 1 or 2, which is characterized in that the machinery arm support is hollow structure,
The adjutage passes through the through-hole of the mechanical arm support that can be relatively moved with the mechanical arm support and connect.
4. foot formula walking robot as claimed in claim 3, which is characterized in that lines is distributed on the outside of the adjutage.
5. foot formula walking robot as claimed in claim 1 or 2, which is characterized in that in the mechanical arm support and the machine
Elastic component is also associated between device human body.
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229825A (en) * | 2008-02-28 | 2008-07-30 | 王芷龙 | Double-leg single-support hydraulic walking equipment and walking vehicle |
| DE102011105200A1 (en) * | 2011-06-17 | 2012-12-20 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Leg-based robot for use as multi-legged mobility system, has two legs, where each leg is provided with hinge with pivotable hinge element that is driven by drive unit to generate pivoting movement, while drive unit has two driving devices |
| CN204399319U (en) * | 2015-01-14 | 2015-06-17 | 中国计量学院 | The bionical quadruped robot that a kind of pneumatic muscles drives |
| CN104548608A (en) * | 2015-01-21 | 2015-04-29 | 北京工业大学 | Bionic kangaroo robot |
| CN104875813A (en) * | 2015-05-26 | 2015-09-02 | 上海大学 | Electrically-driven small bionic four-leg robot |
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| CN105346617A (en) | 2016-02-24 |
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