CN105730551A - Semi-passive dynamic biped walking device with halving upper body - Google Patents
Semi-passive dynamic biped walking device with halving upper body Download PDFInfo
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- CN105730551A CN105730551A CN201610246155.2A CN201610246155A CN105730551A CN 105730551 A CN105730551 A CN 105730551A CN 201610246155 A CN201610246155 A CN 201610246155A CN 105730551 A CN105730551 A CN 105730551A
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- rotating turret
- side shaft
- upper body
- transverse axis
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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)
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Abstract
The invention discloses a semi-passive dynamic biped walking device with a halving upper body. The semi-passive dynamic biped walking device comprises a hip support, wherein a cross shaft is arranged at the lower end of the hip support; a first rotary rack and a second rotary rack are arranged on the cross shaft; a first side shaft is arranged on the first rotary rack; a second side shaft is arranged on the second rotary rack; a driving conical gear is arranged on the cross shaft; a first driven conical gear is arranged on the first side shaft; a second driven conical gear is arranged on the second side shaft; a first driving device for driving the cross shaft to rotate and a second driving device for driving the first rotary rack and the second rotary rack to symmetrically rotate about the cross shaft are arranged on the hip support. The walking device can ensure that during the forward straight walking and transverse straight walking, the upper body of a robot is always positioned between two legs, namely the halving position of the walking device, so that the straight and transverse walking stability of the robot can be ensured.
Description
Technical field
The present invention relates to a kind of robotics, particularly to the running gear of a kind of robot.
Background technology
Walking is a basic difficult problem for anthropomorphic robot research.At present, most of robots are by Real Time Drive in the world, walk form imitating the mankind, so causing that robot ambulation is slow in one's movements, and energy consumption is beyond ten times of people.This seriously constrains the continuation of the journey of robot, operation, load-carrying ability.Proposing of passive walking principle is realize efficient natural walking to provide a possible solution route, passive walking system is to only rely on gravity to come each joint of rotary machine people passively, there are many outstanding being devised based on passive dynamic (dynamical) two leg walking robot, including the robot Leo of Delft university of Holland；The robot MABEL of Univ Michigan-Ann Arbor USA；The robot Runbot etc. of University of Stirling of Britain.
But being based on the robot of passive walking principle, how keeping the stability in walking is a great problem that needs overcome.Although the patent document that application number is CN201410766404.1 has been disclosed a kind of gear drive to the energy-conservation passive walking device in point upper body, this device can realize robot upper body when going ahead and always be to maintain dividing, can improve the stability of biped robot, but the stability in its transverse direction walking that can not realize robot and horizontal walking process.
Summary of the invention
In view of this, the present invention provides a kind of semi-passive biped to a point upper body running gear, and it solves robot technical problem of how remaining stable for property in walking forward and horizontal walking process.
The semi-passive biped of the present invention is to a point upper body running gear, including hip support, the bottom of described hip support is provided with the U-lag that Open Side Down, the lower end of described hip support is provided with crosses the transverse axis that U-lag mouth and two ends coordinate with hip holder pivots, described transverse axis is provided with the first rotating turret and the second rotating turret that are rotatably assorted with it, described first rotating turret is provided with the first side shaft that axial line intersects vertically with transverse axis axial line, described second rotating turret is provided with the second side shaft that axial line intersects vertically with transverse axis axial line, first side shaft and the first rotating turret are rotatably assorted, second side shaft and the second rotating turret are rotatably assorted, described first side shaft and the second side shaft become axial symmetry to arrange；
Described transverse axis is provided with drive bevel gear, one end of described first side shaft is provided with the first driven wheel of differential engaged with drive bevel gear, the other end of described first side shaft is provided with the first thigh connecting portion being connected with robot thigh；One end of described second side shaft is provided with the second driven wheel of differential engaged with drive bevel gear, the other end of described second side shaft is provided with the second thigh connecting portion being connected with robot another thigh；
Described hip support is provided with the first driving device driving transverse axis to rotate and the second driving device driving the first rotating turret and the second rotating turret to rotate relative to transverse axis symmetry.
Further, described first driving device includes the first motor of horizontally set and connects the first rotor axis of electric and horizontal shaft drive.
Further, described actuating device is transmission band, or is the combination of belt wheel and transmission band, or is the combination of sprocket wheel and chain, or is the combination of driving gear and driven gear.
Further, described second driving device include vertically arranging and be fixed in hip stent side portion by connecting plate the second motor, be vertically arranged on connecting plate and slide plate that the screw rod that is rotatably assorted with connecting plate coordinates with screw flight, two ends are respectively hinged at the first connecting rod on slide plate and the first rotating turret and two ends are respectively hinged at the second connecting rod on slide plate and the second rotating turret, described first connecting rod and second connecting rod are arranged symmetrically with relative to screw rod, and armature spindle and the screw rod of described motor are connected by drive.
Beneficial effects of the present invention:
A kind of semi-passive biped of the present invention is to a point upper body running gear, the upper body of robot is arranged on the transverse slat of hip support, the two of robot thighs are connected on the thigh connecting portion of the first side shaft and the second side shaft, during robot straight forward, first motor drives transverse axis to rotate, transverse axis rotates and drives the first side shaft and the identical angle of the axisymmetric rotation in the second side, such robot upper body is in the angle centre position of two thighs of robot all the time, namely running gear to position of halving, thus keeping upper body to dividing, can guarantee that the stability of robot straight forward；When robot laterally keeps straight on, second electric motor driven screw rotates, screw drive slide block slides up or down, slide block drives the first rotating turret and the rotation of the second rotating turret symmetry by connecting rod, first rotating turret and the second rotating turret rotate the swing just driving the robot thigh on two side shafts and two side shafts symmetrical, such robot upper body also remains on the centre position of two thigh angles, namely running gear to position of halving, thus keeping upper body to dividing, can guarantee that the stability that robot laterally keeps straight on.
Accompanying drawing explanation
Fig. 1 is that in embodiment, the first side perspective structure of point upper body running gear is intended to by semi-passive biped；
Fig. 2 is that in embodiment, the second side perspective structure of point upper body running gear is intended to by semi-passive biped；
Fig. 3 is that in embodiment, the 3rd side perspective structure of point upper body running gear is intended to by semi-passive biped.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in the figure, the semi-passive biped of the present embodiment is to a point upper body running gear, including hip support 1, the bottom of described hip support is provided with the U-lag that Open Side Down, the lower end of described hip support is provided with crosses the transverse axis 2 that U-lag mouth and two ends coordinate with hip holder pivots, described transverse axis is provided with the first rotating turret 3 and the second rotating turret 4 being rotatably assorted with it, described first rotating turret is provided with the first side shaft 5 that axial line intersects vertically with transverse axis axial line, described second rotating turret is provided with the second side shaft 6 that axial line intersects vertically with transverse axis axial line, first side shaft and the first rotating turret are rotatably assorted, second side shaft and the second rotating turret are rotatably assorted, described first side shaft and the second side shaft become axial symmetry to arrange；
Described transverse axis is provided with drive bevel gear 7, one end of described first side shaft is provided with the first driven wheel of differential 8 engaged with drive bevel gear, the other end of described first side shaft is provided with the first thigh connecting portion 10 being connected with robot thigh 9；One end of described second side shaft is provided with the second driven wheel of differential 11 engaged with drive bevel gear, the other end of described second side shaft is provided with the second thigh connecting portion 12 being connected with robot another thigh；
Described hip support is provided with the first driving device driving transverse axis to rotate and the second driving device driving the first rotating turret and the second rotating turret to rotate relative to transverse axis symmetry.
In the present embodiment, described first driving device includes the first motor 13 of horizontally set and connects the first rotor axis of electric and horizontal shaft drive.Actuating device described in the present embodiment is transmission band 14, and certainly in different embodiments, described actuating device can be also the combination of belt wheel and transmission band, or is the combination of sprocket wheel and chain, or is the combination of driving gear and driven gear；First motor can also be replaced by the power set of other forms such as such as compact internal combustion engine are equivalent simultaneously.
In the present embodiment, described second driving device include vertically arranging and be fixed in hip stent side portion by connecting plate 15 the second motor 16, be vertically arranged on connecting plate and slide plate 18 that the screw rod 17 that is rotatably assorted with connecting plate coordinates with screw flight, two ends are respectively hinged at the first connecting rod 19 on slide plate and the first rotating turret and two ends are respectively hinged at the second connecting rod 20 on slide plate and the second rotating turret, described first connecting rod and second connecting rod are arranged symmetrically with relative to screw rod, and armature spindle and the screw rod of described motor are connected by drive；The actuating device of the armature spindle and screw rod that connect motor in the present embodiment is transmission band 21, and actuating device can also be the combination of belt wheel and transmission band in different embodiments certainly, or is the combination of sprocket wheel and chain, or is the combination of driving gear and driven gear；Second motor can also be replaced by the power set of other forms such as such as compact internal combustion engine are equivalent simultaneously.
The semi-passive biped of the present embodiment is to a point upper body running gear, and before straight forward, two lower limbs of robot diverge to angled with ground and are in equipoise.When straight forward, master control set 22 sends order, control the first motor running, first motor drives transverse axis to rotate by transmission band, transverse axis rotates and drives the first side shaft and the identical angle of the axisymmetric rotation in the second side, namely left and right lower limb outwards steps identical angle, after foreleg lands, switch supporting leg and lead leg, back leg continues to step forward, in such robot ambulation process, upper body is in the angle centre position of two thighs all the time, thus keeping upper body to dividing, can guarantee that the stability of robot straight forward；In craspedodrome process, the second motor does not move, and the first rotating turret and the second rotating turret are in locking state.
The semi-passive biped of the present embodiment is to a point upper body running gear, and before laterally keeping straight on, two lower limbs of robot diverge to angled with ground and are in equipoise.When laterally keeping straight on, master control set 22 sends order, control the second motor running, second motor passes through transmission band drive screw turns, screw drive slide block slides up or down, slide block drives the first rotating turret and the rotation of the second rotating turret symmetry by connecting rod, first rotating turret and the second rotating turret rotate the inwardly or outwardly swing just driving the robot thigh on two side shafts and two side shafts symmetrical, assume that left lower limb is first laterally turned left to step, in the process stepped, upper body is all the time in running gear equity point position, after left lower limb lands, supporting leg and switching of leading leg, right lower limb continues to turn left advanced in years, now left lower limb is as supporting leg.Left and right lower limb mutually switches to supporting leg and leads leg, it is achieved a horizontal point upper body is moved of running gear, it is ensured that the stability that robot laterally keeps straight on；In horizontal walking process, the first motor is inoperative, and transverse axis is locked.
What finally illustrate is, above example is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail with reference to preferred embodiment, it will be understood by those within the art that, technical scheme can be modified or equivalent replacement, without deviating from objective and the scope of technical solution of the present invention, it all should be encompassed in the middle of scope of the presently claimed invention.
Claims (4)
1. a semi-passive biped is to a point upper body running gear, it is characterized in that: include hip support, the bottom of described hip support is provided with the U-lag that Open Side Down, the lower end of described hip support is provided with crosses the transverse axis that U-lag mouth and two ends coordinate with hip holder pivots, described transverse axis is provided with the first rotating turret and the second rotating turret that are rotatably assorted with it, described first rotating turret is provided with the first side shaft that axial line intersects vertically with transverse axis axial line, described second rotating turret is provided with the second side shaft that axial line intersects vertically with transverse axis axial line, first side shaft and the first rotating turret are rotatably assorted, second side shaft and the second rotating turret are rotatably assorted, described first side shaft and the second side shaft become axial symmetry to arrange；
Described transverse axis is provided with drive bevel gear, one end of described first side shaft is provided with the first driven wheel of differential engaged with drive bevel gear, the other end of described first side shaft is provided with the first thigh connecting portion being connected with robot thigh；One end of described second side shaft is provided with the second driven wheel of differential engaged with drive bevel gear, the other end of described second side shaft is provided with the second thigh connecting portion being connected with robot another thigh；
Described hip support is provided with the first driving device driving transverse axis to rotate and the second driving device driving the first rotating turret and the second rotating turret to rotate relative to transverse axis symmetry.
2. semi-passive biped according to claim 1 is to a point upper body running gear, it is characterised in that: described first driving device includes the first motor of horizontally set and connects the first rotor axis of electric and horizontal shaft drive.
3. semi-passive biped according to claim 2 is to a point upper body running gear, it is characterised in that: described actuating device is transmission band, or is the combination of belt wheel and transmission band, or is the combination of sprocket wheel and chain, or is the combination of driving gear and driven gear.
4. semi-passive biped according to claim 1 is to a point upper body running gear, it is characterized in that: described second driving device includes the second motor vertically arranged and be fixed in hip stent side portion by connecting plate, the screw rod being vertically arranged on connecting plate and be rotatably assorted with connecting plate, the slide plate coordinated with screw flight, two ends are respectively hinged at the first connecting rod on slide plate and the first rotating turret, and two ends are respectively hinged at the second connecting rod on slide plate and the second rotating turret, described first connecting rod and second connecting rod are arranged symmetrically with relative to screw rod, armature spindle and the screw rod of described motor are connected by drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246155.2A CN105730551B (en) | 2016-04-20 | 2016-04-20 | A kind of semi-passive biped is to dividing upper body running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246155.2A CN105730551B (en) | 2016-04-20 | 2016-04-20 | A kind of semi-passive biped is to dividing upper body running gear |
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| CN105730551A true CN105730551A (en) | 2016-07-06 |
| CN105730551B CN105730551B (en) | 2017-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610246155.2A Active CN105730551B (en) | 2016-04-20 | 2016-04-20 | A kind of semi-passive biped is to dividing upper body running gear |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882287A (en) * | 2017-04-01 | 2017-06-23 | 济南大学 | A kind of bionical monopodia wheel of adjustable biped bar |
| CN107719506A (en) * | 2017-09-27 | 2018-02-23 | 深圳市行者机器人技术有限公司 | A kind of leg structure and the sufficient formula mobile platform using the structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
| JP2003145457A (en) * | 2001-11-19 | 2003-05-20 | Japan Science & Technology Corp | Bipedal moving device, gait control device thereof, and gait control method |
| CN101992813A (en) * | 2010-10-18 | 2011-03-30 | 浙江大学宁波理工学院 | Travelling mechanism of two-foot walking robot |
| CN103963869A (en) * | 2014-05-14 | 2014-08-06 | 王岳林 | Elliptic gear drive walking robot and manufacturing 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 |
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2016
- 2016-04-20 CN CN201610246155.2A patent/CN105730551B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
| JP2003145457A (en) * | 2001-11-19 | 2003-05-20 | Japan Science & Technology Corp | Bipedal moving device, gait control device thereof, and gait control method |
| CN101992813A (en) * | 2010-10-18 | 2011-03-30 | 浙江大学宁波理工学院 | Travelling mechanism of two-foot walking robot |
| CN103963869A (en) * | 2014-05-14 | 2014-08-06 | 王岳林 | Elliptic gear drive walking robot and manufacturing 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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882287A (en) * | 2017-04-01 | 2017-06-23 | 济南大学 | A kind of bionical monopodia wheel of adjustable biped bar |
| CN107719506A (en) * | 2017-09-27 | 2018-02-23 | 深圳市行者机器人技术有限公司 | A kind of leg structure and the sufficient formula mobile platform using the structure |
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| Publication number | Publication date |
|---|---|
| CN105730551B (en) | 2017-11-24 |
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Effective date of registration: 20171102 Address after: Luohu District bamboo street of Shenzhen city in Guangdong province 518000 Taining floor of Luohu science and Technology Building No. 85 room 610 Applicant after: Shenzhen Walker Robot Technology Co., Ltd. Address before: 400065 Chongqing Nan'an District Huang Ya Chong Road 28 and 44 Building 1 unit 6-1 No. Applicant before: CHONGQING ZUBU TECHNOLOGY CO., LTD. |
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