CN105730551B - A kind of semi-passive biped is to dividing upper body running gear - Google Patents
A kind of semi-passive biped is to dividing upper body running gear Download PDFInfo
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- CN105730551B CN105730551B CN201610246155.2A CN201610246155A CN105730551B CN 105730551 B CN105730551 B CN 105730551B CN 201610246155 A CN201610246155 A CN 201610246155A CN 105730551 B CN105730551 B CN 105730551B
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- rotating turret
- transverse axis
- side axle
- upper body
- running gear
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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 kind of semi-passive biped to dividing upper body running gear, including hip support, the lower end of hip support is provided with transverse axis, the first rotating turret and the second rotating turret are provided with transverse axis, the first side axle is provided with first rotating turret, the second side axle is provided with second rotating turret, drive bevel gear is provided with transverse axis, the first driven wheel of differential is provided with first side axle, the second driven wheel of differential is provided with second side axle, the first driving means that driving transverse axis rotates and the second drive device for driving the first rotating turret and the second rotating turret symmetrically to be rotated relative to transverse axis are provided with hip support.This running gear can guarantee that robot upper body during straight forward and laterally straight trip, the centre position all the time in two legs, i.e. running gear to position of halving, so as to can guarantee that robot straight trip and horizontal stability.
Description
Technical field
The present invention relates to a kind of robotic technology field, more particularly to a kind of running gear of robot.
Background technology
Walking is the basic problem of anthropomorphic robot research.At present, in the world most of robots be by Real Time Drive,
In the form of imitating mankind's walking, so cause robot ambulation slow in one's movements, and energy consumption exceeds ten times of people.This is seriously constrained
The continuation of the journey of robot, operation, load-carrying ability.The it is proposed of passive walking principle provides a possibility to realize that efficient natural is walked
Solution route, passive walking system is to only rely on gravity to come passively each joint of rotary machine people, have it is many it is outstanding based on
Passive dynamic (dynamical) two leg walking robot is devised, and includes the robot Leo of Dutch Delft universities；Michigan, United States
The robot MABEL of university；Robot Runbot of University of Stirling of Britain etc..
But based on the robot of passive walking principle, how to keep the stability in walking is the disaster for needing to overcome
Topic.It is passive that although Application No. CN201410766404.1 patent document has been disclosed that a kind of gear drive saves to point upper body
Running gear, the device can realize that robot upper body when going ahead always is to maintain to dividing, can improve the stabilization of biped robot
Property, but its can not realize robot horizontal walking and horizontal walking process in stability.
The content of the invention
In view of this, the present invention provides a kind of semi-passive biped to dividing upper body running gear, and it solves robot forward
How the technical problem of stability is kept in walking and horizontal walking process.
To dividing upper body running gear, including hip support, the bottom of the hip support is set the semi-passive biped of the present invention
There is a U-lag that Open Side Down, the lower end of the hip support, which is provided with, crosses U-lag mouth and both ends coordinate with hip holder pivots
Transverse axis, the first rotating turret and the second rotating turret being rotatably assorted with it are provided with the transverse axis, on first rotating turret
The first side axle that axial line intersects vertically with transverse axis axial line is provided with, axial line and transverse axis are provided with second rotating turret
The second side axle that axial line intersects vertically, the first side axle are rotatably assorted with the first rotating turret, and the second side axle turns with the second rotating turret
Dynamic to coordinate, first side axle and the second side axle are arranged into axial symmetry；
Drive bevel gear is provided with the transverse axis, is provided with one end of first side axle and is engaged with drive bevel gear
The first driven wheel of differential, the first thigh being connected with robot thigh is provided with the other end of first side axle and is connected
Portion；The second driven wheel of differential engaged with drive bevel gear is provided with one end of second side axle, second side axle
The second thigh connecting portion being connected with robot another thigh is provided with the other end；
First driving means and driving the first rotating turret and second that driving transverse axis rotates are provided with the hip support
The second drive device that rotating turret symmetrically rotates relative to transverse axis.
Further, the first driving means include the first motor being arranged in parallel with transverse axis and are connected the first rotor
Axle and horizontal shaft drive.
Further, the transmission device is transmission belt, is either the combination of belt wheel and transmission belt or is sprocket wheel and chain
Combination, or the combination for driving gear and driven gear.
Further, second drive device include vertical arrangement and be fixed on by connecting plate in hip stent side portion the
Two motors, the screw rod for being vertically arranged on connecting plate and being rotatably assorted with connecting plate, the slide plate coordinated with screw flight, both ends are cut with scissors respectively
It is connected on slide plate and first connecting rod on the first rotating turret and both ends is respectively hinged on slide plate and the second rotating turret second connects
Bar, the first connecting rod and second connecting rod are arranged symmetrically relative to screw rod, and the armature spindle and screw rod of the motor are filled by being driven
Put drive connection.
Beneficial effects of the present invention：
The upper body of robot is arranged on the horizontal stroke of hip support by a kind of semi-passive biped of the present invention to dividing upper body running gear
On plate, two thighs of robot are connected on the thigh connecting portion of the first side axle and the second side axle, robot is forward
During straight trip, the first motor driving transverse axis rotates, and transverse axis rotates the first side axle of driving and the second side axle symmetrically rotates identical angle
Degree, such robot upper body all the time in robot two thighs angle centre position, i.e., running gear to decile position
Put, so as to keep upper body to can guarantee that the stability of robot straight forward to point；When robot laterally keeps straight on, the second motor
Drive screw turns, screw drive sliding block slide up or down, and sliding block drives the first rotating turret and second to rotate by connecting rod
Frame symmetrically rotates, and the first rotating turret and the second rotating turret rotate and just drive the robot thigh in two side axles and two side axles symmetrical
Swing, such robot upper body also remained on the centre position of two thigh angles, i.e., running gear to decile position
Put, so as to keep upper body to can guarantee that the stability that robot laterally keeps straight on to point.
Brief description of the drawings
Fig. 1 is that semi-passive biped is intended to the first side perspective structure for dividing upper body running gear in embodiment；
Fig. 2 is that semi-passive biped is intended to the second side perspective structure for dividing upper body running gear in embodiment；
Fig. 3 is that semi-passive biped is intended to the 3rd side perspective structure for dividing upper body running gear in embodiment.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As illustrated, the semi-passive biped of the present embodiment is to dividing upper body running gear, including hip support 1, the hip branch
The bottom of frame is provided with the U-lag that Open Side Down, and the lower end of the hip support, which is provided with, crosses U-lag mouth and both ends and hip
The transverse axis 2 that holder pivots coordinate, the first rotating turret 3 and the second rotating turret 4 being rotatably assorted with it, institute are provided with the transverse axis
State and the first side axle 5 that axial line intersects vertically with transverse axis axial line is provided with the first rotating turret, set on second rotating turret
The second side axle 6 that axial line intersects vertically with transverse axis axial line is equipped with, the first side axle is rotatably assorted with the first rotating turret, the second side
Axle is rotatably assorted with the second rotating turret, and first side axle and the second side axle are arranged into axial symmetry；
Drive bevel gear 7 is provided with the transverse axis, is provided with one end of first side axle and is nibbled with drive bevel gear
The first driven wheel of differential 8 closed, the first thigh company be connected with robot thigh 9 is provided with the other end of first side axle
Socket part 10；It is provided with the second driven wheel of differential 11 engaged with drive bevel gear on one end of second side axle, described second
The second thigh connecting portion 12 being connected with robot another thigh is provided with the other end of side axle；
First driving means and driving the first rotating turret and second that driving transverse axis rotates are provided with the hip support
The second drive device that rotating turret symmetrically rotates relative to transverse axis.
In the present embodiment, the first driving means include the first motor 13 being arranged in parallel with transverse axis and are connected the first electricity
Machine rotor axle and horizontal shaft drive.Transmission device described in the present embodiment is transmission belt 14, certainly in different embodiments,
The transmission device can also be the combination of belt wheel and transmission belt, be either the combination of sprocket wheel and chain or be driving gear and
The combination of driven gear；The first motor can also equally be replaced by the power set of the other forms such as such as compact internal combustion engine simultaneously.
In the present embodiment, second drive device includes vertical arrangement and is fixed on hip stent side portion by connecting plate 15
On the second motor 16, be vertically arranged on connecting plate and be rotatably assorted with connecting plate screw rod 17, with screw flight coordinate slide plate
18th, the first connecting rod 19 and both ends that both ends are respectively hinged on slide plate and the first rotating turret are respectively hinged at slide plate and second
Second connecting rod 20 on rotating turret, the first connecting rod and second connecting rod are arranged symmetrically relative to screw rod, the rotor of the motor
Axle is connected with screw rod by drive；The armature spindle of motor and the transmission device of screw rod are connected in the present embodiment as transmission
Band 21, transmission device can also be the combination of belt wheel and transmission belt in different embodiments certainly, or be sprocket wheel and chain
Combination, or the combination for driving gear and driven gear；The second motor can also be by other shapes such as such as compact internal combustion engine simultaneously
The power set of formula equally replace.
The semi-passive biped of the present embodiment is to dividing upper body running gear, and before straight forward, two legs of robot diverge to and ground
Face is angled and is in equipoise.In straight forward, master control set 22 sends order, control the first motor fortune
Make, the first motor drives transverse axis to rotate by transmission belt, and transverse axis rotates the first side axle of driving and the second side axle symmetrically rotates phase
Same angle, i.e. left and right leg outwards steps identical angle, after foreleg lands, switches supporting leg and leads leg, back leg continues
Step forward, angle centre position of the upper body all the time in two thighs during such robot ambulation, so as to keep upper body pair
Point, it can guarantee that the stability of robot straight forward；During straight trip, the second motor does not move, the first rotating turret and second turn
Moving frame is in locking state.
The semi-passive biped of the present embodiment is to dividing upper body running gear, and before laterally keeping straight on, two legs of robot diverge to and ground
Face is angled and is in equipoise.When laterally keeping straight on, master control set 22 sends order, control the second motor fortune
Make, the second motor is slided up or down by transmission belt drive screw turns, screw drive sliding block, and sliding block is driven by connecting rod
First rotating turret and the second rotating turret symmetrically rotate, and the first rotating turret and the second rotating turret rotate and just drive two side axles and both sides
Robot thigh on axle is symmetrically inwardly or outwardly swung, it is assumed that left leg is first laterally turned left and stepped, upper body during stepping
All the time position is divided in running gear equity, after left leg landing, supporting leg and switching of leading leg, right leg continue to turn left advanced in years, a now left side
Leg is as supporting leg.Left and right leg mutually switches to supporting leg and led leg, and realizes that running gear is horizontal and a point upper body is moved, protect
The stability that card robot laterally keeps straight on；In horizontal walking process, the first motor is inoperative, and transverse axis is locked.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (4)
1. a kind of semi-passive biped is to dividing upper body running gear, it is characterised in that：Including hip support, under the hip support
Portion is provided with the U-lag that Open Side Down, and the lower end of the hip support, which is provided with, crosses U-lag mouth and both ends turn with hip support
The dynamic transverse axis coordinated, is provided with the first rotating turret and the second rotating turret being rotatably assorted with it on the transverse axis, described first turn
The first side axle that axial line intersects vertically with transverse axis axial line is provided with moving frame, axial line is provided with second rotating turret
The second side axle to be intersected vertically with transverse axis axial line, the first side axle are rotatably assorted with the first rotating turret, the second side axle with second turn
Moving frame is rotatably assorted, and first side axle and the second side axle are arranged into axial symmetry；
Drive bevel gear is provided with the transverse axis, engaged with drive bevel gear is provided with one end of first side axle
One driven wheel of differential, the first thigh connecting portion being connected with robot thigh is provided with the other end of first side axle；Institute
State the second driven wheel of differential for being provided with one end of the second side axle and being engaged with drive bevel gear, the other end of second side axle
On be provided with the second thigh connecting portion being connected with robot another thigh；
First driving means and the first rotating turret of driving and the second rotation that driving transverse axis rotates are provided with the hip support
The second drive device that frame symmetrically rotates relative to transverse axis.
2. semi-passive biped according to claim 1 is to dividing upper body running gear, it is characterised in that：The first driving dress
Put the first motor including being arranged in parallel with transverse axis and be connected the first rotor axis of electric and horizontal shaft drive.
3. semi-passive biped according to claim 2 is to dividing upper body running gear, it is characterised in that：The transmission device is
Transmission belt, be either the combination of belt wheel and transmission belt or be sprocket wheel and chain combination, or be driving gear and driven tooth
The combination of wheel.
4. semi-passive biped according to claim 1 is to dividing upper body running gear, it is characterised in that：The second driving dress
Put including vertical the second motor arranged and be fixed on by connecting plate in hip stent side portion, be vertically arranged on connecting plate and with connecting
The slide plate for screw rod and the screw flight cooperation that plate is rotatably assorted, both ends are respectively hinged at first on slide plate and the first rotating turret
Connecting rod and both ends are respectively hinged at the second connecting rod on slide plate and the second rotating turret, first connecting rod and the second connecting rod phase
It is arranged symmetrically for screw rod, the armature spindle of the motor is connected with screw rod 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105730551A CN105730551A (en) | 2016-07-06 |
| CN105730551B true CN105730551B (en) | 2017-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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Families Citing this family (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 (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3569764B2 (en) * | 2001-11-19 | 2004-09-29 | 独立行政法人 科学技術振興機構 | Bipod walking type moving device, its walking control device, and walking control method |
-
2016
- 2016-04-20 CN CN201610246155.2A patent/CN105730551B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
| 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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| CN105730551A (en) | 2016-07-06 |
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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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