CN108082316A - One kind is used for upright walking auxiliary balance device - Google Patents
One kind is used for upright walking auxiliary balance device Download PDFInfo
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- CN108082316A CN108082316A CN201711308829.8A CN201711308829A CN108082316A CN 108082316 A CN108082316 A CN 108082316A CN 201711308829 A CN201711308829 A CN 201711308829A CN 108082316 A CN108082316 A CN 108082316A
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- walking
- foot
- electromagnet
- balance device
- auxiliary balance
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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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The present invention relates to one kind for upright walking auxiliary balance device, the auxiliary balance device includes walking foot and ferromagnetism walking surface；The walking foot top is provided with the attachment device being fixedly connected with machine, electromagnet is provided in the walking foot, the electromagnet is electrically connected magnet controller, the magnet controller controls the electromagnet to obtain electric or dead electricity, correspondingly, the walking foot bottom is attracted to be formed interim whole or departed from the ferromagnetism walking surface, and the position and angle of inclination of the ferromagnetism walking surface are arbitrarily set.The present invention is not only able to ensure that machine stabilization is freely walked, and simple in structure, without calculating.
Description
Technical field
It is more particularly to a kind of to be used for upright walking auxiliary balance device the present invention relates to balancing technique field.
Background technology
Difficult point during upright automatically walk machine movement is gravity balance.In order to reach balance, use in the prior art
Technological means include it is following several：1）It is calculated between each axis joint of machine by mathematical model, controls each axis motor coordination
Cooperation reaches balance.Although such mode can reach balance to a certain extent, on condition that machine center when walking upright
Within the scope of needed for balance, once axis action goes beyond the scope, machine disequilibrium must be may result in and fallen down.Therefore, it is
Cooperation or extremely complex design of hardware and software is used between guarantee machine each moving component；Or using increase machine row
The area of foot and contact surface is walked, such settling mode also increases the overall volume of machine simultaneously, and then reduces the suitable of machine
Use scope.2）Multiple walking foots are set for machine, although as long as at this point, ensureing machine center in the sufficient scope of multiple walkings
Reach balance, simplify amount of calculation, but mechanical structure difficulty increases, and using limited.3）For machine, track is set, it is such
Mode, balance is easy to control, but machine Ambulatory Activity scope is limited, and complicated in mechanical structure.
The content of the invention
In view of the above-mentioned problems, not only can the object of the present invention is to provide one kind for upright walking auxiliary balance device
Enough ensure that machine stabilization is freely walked, and it is simple in structure, without calculating.
To achieve the above object, the present invention takes following technical scheme：One kind is used for upright walking auxiliary balance device,
The auxiliary balance device includes walking foot and ferromagnetism walking surface；The walking foot top is provided with what is be fixedly connected with machine
Attachment device is provided with electromagnet in the walking foot, and the electromagnet is electrically connected magnet controller, the magnet controller control
Make the electromagnet and obtain electric or dead electricity, correspondingly, it is described walking foot bottom be attracted with the ferromagnetism walking surface to be formed temporarily it is whole
Body or disengaging, the position and angle of inclination of the ferromagnetism walking surface are arbitrarily set.
Multiple electromagnet, and magnet controller grouping control institute are set in the form of packets in the walking foot
State electromagnet.
The walking foot bottom sets to install the blind hole of the electromagnet, and the electromagnet includes coil rack and line
Circle, the coil rack use strip structure, and the coil rack bottom is suction side, and the suction side leakage is in the walking
Foot bottom, is arranged the coil on the coil rack, at the top of the top of the coil rack and the blind hole between be provided with
Elastic device.
The elastic device includes spring and spring piston.
The walking foot is internally provided with the first arc spring plate and the second arc spring plate, the first arc spring plate
It is opening up, the second arc spring plate it is opening down, and with the tangent setting of the first arc spring plate.
The walking foot includes heel and sole, and the heel is fixedly connected with sole by hinge.
The walking foot is processed by flexible material or semi-flexible material.
The ferromagnetism walking surface is processed into using steel plate.
The walking foot uses the shape of human foot.
The walking foot is internally provided with threading duct.
The present invention has the following advantages due to taking above technical scheme：1st, the present invention in walking foot by setting
Electromagnet, and ferromagnetism walking surface is equipped with, and the position of ferromagnetism walking surface and angle of inclination can be arbitrary as needed
It sets, therefore is attracted and controls electromagnet dead electricity and ferromagnetism to walk by the way that electromagnet is controlled to obtain electric and ferromagnetism walking surface
Emaciated face from, be not only able to ensure that machine stabilization is freely walked, it is and simple in structure, without calculating.2nd, the present invention is due to walking
Plurality of electromagnetic iron in foot is set, and is grouped control electromagnet, therefore balance and buffering effect can be effectively played.3rd, the present invention by
Walking foot and the matching relationship of electromagnet and the concrete structure of electromagnet are set in specific, and bullet is set at the top of electromagnet
Property device, therefore balance and buffering effect can be further functioned as.4th, walking of the invention uses flexible material or semi-flexible material enough
Material is processed into, thus can active balance machine error, adapt to ferromagnetism walking surface it is irregular and with ferromagnetism walking surface
More solid and reliable interim entirety is formed during actuation.Design structure of the present invention is simple, at low cost, and can guarantee that machine center is put down
Weighing apparatus is stood and is stablized, and walking freely, can be widely applied to balancing technique field.
Description of the drawings
Fig. 1 is the structure diagram for the one of embodiment of upright walking auxiliary balance device of the present invention；
Fig. 2 is that Fig. 1 looks up figure structure schematic representation.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
As shown in Fig. 1~2, of the invention includes walking foot 1 and ferromagnetism row for upright walking auxiliary balance device
Walk face（It is not shown in figure）；1 top of walking foot is provided with the attachment device being fixedly connected with machine, and electricity is provided in walking foot 1
Magnet 2, electromagnet 2 are electrically connected magnet controller, and magnet controller control electromagnet 2 obtains electric, walk 1 bottom of foot and ferromagnetism row
It walks face to be attracted to form interim entirety, magnet controller control 2 dead electricity of electromagnet, walking foot 1 departs from ferromagnetism walking surface, ferromagnetic
Property walking surface position and angle of inclination arbitrary setting is carried out according to the actual needs or site environment at scene.
It in a preferred embodiment, can be in the form of packets in walking foot 1 in order to play balance and buffering effect
Multiple electromagnet 2, and magnet controller grouping control electromagnet 2 are set, for example, when the front and rear of walking foot 1 is set respectively
One group of electromagnet 2 is put, i.e., when setting two groups of electromagnet 2 in walking foot 1, when taking a step, magnet controller can first control walking
2 dead electricity of electromagnet of 1 forepart of foot, departs from ferromagnetism walking surface, then controls 2 dead electricity of electromagnet at 1 rear portion of walking foot, and ferromagnetic
Property walking surface depart from, and then realize that entire walking foot 1 departs from ferromagnetism walking surface；When falling to walk, magnet controller can be first
The electromagnet 2 at 1 rear portion of control walking foot it is electric, be attracted with ferromagnetism walking surface, then control the electromagnet 2 of 1 forepart of walking foot
Electricity is attracted with ferromagnetism walking surface, and then realizes that entire walking foot 1 is attracted with ferromagnetism walking surface；It is more when being set in walking foot 1
During group electromagnet 2, magnet controller is to control mode of the control mode of electromagnet 2 with setting two groups of electromagnet 2 in walking foot 1
It is substantially the same, so it will not be repeated.
In a preferred embodiment, in order to further function as balance and buffering effect, 1 bottom of foot of walking, which is set, to be used for
The blind hole of electromagnet 2 is installed, electromagnet 2 includes coil rack 21 and coil 22, and coil rack 21 uses strip structure, coil bone
21 bottom of frame is suction side, and suction side leakage is arranged coil 22 on 1 bottom of walking foot, coil rack 21, coil rack 21
Elastic device 3 is provided between at the top of top and blind hole, and allows coil rack 21 when bearing active force in blind hole
It moves up and down, in the present embodiment, elastic device 3 includes spring 31 and spring piston 32；In order to realize that integral layout is simple, beautiful
It sees, walking foot 1 is internally provided with threading duct, can be used for the laying of signal wire between electromagnet 2 and magnet controller.
In a preferred embodiment, in order to further function as buffering effect, and the ferromagnetism of surface imperfection is adapted to
Walking surface, walking foot 1 are internally provided with the first arc spring plate 4 and the second arc spring plate 5, and the first arc spring plate 4 is opened
Mouthful upward, the second arc spring plate 5 is opening down, and with the 4 tangent setting of the first arc spring plate.
In a preferred embodiment, in order to enable can have certain opposite activity before and after walking foot 1, walking foot
1 includes heel 11 and sole 12, and heel 11 is fixedly connected with sole 12 by hinge 13.
In a preferred embodiment, in order to simulate living species, flexibility during walking, and then balancing machine misses
Difference forms more solid and reliable interim entirety when adaptation ferromagnetism walking surface is irregular and is attracted with ferromagnetism walking surface,
Walking foot 1 is processed by flexible material or semi-flexible material, such as rubber material.
In a preferred embodiment, the structure of walking foot 1 and shape are not limited, and can be human or animal's foots
Shape or simple straight panel shape, in the present embodiment, using the shape of human foot.
In a preferred embodiment, ferromagnetism walking surface may be employed steel plate and be processed into.
With reference to specific embodiment, illustrate the present invention is for upright walking auxiliary balance device application method：
1st, according to machine itself work requirements, for the two or more walking foots 1 of machine installation, the application method of multiple walking foots 1
Or walking motion is substantially the same with two walking foots 1, the present embodiment is illustrated by taking two walking foots 1 of installation as an example；
2nd, according to machine operation environment and work requirements, selection level, vertical, top tilt the walking of installation settings ferromagnetism
Face, correspondingly, machinery level movement, vertical and straight movement, stand upside down movement, banking motion；
3rd, the machine for being equipped with two walkings foot 1 is placed on ferromagnetism walking surface, and controls the electromagnet 2 in two walking foots 1 equal
It is electric be attracted with ferromagnetism walking surface, machine is formed firmly interim whole by two walking foots 1 and ferromagnetism walking surface at this time
Body, and cause the standing of machine stabilization or even stand upside down on ferromagnetism walking surface；During walking, as machine is in outside control system
Under the control of system, wherein the moment that a walking foot 1 lifts, corresponding 2 dead electricity of electromagnet walked in foot 1 of magnet controller control,
Walking foot 1 is made to depart from corresponding ferromagnetism walking surface, after walking foot 1 finishes this walking motion, falls on ferromagnetism row again
Face is walked, the electromagnet 2 in walking foot 1 must be electric, is integrated itself and the actuation of ferromagnetism walking surface；On another 1 Xun Huan of walking foot
Motion flow is stated, completes a walking paces；The repeatedly reciprocal walking motion for completing biped.
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each component, connection mode and manufacture craft etc. are all
It can be varied from, every equivalents carried out on the basis of technical solution of the present invention and improvement should not exclude
Outside protection scope of the present invention.
Claims (10)
1. one kind is used for upright walking auxiliary balance device, it is characterised in that：The auxiliary balance device include walking foot and
Ferromagnetism walking surface；The walking foot top is provided with the attachment device being fixedly connected with machine, is provided in the walking foot
Electromagnet, the electromagnet are electrically connected magnet controller, and the magnet controller controls the electromagnet to obtain electric or dead electricity, accordingly
Ground, the walking foot bottom are attracted to be formed interim whole or departed from the ferromagnetism walking surface, the ferromagnetism walking surface
Position and angle of inclination are arbitrarily set.
2. a kind of as described in claim 1 be used for upright walking auxiliary balance device, it is characterised in that：It is described walking foot in
The form of grouping sets multiple electromagnet, and magnet controller grouping controls the electromagnet.
3. a kind of as described in claim 1 be used for upright walking auxiliary balance device, it is characterised in that：The walking foot bottom
Setting is for installing the blind hole of the electromagnet, and the electromagnet includes coil rack and coil, and the coil rack uses item
Shape structure, the coil rack bottom are suction side, and the suction side leakage is on the walking foot bottom, the coil rack
The coil is arranged, elastic device is provided between the top of the coil rack and blind hole top.
4. a kind of as claimed in claim 3 be used for upright walking auxiliary balance device, it is characterised in that：The elastic device bag
Include spring and spring piston.
5. a kind of as described in claim 1 be used for upright walking auxiliary balance device, it is characterised in that：The walking foot is internal
It is provided with the first arc spring plate and the second arc spring plate, opening up, second arc of the first arc spring plate
Shape latch plate it is opening down, and with the tangent setting of the first arc spring plate.
6. a kind of as described in claim 1 be used for upright walking auxiliary balance device, it is characterised in that：The walking foot includes
Heel and sole, and the heel is fixedly connected with sole by hinge.
7. a kind of as described in claim 1 be used for upright walking auxiliary balance device, it is characterised in that：The walking foot is by soft
Property material or semi-flexible material are processed into.
8. a kind of as described in claim 1 be used for upright walking auxiliary balance device, it is characterised in that：The ferromagnetism walking
It is processed into using steel plate in face.
9. a kind of as described in claim 1 be used for upright walking auxiliary balance device, it is characterised in that：The walking foot uses
The shape of human foot.
10. a kind of as described in claim 1 be used for upright walking auxiliary balance device, it is characterised in that：In the walking foot
Portion is provided with threading duct.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711308829.8A CN108082316A (en) | 2017-12-11 | 2017-12-11 | One kind is used for upright walking auxiliary balance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711308829.8A CN108082316A (en) | 2017-12-11 | 2017-12-11 | One kind is used for upright walking auxiliary balance device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108082316A true CN108082316A (en) | 2018-05-29 |
Family
ID=62173817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711308829.8A Pending CN108082316A (en) | 2017-12-11 | 2017-12-11 | One kind is used for upright walking auxiliary balance device |
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| CN (1) | CN108082316A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8501331D0 (en) * | 1984-01-18 | 1985-02-20 | Uvitek Uk Ltd | Vehicle |
| CN2298990Y (en) * | 1997-05-23 | 1998-12-02 | 李广岭 | Commercial walking robot able to balance walk |
| CN201825146U (en) * | 2010-05-31 | 2011-05-11 | 燕山大学 | Bounce spherical robot equipped with stabilized bench |
| CN102774445A (en) * | 2012-07-24 | 2012-11-14 | 华南理工大学 | Bionic climbing robot |
| CN105619392A (en) * | 2016-03-29 | 2016-06-01 | 刘子骞 | Robot with stable balance performance and control method of robot |
| CN205632716U (en) * | 2016-05-30 | 2016-10-12 | 山东漆品汇电子商务有限公司 | Two sufficient formula steel structure building wall climbing robot |
| CN106608305A (en) * | 2016-05-23 | 2017-05-03 | 中科新松有限公司 | Double-foot wall-climbing robot |
| CN106828655A (en) * | 2017-02-22 | 2017-06-13 | 武汉科技大学 | With multivariant climbing robot |
| CN107244361A (en) * | 2017-06-23 | 2017-10-13 | 虎林威 | A kind of assembled moving robot |
-
2017
- 2017-12-11 CN CN201711308829.8A patent/CN108082316A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8501331D0 (en) * | 1984-01-18 | 1985-02-20 | Uvitek Uk Ltd | Vehicle |
| CN2298990Y (en) * | 1997-05-23 | 1998-12-02 | 李广岭 | Commercial walking robot able to balance walk |
| CN201825146U (en) * | 2010-05-31 | 2011-05-11 | 燕山大学 | Bounce spherical robot equipped with stabilized bench |
| CN102774445A (en) * | 2012-07-24 | 2012-11-14 | 华南理工大学 | Bionic climbing robot |
| CN105619392A (en) * | 2016-03-29 | 2016-06-01 | 刘子骞 | Robot with stable balance performance and control method of robot |
| CN106608305A (en) * | 2016-05-23 | 2017-05-03 | 中科新松有限公司 | Double-foot wall-climbing robot |
| CN205632716U (en) * | 2016-05-30 | 2016-10-12 | 山东漆品汇电子商务有限公司 | Two sufficient formula steel structure building wall climbing robot |
| CN106828655A (en) * | 2017-02-22 | 2017-06-13 | 武汉科技大学 | With multivariant climbing robot |
| CN107244361A (en) * | 2017-06-23 | 2017-10-13 | 虎林威 | A kind of assembled moving robot |
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Application publication date: 20180529 |