CN1081515C

CN1081515C - Two-leg walking machine

Info

Publication number: CN1081515C
Application number: CN99103587A
Authority: CN
Inventors: 张平顺
Original assignee: Individual
Current assignee: Individual
Priority date: 1999-04-05
Filing date: 1999-04-05
Publication date: 2002-03-27
Anticipated expiration: 2019-04-05
Also published as: CN1269280A

Abstract

The present invention belongs to the technical field of a robot, which relates to a two-leg walking machine composed of a linkage mechanism, a speed-regulating mechanism, a hydraulic control system, a pneumatic system, a body, legs, feet, an intelligent control system, etc. When a walking foot contacts the ground, the pneumatic system drives supporting feet to press down the ground. Under the action of counter acting force, the walking foot and the supporting foot can be alternatively operated, and the body and supporting legs move around ankle joints to drive the linkage mechanism to regulate all joints to walk. When the present invention moves straight on a flat road, the automatic walking is realized by the joint work of the linkage mechanism, the hydraulic control system and the pneumatic system. When the present invention starts, stops and turns or walks on a rugged road surface, the intelligent control system can control the present invention conveniently through the speed-regulating mechanism.

Description

Two-leg walking machine

One, the invention belongs to the Robotics field.

Two, present, though two-leg walking machine device people is come out, but, existing two-leg walking machine device people also has very big difference with people's walking on walking mechanism, the topmost mechanism of people's walking is when moving about sufficient landing, to support foot and pedals ground, makes health produce inertia force, this inertia force not only makes body forward motion, and makes two legs coordinate each joint by muscle under the assignment of brain to realize taking a step.It is leading factor that people's walking is advanced sufficient with pedaling, and it is the cooperation factor that brain is coordinated.When common people normally walk at prevailing roadway, on body's center of gravity does not always drop on and supports enough, but pass through sufficient or sufficient inboard to sufficient front from sufficient back.Especially body's center of gravity drops on when supporting sufficient back, not have the foot inertia force of generation with pedaling, and balance just can't keep, and balance can not keep just not knowing where to begin and take a step to walk.Have only a kind of situation not need foot to realize walking with pedaling, that is exactly in the walking overall process centre of body weight and always drops on and support on the foot, center of gravity always drops on the walking of supporting on the foot, it or not walking truly, at least we can say the walking that is not a kind of healthy people, real walking should be in gait processes, not only when centre of body weight drops on when supporting foot and going up can walking, and no matter center of gravity drops on and supports sufficient back or support sufficient front and can both realize walking.The people organically combines with cooperating factor just because of relying on foot to coordinate this leading factor with brain with pedaling, just makes the people possess the mechanical movement that this perfect unit of walking lacks.The people can also can walk at uneven road surface in the walking of straight road surface, and people's walking stride is changeable, speed can soon can be slow, and power consumption is very low.Existing two-foot walking robot nearly all is not possess foot to pedal the ground function, only depend on intelligence control system to coordinate each joint motions and realize walking, support foot so center of gravity be unable to do without, not only stride is little for it, speed slow, power consumption is high, and structure is very complicated, the control difficulty is quite big.

Three, purpose of the present invention just is to overcome above-mentioned defective, for society provides a kind of sufficient ground function, control easily, simple in structure, low, fireballing walking machine of power consumption pedaled that possess.

Four, the objective of the invention is to reach by following measure:

Two-leg walking machine comprises: link gear, speed adjusting gear, hydraulic control system, pneumatic system, trunk, leg and being enough to and arm, it is characterized in that: 1, link gear is by secondary escapement (2), clutch-plate (6), stage clip (7), main escapement (8), little axle (10), small rod (11), coupled wheel (12), handle rope (16), hip joint, knee joint, ankle-joint is formed, four groovings are arranged on coupled wheel (12), the manipulation rope of two hip joints and two ankle-joints is wrapped in this grooving, a two rocking arm is arranged in the centre of coupled wheel, utilize small rod (11), little axle (10) connects together this rocking arm and two main escapements (8), secondary escapement (2) is enclosed within on the main escapement (8), one grooving is arranged on secondary escapement, kneed manipulation rope is wrapped in this grooving, clutch-plate (6) and stage clip (7) are housed in the major-minor escapement, there is upper cylinder (3 in the outside at secondary escapement (2) and clutch-plate, 4), when upper cylinder has pressure, clutch-plate (6) makes the master, secondary escapement combination, secondary escapement (2) is swung with main escapement (8), when upper cylinder does not have pressure, under the effect of stage clip (7), outer the moving of clutch-plate (6) makes the master, secondary escapement is thrown off, and secondary escapement is not with main escapement swing.2, speed adjusting gear is by buncher (13), pendulum (14), little slip cap (15), big slip cap (17) and speed governing rope are formed, on the disc of buncher (13) and pendulum (14), grooving is arranged, in grooving, twining the speed governing rope, buncher makes pendulum (14) swing by the speed governing rope, in two swing arms of pendulum (14), little slip cap (15) is installed with little axle, above about pendulum, respectively four big slip caps are installed on the frame (1) with four lag bolts, about below respectively 16 big slip caps (17) are installed on the frame (1) with two stay bolts, hip joint, ankle-joint is handled rope and is got off from coupled wheel, earlier through being fixed on the big slip cap on the frame, after being fixed on the little slip cap on the pendulum, arrive each joint again, knee joint is handled rope and is got off from secondary escapement, earlier through being fixed on the big slip cap on the frame, again through arriving knee joint behind the little slip cap on the pendulum, steering connections manipulation rope is fixed on earlier on the stay bolt of frame lower or big slip cap, again through arriving steering connections behind the little slip cap on the pendulum.3, hydraulic control system is by upper cylinder body (3), piston (4), rear-bank rotor housing (34), big piston (35), lower cylinder body (41), piston, hydraulic control capsule (38), compositions such as foot control plate (39) and conduit, wherein form upper cylinder by upper cylinder body (3) and piston (4), form the back oil cylinder by rear-bank rotor housing (34) and big piston (35), form oil cylinder down by lower cylinder body (41) and piston, hydraulic control system has two, their structures are identical, separate, the hydraulic control system of left side foot control, controlling the bottom right oil cylinder, upper right oil cylinder and left back oil cylinder, the hydraulic control system of right foot control, controlling the lower-left oil cylinder, upper left oil cylinder and right back oil cylinder, hydraulic control system is by the control of foot control plate, when the foot that moves about landed, system produced operating pressure, the pressure of losing the job after the support foot is liftoff.4, leg and foot are by last connecting rod (18), middle connecting rod (23), sliding bearing, nut (19), sliding pin lid (50), sliding pin (51), lower link (25), power rail (36), hip joint, knee joint, ankle-joint and sufficient body (43), clutch dog (42), following spring abutment (37), stage clip, lower cylinder body (41), piston, hydraulic control capsule (38), foot control plate (39) is formed, there is single lug the upper end of last connecting rod (18), use stove bolt, sliding bearing is installed together the composition hip joint to two lugs of it and frame (1) lower end, on single lug of last connecting rod (18) upper end, twine hip joint and handling rope, sliding pin lid (50) and sliding pin (51) also are housed on the both sides of hip joint, use nut, sliding bearing (20,21,22) upper end of the lower end of last connecting rod (18) and middle connecting rod (23) is installed together the composition steering connections, on the boss of middle connecting rod (23) upper end, twine steering connections and handling rope, sliding pin also is equipped with in inboard at last connecting rod lower end boss, use bolt, two lugs of single lug of connecting rod (23) lower end and lower link (25) upper end are installed together the composition knee joint in the sliding bearing handle, rope sheave (24) is housed in the knee joint inboard, knee joint is handled rope and is wrapped on this rope sheave, sliding pin and sliding pin lid are housed in the knee joint outside, at the inner dynamic bar of lower link (25) (36), with the bolt sliding bearing the single lug in power rail (36) lower end, two lugs of two lugs of lower link lower end and sufficient body (43) upper end are installed together the composition ankle-joint, in the ankle-joint outside rope sheave is installed, ankle-joint is handled rope and is wrapped on this rope sheave.Lower cylinder body (41), piston, clutch dog (42), stage clip, following spring abutment (37) are housed in sufficient body, hydraulic control capsule (38), foot control plate (39) also are housed in the bottom of sufficient body, with little axle (40) foot is controlled plate (39) and be installed together with sufficient body (43).5, pneumatic system is by air compressor, gas cylinder, adjustable pressure reducer, prior art and valve barrel compositions such as conduit, wherein valve barrel be one by air valve, cylinder, the assembly that three kinds of parts of back oil cylinder combine, valve barrel is installed in the back of lower link (25), spring abutment (26) is being housed between the body (27) behind valve barrel precursor (44) and the valve barrel from top to bottom successively, last spring (49), valve pocket (28), valve block (29), sealing ring (30), middle spring (31), back spring abutment (32), back spring (33), rear-bank rotor housing (34), big piston (35), control pin (45) is housed in rear-bank rotor housing (34), cylinder jacket (46) is housed in valve barrel precursor (44), film (47) and cylinder piston (48) are by last spring abutment (26), last spring (49), valve pocket (28), valve block (29), sealing ring (30) and control pin (45) are formed the quick open type air valve: by cylinder jacket (46), film (47), cylinder piston (48) is formed the cylinder that directly drives power rail (36); Form the back oil cylinder that the driving air valve resets by rear-bank rotor housing (34), big piston (35), sealing ring.

Five, the present invention compared with prior art has following advantage:

1, adopting compressed air is that driver, power rail are driving member as power source, cylinder, can make foot produce leg thrust on the one hand, effective transmission that on the other hand can realizable force.

2, sufficient leg thrust not only makes walking machine obtain the kinetic energy that advances, and also makes link gear obtain the kinetic energy of automatic synchronization, has solved dynamic equilibrium problems simultaneously.

3, coordinate each joint motions jointly by link gear and hydraulic control system, not only make very complicated control problem become effectively simple, and, when keeping straight on forward, can realize automatic walking in the smooth-riding surface.

4. speed adjusting gear is different from traditional gear shift mode, and he is not the power source that changes prime mover, neither add gearbox or clutch between prime mover and working machine, but on the basis of the link gear coordinated movement of various economic factors, implement increment control.This control mode for the control appliance of manipulator, walking machine, this multi-joint of robot, multimachine structure complexity, is well-adapted.

5. the valve barrel that is combined by air valve, cylinder, oil cylinder not only can make air valve open rapidly, has also dwindled the distance between air valve and the cylinder to greatest extent.Therefore improved the effective rate of utilization of power source.

Six, below in conjunction with drawings and Examples the present invention is described further:

The A of Fig. 1 and B are the front view and the left views of present embodiment.

Fig. 2 is hydraulic control system figure.

Fig. 3 is a pneumatic system diagram.

Fig. 4 is the B-B profile of Fig. 1.

Fig. 5 is the C-C profile of Fig. 1.

Fig. 6 is the D-D profile of Fig. 1.

Fig. 7 is the E-E profile of Fig. 1.

Fig. 8 is the front view of valve barrel.

The I of Fig. 9, II, III are that coupled wheel drives main escapement swing process figure.

1, link gear is seen Fig. 1.Four groovings are arranged on the coupled wheel (12), and the manipulation rope of two hip joints, two ankle-joints is wrapped in this grooving.A two rocking arm is arranged at coupled wheel (12) middle part, utilize little axle (10), small rod (11), stove bolt and sliding bearing link together this pair rocking arm and two main escapements (8), on the cylindrical of two secondary escapements (2), a grooving is arranged respectively, knee joint is handled rope and is wrapped in this grooving, secondary escapement (2) is enclosed within on the main escapement (8), leading, stage clip (7) is equipped with in secondary escapement inside, clutch-plate (6), upper cylinder is equipped with in the outside at secondary escapement (2) and clutch-plate (6), be upper cylinder body (3) and piston (4), utilize macro-axis (5) that above-mentioned parts is installed on the frame (1).When upper cylinder had pressure, clutch-plate made major and minor escapement in conjunction with (see figure 5), and secondary escapement (2) is swung with main escapement (8).When upper cylinder did not have pressure, under the effect of stage clip (7), clutch-plate (6) was thrown off major and minor escapement, and secondary escapement is not with main escapement swing.

2, speed adjusting gear is seen Fig. 1.On the circle of buncher (13) and pendulum (14), grooving is arranged, in grooving, twining the speed governing rope, buncher (13) can make pendulum (14) swing by the speed governing rope, there are what joints that what bunchers and pendulum are just arranged, present embodiment is eight bunchers (13), eight pendulums (14), 16 little slip caps (15) are installed in the swing arm of pendulum altogether, on the lower left of pendulum (14), bottom-right frame (1), 16 big slip caps (17) are installed respectively.Eight pairs of bunchers, pendulums are being controlled left and right sides hip joint, knee joint, ankle-joint and steering connections respectively, left side ankle-joint handles rope and right hip joint is handled rope, twine from coupled wheel, earlier upper left, upper right, lower-left, bottom-right four big slip caps through pendulum (14), after passing through the little slip cap (15) on the pendulum (14) again, right hip joint manipulation rope gets off directly to be wrapped on single lug of connecting rod (18) upper end.Left side ankle-joint is handled rope and also will be wrapped in then on the rope sheave of left ankle-joint through the sliding pin on hip joint and the knee joint.Left side hip joint is handled rope, after twining, coupled wheel gets off, earlier through pendulum (14) lower-left, bottom-right big slip cap (17), pass through the little slip cap (15) on the pendulum (14) again after, left hip joint is handled rope and just directly is wrapped on single lug of small end.Right ankle-joint is handled rope, also will be wrapped in then on the rope sheave of right ankle-joint through the sliding pin on right hip joint and the right knee joint.Two knee joints are handled rope, get off from two secondary escapements respectively, earlier through pendulum (14) lower-left, bottom-right big slip cap, pass through the little slip cap on the pendulum again, get off from little slip cap, also to be wrapped in then on the kneed rope sheave (24) through the sliding pin on hip joint and the steering connections.The handling maneuver rope is fixed on the bottom of frame (1) earlier, passes through the little slip cap on pendulum (14) both sides again, gets off from little slip cap, also will be through the sliding pin on hip joint and the steering connections, and in being wrapped in then on the boss of small end.When keeping straight in the smooth-riding surface, the walking that can realize taking a step automatically, speed adjusting gear does not participate in work.Work as starting, stop, turn to and when uneven road surface walking or stair activity, control corresponding buncher by intelligence control system, utilize the speed governing rope, make corresponding pendulum suitable, counter-clockwise swing, because the manipulation rope in each joint all is big slip cap and little slip cap through both sides, during the pendulum swing, the manipulation rope that is wrapped on the joint is put while drawing, thereby making joint angle displacement or angular speed produce increment, if this increment is identical with the direction of motion in joint, is exactly positive increment, the angular displacement in joint or angular speed increase, otherwise, then be negative increment, the angular displacement or the angular speed in joint reduce.

3, hydraulic control system is seen Fig. 2.Hydraulic control system has two, and left foot and right foot are respectively controlled a hydraulic control system, and the parts and the structure of two systems are just the same, all is made up of upper cylinder (3,4), following oil cylinder (4,41), back oil cylinder (34,35), hydraulic control capsule (38) and hydraulic pipe.The control path of left side hydraulic control system is that the hydraulic control capsule (38) from the left side is up to first three-dimensional node and is divided into two-way, and one the road to bottom right oil cylinder (34,35); Up turning to the right continued on another road, is divided into two-way behind second three-dimensional node, and one the road to bottom right oil cylinder (4,41); Another road is to upper right oil cylinder (3,4).The control path of right hydraulic control system is, is divided into two-way after the hydraulic control capsule (38) on the right is up to first three-dimensional node, and one the road to right back cylinder (34,35); Another road continues to be divided into two-way behind up second the three-dimensional node that turn left, and one the road to lower-left oil cylinder (4,41), and another road is to upper left oil cylinder (3,4).According to shown in Figure 2, it has shown the control relation between each parts of hydraulic control system, promptly is installed in the hydraulic control capsule in the foot of a left side, is controlling oil cylinder behind the left leg, right foot oil cylinder and the upper right oil cylinder of trunk.Be installed in hydraulic control capsule in the right foot, controlling oil cylinder behind the right leg, left side foot oil cylinder and the upper left oil cylinder of trunk, the just the same numbering (4) of all using of upper cylinder piston and following oil cylinder piston shape size is represented, the left and right sides corresponding oil cylinder shape size is also just the same, so all adopt identical numbering to represent.

4, pneumatic system is seen Fig. 3.Pneumatic system is made up of air compressor (52), gas cylinder (9), adjustable pressure reducer (53), two-position three way air valve (28,29,30), diaphragm type cylinder (46,47,48).Wherein: air compressor, gas cylinder, adjustable pressure reducer be prior art or existing standard component all.Two-position three way air valve, diaphragm type cylinder all are sub-assemblies, they are combined into valve barrel with the back oil cylinder, see the front view of Fig. 8 valve barrel, valve barrel by last spring abutment (26), valve barrel after body (27), valve pocket (28), valve block (29), sealing ring (30), middle spring (31), back spring abutment (32), back spring (33), rear-bank rotor housing (34), big piston (35), valve barrel precursor (44), control pin (45), cylinder jacket (46), film (47), cylinder piston (48), go up spring (49) and form.Wherein: air valve partly comprises valve pocket (28), valve block (29), sealing ring (30), the function of air valve is what to be linked up or to close towards the cylinder gas circuit, spring (49) on air valve top has, control pin (45) is arranged at the bottom, when moving the release air valve behind the control pin, under the effect of last spring (49), air valve is opened rapidly.Cylinder portion comprises cylinder jacket (46), film (47), cylinder piston (48), and the function of cylinder is directly to drive power rail (36) to make foot produce leg thrust, makes health produce inertia force.Rely on this inertia force, body forward is moved and is coordinated each joint and take a step forward.Back oil cylinder partly comprises: rear-bank rotor housing (34), big piston (35), the function of back oil cylinder are to promote air valve to move up, and make it return to the closed position.Valve barrel has two, installs respectively on the leg of the left and right sides.

5, trunk is seen Fig. 1.Trunk is made up of frame (1) and link gear, speed adjusting gear and gas cylinder etc.Air compressor is prior art or existing standard component, and it can be installed on the trunk, also can back on the body as annex.

6, leg and foot are seen Fig. 1.Leg mainly contains by last connecting rod (18), middle connecting rod (23), lower link (25), power rail (36), hip joint, knee joint, ankle-joint to be formed.Foot mainly is made up of sufficient body (43), following spring abutment (37), clutch dog (42), piston, lower cylinder body (41), hydraulic control capsule (38), foot control plate (39).There is single lug last connecting rod (18) upper end, with bolt, sliding bearing, it and two lugs of frame (1) lower end is installed together the composition hip joint, on the single lug on the last connecting rod (18), is twining hip joint manipulation rope.Sliding pin lid (50) and sliding pin (51) also are housed on the both sides of hip joint see Fig. 6, sliding pin also is equipped with in inboard at last connecting rod (18) lower end boss, see Fig. 7, with nut (19), sliding bearing (20,21,22) upper end of the lower end of last connecting rod (18) and middle connecting rod (23) is installed together the composition steering connections, sees Fig. 1.On the upper end boss of middle connecting rod (23), twine steering connections and handling rope.Be installed together with single lug of connecting rod (23) lower end in bolt, the sliding bearing handle and two lugs of lower link (25) upper end, form knee joint.Rope sheave (24) in kneed installed inside, knee joint is handled rope and is wrapped on this rope sheave, and sliding pin and sliding pin lid are installed in the knee joint outside.At the inner dynamic bar of small rod (25) (36), with bolt, sliding bearing two lugs of the single lug in power rail (36) lower end, the two lugs in lower link lower end and sufficient body (43) upper end are installed together, form ankle-joint.Rope sheave is equipped with in the outside at ankle-joint, and ankle-joint is handled rope and is wrapped on this rope sheave.Lower cylinder body (41), piston, clutch dog (42), stage clip, following spring abutment (37) are housed in sufficient body (43), hydraulic control capsule (38), foot control plate (39) are housed in the bottom of sufficient body (43), foot control plate (39) and sufficient body (43) are installed together with little axle (40).

7, intelligence control system is a prior art, and it comprises vision sensor, position sensor, CPU, amplifier etc.

Seven, the following two-leg walking machine walking situation of taking a step of introducing in detail, being existed side by side by two foots to keep straight in the smooth-riding surface, to step left legs earlier be example.Two foots are existed side by side when stepping earlier left leg, and under intelligence control system control: left hip, right ankle-joint buncher drive corresponding with it pendulum and do counter-clockwise swing, make left hip joint, right ankle-joint do counter-clockwise swing by handling rope thereupon.Left side knee joint, right hip joint, the corresponding with it pendulum of left ankle-joint buncher driving are done clockwise and are connect, make left knee joint, right hip joint, left ankle-joint do clockwise swing by handling rope thereupon.Right knee buncher is controlled right knee pendulum, makes right knee joint keep motionless.Behind the sufficient built on stilts in a left side, left side leg is the leg that moves about, at this moment, left sufficient hydraulic control capsule is not compressed by foot control plate, does not have operating pressure in the left sufficient hydraulic control system, therefore, left side leg rear-bank rotor housing moves down under the effect of middle spring (31), move down into the end after, under the effect of back spring (33), control pin (45) reach forward can above top air valve the position, when changing for gait after oil cylinder pass gas check valve prepare; Clutch dog (42) in the right sufficient body (43) moves forward under the effect of stage clip, and power rail (36) and sufficient body (43) are thrown off, and can promote on the other hand in the piston retraction lower cylinder body (41) to freely swing around ankle-joint completely; Clutch-plate in the upper right major and minor wobble wheel of trunk moves under the effect of stage clip laterally, and main escapement and secondary escapement are thrown off, and secondary escapement with main escapement swing, does not make in the piston retraction upper cylinder body on the other hand.Because all in the retraction cylinder body, all oil returns of each oil cylinder make left sufficient hydraulic control capsule be full of fluid to above-mentioned oil cylinder piston, left side foot control plate under the gravity effect, around little axle (40) to lower swing, be subjected to restraint after, be parked in the position that is lower than sufficient body (43) lower surface.Behind the sufficient built on stilts in a left side, the total weight of walking machine is just supported by right leg, and at this moment, right leg is supporting leg.Right sufficient hydraulic control capsule is at two foots and compressed by foot control plate, still is compressed now, and right sufficient hydraulic control system still has pressure, and right back cylinder body (34) remains on the air valve closed position; The lower-left oil cylinder makes clutch dog (42) be in position backmost, and at this moment, a left side can not inhour be swung to swing clockwise around ankle-joint completely; Upper left oil cylinder makes clutch-plate (6) be in the position of major and minor escapement combination, and secondary escapement can be with main escapement swing.When left side foot landed, starting-up process finished, and speed adjusting gear is deactivated.

Starting-up process finishes promptly to begin normal gait, and during normal gait, health advances and relies on pneumatic system to drive.Support the inertia force that foot produces with pedaling, the gait conversion is controlled automatically by hydraulic control system, two legs are taken a step to coordinate each joint by link gear and are realized when above-mentioned during by left leg starting termination, when promptly left side foot lands, left side foot is landed suddenly by the state of moving about, at this moment left side foot control plate is subjected to the impulsive force on ground, compress left hydraulic control capsule, at this moment left hydraulic control system produces pressure: the one, and left back cylinder body drives on the control pin and moves, pushing up the closed position on the air valve, at this moment, the gas circuit of coming of cylinder is blocked by valve block (29), and the venting of cylinder is led directly to atmosphere by the fillet surface on the preceding valve block by the air bleed slot on the valve pocket; The 2nd, upper right oil cylinder promotes clutch-plate (6) and makes major and minor escapement combination, and secondary escapement (2) can be swung with main escapement (8); The 3rd, bottom right oil cylinder work, piston promotes clutch dog (42) backward, right leg power rail is combined with sufficient, at this moment, because right leg is still supporting health, right leg continues to swing forward around ankle-joint, power rail makes it not continue to swing forward around ankle-joint with right leg, but stops relatively with sufficient body (43) owing to be subjected to the restraint of clutch dog (42), so valve barrel and power rail have just produced relative motion, this relative motion makes power rail (36) push control pin (45) backward.When control pin moves on to valve pocket (28) lower end backward on the control pin but facing to the hole on the control pin, air valve is under the effect of last spring (49), move down the gas circuit of coming of opening cylinder rapidly, at this moment, cylinder piston (48) pushes power rail (36) rapidly under the effect that enters the cylinder compressed air rapidly, power rail makes right foot produce leg thrust by clutch dog, and ground can be decomposed into two component of Fx, Fy in the face of walking machine produces reaction force according to this reaction force of coordinate method F.According to Principles of Statics, body's center of gravity always drops on and supports the foot inboard in the gait processes, and the deviation of gravity center supporting surface will produce an out-of-balance force and moment, and Fy component makes this out-of-balance force and moment obtain balance; Fx component, making trunk and left leg is that fulcrum travels forward with a left side enough, left leg is swung forward around left ankle-joint, makes the rope sheave that is fixed on the ankle-joint by moving coupled wheel (12) swing of control wire strap.Coupled wheel (12) swing, drive and coordinate right ankle-joint, right hip joint and the motion of left hip joint by rope on the one hand, coupled wheel (12) is by small rod (11) on the other hand, drive two main escapement swings, wherein right main escapement (8) combines with secondary escapement, secondary escapement is swung with main escapement, is wrapped in the rope on the right secondary escapement, handles and stretches motion after right knee joint is done first song.Coupled wheel (12) makes main escapement (8) swing process by small rod (11), see Fig. 9, after process I has represented that right foot is pedaled ground among the figure, coupled wheel (12) counter-clockwise swing, drive main escapement (8) swing clockwise by little bar (11), secondary escapement utilizes the rope control knee joint to begin bent bending by straight leg; Process II has represented that coupled wheel (12) continues counter-clockwise swing from the process worker, and small rod (11) drives main escapement (8) and swings to turning point clockwise, and secondary escapement is handled the bent maximum angle of bending of knee joint; Process III has represented that coupled wheel (12) continues counter-clockwise swing from process II, and small rod (11) drives main escapement (8) by transferring counter-clockwise swing clockwise to, and secondary escapement manipulation knee joint is bent by song and become stretching, extension.After right leg is finished leg thrust, promptly become the leg that moves about by supporting leg, right foot control capsule is not compressed by foot control plate, and right hydraulic control system does not have operating pressure: the one, and the clutch-plate in the left major and minor escapement throws off major and minor escapement under the effect of stage clip, the upper cylinder piston is pushed in the upper cylinder body thereupon, the major and minor escapement in a left side is thrown off, and secondary escapement is not with main escapement swing, not output function, left side knee joint is motionless, still keeps straight leg; The 2nd, the clutch dog in the left sufficient body moves forward under the effect of stage clip, and power rail and sufficient body are thrown off, and following oil cylinder piston is pushed in the lower cylinder body thereupon, and power rail and sufficient body are thrown off, and left leg is freely swung around ankle-joint; The 3rd, right back cylinder body moves down under the effect of middle spring, and the pin of back control on earth makes the control pin can go up the top air valve in the effect reach of back spring.Because above-mentioned oil cylinder oil return makes in the right sufficient hydraulic control capsule and is full of fluid, right foot control plate bottom under the gravity effect.When right side foot landed once more, right sufficient hydraulic control system produced pressure, this system works, and control left side foot pedals ground.After left side foot was liftoff, left sufficient hydraulic control system did not have pressure, and this system does not work.When left leg is supporting leg, this leg ankle-joint drives the coupled wheel counter-clockwise swing, when right leg is supporting leg, this leg ankle-joint drives coupled wheel and swings clockwise, so alternate cycles realizes walking, the freely swinging of two arms in gait processes, or it is controlled swing, can bring into play booster action for dynamic balancing.When stopping, realizing by intelligence control system control speed adjusting gear.

Stair activity or have points of resemblance with walk on the smooth-riding surface in walking on the uneven road surface also has difference, something in common: the one, and pneumatic system drives and supports foot and pedal ground, and reaction force moves body forward; The 2nd, hydraulic control system is controlled the gait conversion automatically; The 3rd, link gear is coordinated each joint motions.Difference is when keeping straight in the smooth-riding surface, realizes automatic walking by hydraulic control system and link gear co-operation; When roughness pavement walking or stair activity, on hydraulic control system and the cooperative basis of link gear, intelligence control system and speed adjusting gear are regulated the realization walking.When uneven road surface walking or stair activity, the stride of walking machine and sufficient touchdown point are constantly to change.For adapting to this continuous variation, intelligence control system is according to the running of road conditions control buncher, buncher is by the speed governing rope, make the pendulum swing, from the next manipulation rope of corresponding joint, while under the swing of pendulum, draw, put through too small slip cap, at this moment manipulation rope just at the volley will produce speed increment or displacement increment, be the angular displacement increment or the angular speed increment in joint, the increment identical with the joint motions direction is positive increment, otherwise then is negative increment.Satisfy the requirement that stride and touchdown point constantly change, it is not enough only a joint being regulated, and must carry out the adjusting of different increments simultaneously according to road conditions to several joints.How many joints two-leg walking machine has what bunchers and pendulum are just arranged, and buncher is exactly the interface of Based Intelligent Control and walking machine, and intelligence control system is only implemented control to buncher, just can make walking machine at uneven road surface walking or stair activity.

Claims

1, two-leg walking machine comprises: link gear, speed adjusting gear, hydraulic control system, pneumatic system, trunk, leg and be enough to and arm is characterized in that:

Link gear is by secondary escapement (2), clutch-plate (6), stage clip (7), main escapement (8), little axle (10), small rod (11), coupled wheel (12), handle rope (16), hip joint, knee joint, ankle-joint is formed, four groovings are arranged on coupled wheel, the manipulation rope of two hip joints and two ankle-joints is wrapped in this grooving, a two rocking arm is arranged in the centre of coupled wheel, utilize small rod, little axle connects together this rocking arm and two main escapements, secondary escapement is enclosed within on the main escapement, one grooving is arranged on secondary escapement, kneed manipulation rope is wrapped in this grooving, clutch-plate and stage clip are housed in the major-minor escapement, there is upper cylinder in the outside at secondary escapement and clutch-plate, when upper cylinder has pressure, clutch-plate makes the master, secondary escapement combination, secondary escapement is swung with main escapement, when upper cylinder does not have pressure, under the effect of stage clip, clutch-plate moves outward and makes the master, secondary escapement is thrown off, and secondary escapement is not with main escapement swing;

Speed adjusting gear is by buncher (13), pendulum (14), little slip cap (15), big slip cap (17) and speed governing rope are formed, on the disc of buncher and pendulum, grooving is arranged, in grooving, twining the speed governing rope, buncher makes the pendulum swing by the speed governing rope, in two swing arms of pendulum, little slip cap is installed with little axle, above about pendulum, respectively four big slip caps are installed on the frame with four lag bolts, about below respectively 16 big slip caps are installed on the frame with two stay bolts, hip joint, ankle-joint is handled rope and is got off from coupled wheel, earlier through being fixed on the big slip cap on the frame, after being fixed on the little slip cap on the pendulum, arrive each joint again, knee joint is handled rope and is got off from secondary escapement, earlier through being fixed on the big slip cap on the frame, again through arriving knee joint behind the little slip cap on the pendulum, steering connections manipulation rope is fixed on earlier on the stay bolt of frame lower or big slip cap, again through arriving steering connections behind the little slip cap on the pendulum;

Hydraulic control system is by upper cylinder body (3), piston (4), rear-bank rotor housing (34), big piston (35), lower cylinder body (41), piston, hydraulic control capsule (38), compositions such as foot control plate (39) and conduit, wherein form upper cylinder by upper cylinder body and piston, form the back oil cylinder by rear-bank rotor housing and big piston, form oil cylinder down by lower cylinder body and piston, hydraulic control system has two, their structures are identical, separate, the hydraulic control system of left side foot control, controlling the bottom right oil cylinder, upper right oil cylinder and left back oil cylinder, the hydraulic control system of right foot control, controlling the lower-left oil cylinder, upper left oil cylinder and right back oil cylinder, hydraulic control system is by the control of foot control plate, when the foot that moves about landed, system produced operating pressure, the pressure of losing the job after the support foot is liftoff:

Leg and foot are by last connecting rod (18), middle connecting rod (23), sliding bearing, nut (19), sliding pin lid (50), sliding pin (51), lower link (25), power rail (36), hip joint, knee joint, ankle-joint and sufficient body (43), clutch dog (42), following spring abutment (37), stage clip, lower cylinder body (41), piston, hydraulic control capsule (38), foot control plate (39) is formed, there is single lug the upper end of last connecting rod, use stove bolt, sliding bearing is installed together the composition hip joint to two lugs of it and frame lower end, on single lug of last small end, twine hip joint and handling rope, sliding pin lid and sliding pin also are housed on the both sides of hip joint, use nut, sliding bearing is installed together the composition steering connections to the upper end of the lower end of last connecting rod and middle connecting rod, on middle small end boss, twine steering connections and handling rope, sliding pin also is equipped with in inboard at last connecting rod lower end boss, use bolt, two lugs of single lug of connecting rod lower end and lower link upper end are installed together the composition knee joint in the sliding bearing handle, in the knee joint inboard rope sheave is housed, knee joint is handled rope and is wrapped on this rope sheave, sliding pin and sliding pin lid are housed in the knee joint outside, at the inner dynamic bar of lower link, with the bolt sliding bearing the single lug in power rail lower end, two lugs of two lugs of lower link lower end and sufficient body upper end are installed together the composition ankle-joint, in the ankle-joint outside rope sheave is installed, ankle-joint is handled rope and is wrapped on this rope sheave, in sufficient body, lower cylinder body is housed, piston, clutch dog, stage clip, following spring abutment, the hydraulic control capsule also is equipped with in bottom at sufficient body, foot control plate is installed together foot control plate and sufficient body with little axle:

Pneumatic system is by air compressor, gas cylinder, adjustable pressure reducer, prior art and valve barrel compositions such as conduit, wherein valve barrel be one by air valve, cylinder, the assembly that three kinds of parts of back oil cylinder combine, valve barrel is installed in the back of lower link (25), spring abutment (26) is being housed between the body (27) behind valve barrel precursor (44) and the valve barrel from top to bottom successively, last spring (49), valve pocket (28), valve block (29), sealing ring (30), middle spring (31), back spring abutment (32), back spring (33), rear-bank rotor housing (34), big piston (35), control pin (45) is housed in rear-bank rotor housing (34), cylinder jacket (46) is housed in valve barrel precursor (44), film (47) and cylinder piston (48) are by last spring abutment, last spring, valve pocket, valve block, sealing ring and control pin are formed the quick open type air valve; Form the cylinder that directly drives power rail (36) by cylinder jacket, film, cylinder piston; Form the back oil cylinder that the driving air valve resets by rear-bank rotor housing, big piston, sealing ring.