CN108438082A - A kind of two dimension robot walking device and its control method - Google Patents
A kind of two dimension robot walking device and its control method Download PDFInfo
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- CN108438082A CN108438082A CN201810220883.5A CN201810220883A CN108438082A CN 108438082 A CN108438082 A CN 108438082A CN 201810220883 A CN201810220883 A CN 201810220883A CN 108438082 A CN108438082 A CN 108438082A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000003287 optical effect Effects 0.000 claims abstract description 33
- 230000008878 coupling Effects 0.000 claims abstract description 24
- 238000010168 coupling process Methods 0.000 claims abstract description 24
- 238000005859 coupling reaction Methods 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 8
- 230000007547 defect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 3
- 230000005021 gait Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of two-dimentional robot walking devices and its control method, running gear to include：Swinging kick in one pair, one externally shake leg, push-rod electric machine, support plate, 2 motors, 2 the first T-type shaft couplings and 2 the second T-type shaft couplings, in one pair swinging kick be symmetrically fixed on the bottom both ends of support plate；That shakes leg outside is provided with the first fixed optical axis and the second fixed optical axis；Push-rod electric machine both ends are symmetrically arranged with the push shaft of mirror image synchronization action；Motor is provided with rotation axis；The long end push shaft corresponding with push-rod electric machine of first T-type shaft coupling is fixedly connected, and horizontal end is rotatablely connected with the first fixed optical axis；The long end of second T-type shaft coupling is fixedly connected with the rotation axis of corresponding motor, and horizontal end is rotatablely connected with the second fixed optical axis.The two dimension robot walking device is simple in structure and has good stationary performance, which can overcome foot to wipe ground defect, reduces walking device energy consumption.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of two-dimentional robot walking device and its control method.
Background technology
Biped robot's promoting technology development in science and technology, can complete walking task in complex environment, there is important research
Meaning.Traditional robot is based on ZMP technical controllings, and walking process needs to drive general joint in real time, and gait is unnatural,
Energy consumption is big.McGeer proposes that passive walking is theoretical, has inherent stability, and energy consumption is relatively low, is set using passive walking theory
The robot of meter possesses longer working time, the scope of activities of bigger and longer service life.
Lack of driven robot structure in the prior art is more complex, and energy consumption is higher.
Invention content
The present invention provides a kind of two-dimentional robot walking device and its control method, solves or partly solve existing
Lack of driven robot structure is more complex in technology, the higher technical problem of energy consumption.
A kind of two-dimentional robot walking device provided by the invention, including：Swinging kick, one externally shake leg, push rod electricity in one pair
Machine, support plate, 2 motors, 2 the first T-type shaft couplings and 2 the second T-type shaft couplings, wherein：
A pair of interior swinging kick is symmetrically fixed on the bottom both ends of the support plate；
That leg is shaken outside described is provided with the first fixed optical axis and the second fixed optical axis, and the position of first fixed optical axis is high
In the position of second fixed optical axis；
The push-rod electric machine both ends are symmetrically arranged with the push shaft of mirror image synchronization action；
The motor is provided with rotation axis；
The first T-type shaft coupling is identical as the second T-type coupler structure, including：Long end and with the long end
The vertical fixed horizontal end in portion sets the logical of accommodating first fixed optical axis or second fixed optical axis in the horizontal end
Hole；
The long end push shaft corresponding with the push-rod electric machine of the first T-type shaft coupling is fixedly connected, institute
Horizontal end is stated to be rotatablely connected with first fixed optical axis；
The long end of the second T-type shaft coupling is fixedly connected with the rotation axis of the corresponding motor, described
Horizontal end is rotatablely connected with second fixed optical axis.
Preferably, the outer length for shaking leg is more than the length of the interior swinging kick.
Preferably, the bottom end of the interior swinging kick is provided with the first foot for contacting to earth.
Preferably, the outer bottom end for shaking leg is provided with the second foot for contacting to earth.
Preferably, further including Comprehensive Control unit, it is arranged in the support plate；
The Comprehensive Control unit includes：Controller, sensor and battery, wherein：
The sensor obtains the interior swinging kick and the outer posture information for shaking leg；
The controller is electrically connected with the sensor, the motor and the push-rod electric machine, and the controller receives
The posture information simultaneously controls the motor and push-rod electric machine action；
The battery provides electric energy to the controller, the sensor, the motor and the push-rod electric machine.
Preferably, first fixed optical axis is arranged on the outer top for shaking leg.
Based on same inventive concept, present invention also provides a kind of control methods of two-dimentional robot walking device, use
It carries out continuing walking in controlling the two-dimentional robot walking device, include the following steps：
S1：By the interior swinging kick with it is described it is outer shake leg and intersect 30 ° of placements, set the initial position direction of the interior swinging kick as
Positive direction；
S2：The motor rotates set angle counterclockwise, and the interior swinging kick is lifted, and makes the two-dimentional robot walking device
Center of gravity lean forward, the two dimension robot walking device obtains positive direction speed, at this point, the outer leg that shakes is support leg；
S3：The interior swinging kick overturning is contacted to earth, and two push shaft synchronous of the push-rod electric machine make to shake leg outside described
It lifts outward, at this point, the interior swinging kick is support leg, the outer leg that shakes is to lead leg；
S4：The motor rotates clockwise, and the outer leg that shakes is made to reach to the interior swinging kick swing；
S5：Two of the push-rod electric machine push shafts synchronize elongation to initial position, it is described it is outer shake leg and contact to earth, at this point,
The support leg is switched to outside described and shakes leg, and described lead leg is switched to the interior swinging kick；
S6：The motor rotates clockwise, and the interior swinging kick swing is lifted；
S7：It is repeated in step S3~S6, completes the process persistently walked.
One or more technical solutions provided herein, have at least the following technical effects or advantages：
Leg, push-rod electric machine, support plate, 2 motors, 2 the first T-type connection are externally shaken by using by swinging kick, one in one couple
The two-dimentional robot walking device of axis device and 2 the second T-type shaft couplings composition is driven by motor, push-rod electric machine coordinated
Interior swinging kick shakes leg with outer, realizes the two-dimentional drive lacking walking of two-dimentional robot walking device, in the process of walking, is when shaking leg outside
When support leg, the interior swinging kick of motor driving is lifted and is swung, and so that running gear is travelled forward and is completed period 1 walking step state, when interior
When swinging kick is support leg, the push shaft of push-rod electric machine, which synchronizes elongation, makes the outer leg that shakes be lifted away from ground, while motor driving is outer that shake leg inside
Swinging kick is swung, and so that running gear is moved forward and is completed second round walking step state, in this way, constantly repeating period 1 walking
The process of gait and second round walking step state realizes the two-dimentional drive lacking walking of running gear.In this way, efficiently solving
Lack of driven robot structure is more complex in the prior art, the higher technical problem of energy consumption, realizes two-dimentional drive lacking walking, structure
Simply and there is good stationary performance, foot can be overcome to wipe ground defect, reduce the technique effect of walking device energy consumption.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, embodiment will be described below
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment.
Fig. 1 is the structural schematic diagram of two-dimentional robot walking device provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of interior swinging kick in Fig. 1；
Fig. 3 is the structural schematic diagram that leg shakes in the China and foreign countries Fig. 1；
Fig. 4 is the structural schematic diagram of the first T-type shaft coupling in Fig. 1；
Fig. 5 is the structural schematic diagram of push-rod electric machine in Fig. 1.
(component that each label represents in attached drawing is followed successively by：Leg, 3 first T-type shaft couplings, 31 horizontal ends are shaken in swinging kick, 2 outside in 1
Portion, 32 long ends, 4 push-rod electric machines, 5 support plates, 6 motors, 7 rotation axis, 8 first fixed optical axis, 9 second fixed optical axis, 10 push away
Axis)
Specific implementation mode
Two dimension robot walking device provided by the embodiments of the present application and its control method, solve or part solves now
There is lack of driven robot structure in technology more complex, the higher technical problem of energy consumption.
Technical solution in the embodiment of the present application is in order to solve the above technical problems, general thought is as follows：
Referring to attached drawing 1, the application externally shakes leg 2, push-rod electric machine 4, support plate 5,2 by using by swinging kick in one pair 1, one
The two-dimentional robot walking device of 6,2 the first T-type shaft couplings 3 of a motor and 2 the second T-type shaft couplings composition, passes through motor
6,4 coordinated of push-rod electric machine drives interior swinging kick 1 and shakes leg 2 outside, realizes the two-dimentional drive lacking row of two-dimentional robot walking device
It walks, in the process of walking, when it is support leg to shake leg 2 outside, motor 6 drives interior swinging kick 1 to lift and swing, and makes running gear forward
Period 1 walking step state is completed in movement, and when interior swinging kick 1 is support leg, the push shaft 10 of push-rod electric machine 4, which synchronizes elongation, makes outer shake
Leg 2 is lifted away from ground, at the same motor 6 drive it is outer shake 2 inside swinging kick 1 of leg swing, so that running gear is moved forward completion second
Period walking step state realizes walking in this way, constantly repeating the process of period 1 walking step state and second round walking step state
The two-dimentional drive lacking of device is walked, simple in structure and have good stationary performance, and foot can be overcome to wipe ground defect, reduce walking device consumption
The technique effect of energy.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
A kind of two-dimentional robot walking device provided by the present application, including：Swinging kick 1, one externally shakes leg 2, push rod in one pair
Motor 4, the first T-type shaft coupling 3 of 6,2, the motor of support plate 5,2 and 2 the second T-type shaft couplings, wherein：
Referring to attached Fig. 1 and 2, in one pair swinging kick 1 be symmetrically fixed on the bottom both ends of support plate 5；Referring to attached drawing 1 and 3, shake outside
Leg 2 is provided with the first fixed optical axis 8 and the second fixed optical axis 9, and the position of the first fixed optical axis 8 is higher than the second fixed optical axis 9
Position；Referring to attached drawing 1 and 5,4 both ends of push-rod electric machine are symmetrically arranged with the push shaft 10 of mirror image synchronization action；Referring to attached Fig. 1 and 2,
Motor 6 is provided with rotation axis 7；Referring to attached drawing 1 and 4, the first T-type shaft coupling 3 is identical as the second T-type coupler structure, including：It is long
End 32 and fixed horizontal end 31 vertical with long end 32 set accommodating first fixed optical axis 8 or second in horizontal end 31 and fix
The through-hole of optical axis 9.
Corresponding with push-rod electric machine 4 push shaft in the long end 32 of first T-type shaft coupling 3 10 is fixedly connected, horizontal end 31 and
One fixed optical axis 8 is rotatablely connected；The long end of second T-type shaft coupling is fixedly connected with the rotation axis 7 of corresponding motor 6, horizontal end
It is rotatablely connected with the second fixed optical axis 9.
Wherein, the length for shaking leg 2 outside is more than the length of interior swinging kick 1.The bottom end of interior swinging kick 1 is provided with first for contacting to earth
Foot.The outer bottom end for shaking leg 2 is provided with the second foot for contacting to earth.The top for shaking leg 2 outside is arranged in first fixed optical axis 8.
Two motors 6 are horizontally disposed.
Further, which further includes Comprehensive Control unit, is arranged in support plate 5；It is comprehensive
Control unit includes：Controller, sensor and battery, wherein：Sensor obtains interior swinging kick and the outer posture information for shaking leg；Control
Device is electrically connected with sensor, motor 6 and push-rod electric machine 4, and controller receives posture information and controls motor 6 and push-rod electric machine 4
Action；Battery provides electric energy to controller, sensor, motor 6 and push-rod electric machine 4.
Based on same inventive concept, present invention also provides a kind of control methods of two-dimentional robot walking device, use
It carries out continuing walking in controlling the two dimension robot walking device, include the following steps：
S1：Interior swinging kick 1 is shaken leg 2 and intersects 30 ° of placements with outer, sets the initial position direction of interior swinging kick 1 as positive direction；It beats
Power supply on spending fagging 5, device start.
S2：Motor 6 rotates set angle counterclockwise, and interior swinging kick 1 is lifted, before the center of gravity for making two-dimentional robot walking device
Incline, two-dimentional robot walking device obtains positive direction speed, at this point, the outer leg 2 that shakes is support leg.
S3：The overturning of interior swinging kick 1 is contacted to earth, two 10 synchronous of push shaft of push-rod electric machine 4, make it is outer shake leg 2 and lift outward,
At this point, interior swinging kick 1 is support leg, it is to lead leg to shake leg 2 outside.
S4：Motor 6 rotates clockwise, and the outer leg 2 that shakes is made to be swung up to inside swinging kick 1.
S5：Two push shafts 10 of push-rod electric machine 4 synchronize elongation to initial position, shake leg 2 outside and contact to earth, at this point, support leg is cut
Leg 2 is shaken outside being changed to, leads leg and is switched to interior swinging kick 1.
S6：Motor 6 rotates clockwise, and the swing of interior swinging kick 1 is lifted.
S7：It is repeated in step S3~S6, completes the process persistently walked.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not limited to this hair
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (7)
1. a kind of two dimension robot walking device, which is characterized in that including：Swinging kick in one pair, one externally shake leg, push-rod electric machine,
Support plate, 2 motors, 2 the first T-type shaft couplings and 2 the second T-type shaft couplings, wherein：
A pair of interior swinging kick is symmetrically fixed on the bottom both ends of the support plate；
That leg is shaken outside described is provided with the first fixed optical axis and the second fixed optical axis, and the position of first fixed optical axis is higher than institute
State the position of the second fixed optical axis；
The push-rod electric machine both ends are symmetrically arranged with the push shaft of mirror image synchronization action；
The motor is provided with rotation axis；
The first T-type shaft coupling is identical as the second T-type coupler structure, including：Long end and with the long end hang down
Straight fixed horizontal end sets the through-hole of accommodating first fixed optical axis or second fixed optical axis in the horizontal end；
The long end push shaft corresponding with the push-rod electric machine of the first T-type shaft coupling is fixedly connected, the cross
End is rotatablely connected with first fixed optical axis；
The long end of the second T-type shaft coupling is fixedly connected with the rotation axis of the corresponding motor, the horizontal end
Portion is rotatablely connected with second fixed optical axis.
2. two dimension robot walking device as described in claim 1, which is characterized in that the outer length for shaking leg is more than described
The length of interior swinging kick.
3. two dimension robot walking device as described in claim 1, which is characterized in that the bottom end setting of the interior swinging kick is useful
In the first foot contacted to earth.
4. two dimension robot walking device as described in claim 1, which is characterized in that the outer bottom end setting for shaking leg is useful
In the second foot contacted to earth.
5. two dimension robot walking device as described in claim 1, which is characterized in that further include Comprehensive Control unit, setting
In the support plate；
The Comprehensive Control unit includes：Controller, sensor and battery, wherein：
The sensor obtains the interior swinging kick and the outer posture information for shaking leg；
The controller is electrically connected with the sensor, the motor and the push-rod electric machine, described in the controller reception
Posture information simultaneously controls the motor and push-rod electric machine action；
The battery provides electric energy to the controller, the sensor, the motor and the push-rod electric machine.
6. two dimension robot walking device as described in claim 1, which is characterized in that first fixed optical axis is arranged in institute
State the outer top for shaking leg.
7. a kind of control method of two dimension robot walking device, which is characterized in that for controlling any one of claim 1~6
The two-dimentional robot walking device carries out continuing walking, includes the following steps：
S1：By the interior swinging kick with it is described it is outer shake leg and intersect 30 ° of placements, set the initial position direction of the interior swinging kick to be square
To；
S2：The motor rotates set angle counterclockwise, and the interior swinging kick is lifted, and makes the weight of the two-dimentional robot walking device
The heart leans forward, and the two dimension robot walking device obtains positive direction speed, at this point, the outer leg that shakes is support leg；
S3：The interior swinging kick overturning is contacted to earth, two push shaft synchronous of the push-rod electric machine, makes that described outer to shake leg outside
Side is lifted, at this point, the interior swinging kick is support leg, the outer leg that shakes is to lead leg；
S4：The motor rotates clockwise, and the outer leg that shakes is made to reach to the interior swinging kick swing；
S5：Two of the push-rod electric machine push shafts synchronize elongation to initial position, it is described it is outer shake leg and contact to earth, at this point, described
Support leg is switched to outside described and shakes leg, and described lead leg is switched to the interior swinging kick；
S6：The motor rotates clockwise, and the interior swinging kick swing is lifted；
S7：It is repeated in step S3~S6, completes the process persistently walked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810220883.5A CN108438082B (en) | 2018-03-16 | 2018-03-16 | Two-dimensional robot walking device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810220883.5A CN108438082B (en) | 2018-03-16 | 2018-03-16 | Two-dimensional robot walking device and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108438082A true CN108438082A (en) | 2018-08-24 |
| CN108438082B CN108438082B (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810220883.5A Expired - Fee Related CN108438082B (en) | 2018-03-16 | 2018-03-16 | Two-dimensional robot walking device and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625116A (en) * | 2018-12-18 | 2019-04-16 | 江汉大学 | Can kneebend semi-passive walking robot and control method |
| CN111301550A (en) * | 2019-11-28 | 2020-06-19 | 江汉大学 | Wheel foot structure of mobile robot and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5569885B2 (en) * | 2011-10-28 | 2014-08-13 | 学校法人加計学園 | Walking support functional electrical stimulation system with ankle joint drive |
| CN104973163A (en) * | 2015-07-21 | 2015-10-14 | 重庆邮电大学 | All-landform walking device and control method thereof |
| CN105799806A (en) * | 2016-03-18 | 2016-07-27 | 重庆邮电大学 | Three-dimensional human-simulating walking device and control method thereof |
| CN105905183A (en) * | 2016-05-13 | 2016-08-31 | 重庆足步科技有限公司 | Upper body-halving walking device |
-
2018
- 2018-03-16 CN CN201810220883.5A patent/CN108438082B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5569885B2 (en) * | 2011-10-28 | 2014-08-13 | 学校法人加計学園 | Walking support functional electrical stimulation system with ankle joint drive |
| CN104973163A (en) * | 2015-07-21 | 2015-10-14 | 重庆邮电大学 | All-landform walking device and control method thereof |
| CN105799806A (en) * | 2016-03-18 | 2016-07-27 | 重庆邮电大学 | Three-dimensional human-simulating walking device and control method thereof |
| CN105905183A (en) * | 2016-05-13 | 2016-08-31 | 重庆足步科技有限公司 | Upper body-halving walking device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625116A (en) * | 2018-12-18 | 2019-04-16 | 江汉大学 | Can kneebend semi-passive walking robot and control method |
| CN109625116B (en) * | 2018-12-18 | 2020-12-15 | 江汉大学 | Semi-passive walking robot capable of doing knee bending movement and control method |
| CN111301550A (en) * | 2019-11-28 | 2020-06-19 | 江汉大学 | Wheel foot structure of mobile robot and control method thereof |
| CN111301550B (en) * | 2019-11-28 | 2021-07-13 | 江汉大学 | Wheel foot structure of mobile robot and control method thereof |
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| CN108438082B (en) | 2019-12-20 |
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