CN110316275B - Multi-supporting-leg unit walking platform and control method thereof - Google Patents
Multi-supporting-leg unit walking platform and control method thereof Download PDFInfo
- Publication number
- CN110316275B CN110316275B CN201910626002.4A CN201910626002A CN110316275B CN 110316275 B CN110316275 B CN 110316275B CN 201910626002 A CN201910626002 A CN 201910626002A CN 110316275 B CN110316275 B CN 110316275B
- Authority
- CN
- China
- Prior art keywords
- leg
- support
- platform
- supporting leg
- group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Abstract
The invention provides a multi-supporting-leg unit walking platform and a control method thereof. The invention is provided with a plurality of supporting leg units, and the supporting legs in each supporting leg unit respectively and independently control the rotation and the extension of the supporting leg unit, thereby being convenient for realizing the horizontal stable movement of the load platform of the walking platform on the road.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-supporting-leg unit walking platform and a control method thereof.
Background
The walking robot is a humanoid robot having a humanoid shape. The walking robot sends the ground state back to the computer through the gravity sensor of the body and the touch sensor of the sole of the foot, and the computer makes judgment according to the road condition so as to balance the body and walk stably in all directions. It can not only walk on a flat road, but also on a step or an inclined road. The standing is stable, the foot can not be pushed down, and the standing posture of the body can be kept even if the sole is uneven.
With the development of science and technology, robots are applied to various industries, but the turning radius of the existing walking robot is large, for example, a construction robot has an uneven working road, an AGV chassis of the robot can work on a flat road, but the turning radius required when the robot turns is large, and the construction robot cannot realize the stability of a platform on the uneven road and cannot meet the requirement of stable movement.
In conclusion, the existing walking robot has the problems that the turning radius is large, the structure is complex, and the load platform cannot stably keep horizontal movement.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provide a multi-supporting-leg unit walking platform and a control method thereof, so that the walking platform is simple in structure and can stably keep the platform to move horizontally.
The invention provides a walking platform with a plurality of supporting leg units, which comprises:
a load platform; the supporting leg units are supported below different sides of the load platform; each supporting leg unit comprises a base frame and two supporting legs, the two supporting legs are a first supporting leg and a second supporting leg, and the first supporting leg and the second supporting leg can be independently controlled to rotate and change the telescopic length; the supporting legs are arranged on the base frame of the corresponding supporting leg unit, and the supporting legs are arranged on the base frame of the corresponding supporting leg unit; the first support legs of the plurality of support leg units jointly form a first support leg group, the second support legs of the plurality of support leg units jointly form a second support leg group, and each support leg of the first support leg group and each support leg of the second support leg group can be controlled to synchronously rotate; the plurality of brackets can be synchronously moved and matched with the base frames of the plurality of supporting legs; when the walking platform of the multiple supporting leg units needs to step out the first supporting leg group or the second supporting leg group, the multiple supports can synchronously move on the respective corresponding base frames to enable the gravity center of the loading platform to move to the supporting leg group needing to bear; when the center of gravity of the loading platform falls on the supporting leg group needing bearing, the supporting leg group at one end is controlled to enable the loading platform to form a stable plane and enable the plane to be kept horizontal; when the walking robot walks, the first supporting leg group and the second supporting leg group alternately step out to complete walking action.
Further alternatively, the plurality of brackets may form an integral frame or be individually provided.
Further optionally, a moving part is formed on the support of the support leg unit, and a corresponding guide rail or guide groove structure formed on the base frame is matched with the moving part.
Further optionally, the moving part is a roller or a slider.
Further optionally, each support is provided with a support driving unit, so that the support can move relative to the base frame and drive the corresponding support leg unit to rotate integrally relative to the load platform.
Further optionally, each of the carriage drive units includes a carriage movement drive motor and a carriage rotation drive motor.
Further optionally, each support leg is one of an electric push rod, a hydraulic rod, a pneumatic rod, or an electric telescopic frame.
Further optionally, each support leg is provided with a support leg drive unit so that the support legs can be independently controlled to telescope and rotate.
Further optionally, each support leg driving unit includes a support leg rotation driving motor and a support leg expansion driving motor.
Further optionally, the load platform and the base frames of the plurality of support leg units are each provided with a level sensor.
Further optionally, the number of the plurality of support leg units is greater than or equal to 3.
The invention also provides a control method of the multi-supporting-leg unit walking platform, which comprises the following steps:
s1: when the leg group to be taken is the first support leg group, enabling the plurality of supports to carry the load platform and synchronously move towards the second support legs of the respective support leg units until the gravity center of the load platform falls on the second support leg group consisting of the plurality of second support legs;
s2: shortening each first support leg of the first support leg group;
s3: enabling each supporting leg unit to rotate around each second supporting leg to the same moving direction;
s4: during or after the process that each first support leg of the first support leg group rotates to the appointed direction, each first support leg of the first support leg group is reset and rotated and completed before the first support leg group falls to the ground;
s5: during or after the process of resetting and rotating each first support leg of the first support leg group, extending each first support leg of the first support leg group, and ensuring that the load platform is stable and level after the first support leg group finishes resetting and rotating and falls to the ground;
s6: when the plurality of first support legs fall back to the ground, the plurality of supports are controlled to move, so that the gravity center of the loading platform falls on a first support leg group formed by the plurality of first support legs;
s7: and finishing the motion action of the first support leg group of the walking platform of the plurality of support leg units.
Further, a control method for a multi-leg supporting unit walking platform further comprises the following steps:
s8: after the movement action of the first support leg group is finished, controlling a second support leg group consisting of second support legs of all the support leg units to step out;
s9: enabling the plurality of brackets to carry the loading platform and synchronously move towards the first supporting legs of the respective supporting leg units until the gravity center of the loading platform falls on a first supporting leg group consisting of the plurality of first supporting legs;
s10: shortening each second supporting leg of the second supporting leg group;
s11: enabling each supporting leg unit to rotate around the first supporting leg unit to the same moving direction;
s12: during or after the process that each second supporting leg of the second supporting leg group rotates to the designated direction, each second supporting leg of the second supporting leg group is reset and rotated and completed before the second supporting leg group falls to the ground;
s13: in or after the process of resetting and rotating each second supporting leg of the second supporting leg group, extending each second supporting leg of the second supporting leg group to ensure that the load platform is stable and level after the second supporting leg group finishes resetting and rotating and falls to the ground;
s14: when the second support legs fall back to the ground, the supports are controlled to move, so that the gravity center of the load platform falls on a second support leg group formed by the second support legs;
s15: and finishing the motion action of the second support leg group of the multi-support leg unit walking platform, thereby finishing a complete motion action of the multi-support leg group of the multi-support leg unit walking platform to the ground.
Further, when the second supporting leg group falls back to the ground, the walking platform can realize continuous movement by repeating the action steps of the first supporting leg group and the second supporting leg group.
Further, the rotation resetting is to enable the rotation angle formed by the first supporting leg or the second supporting leg of each supporting leg unit and the base frame to be zero due to the rotation of the last period.
Further, the first support group or the second support group is controlled to stabilize and maintain the loading platform horizontal by using a horizontal position sensor arranged on the loading platform and a horizontal position sensor arranged on the base frame of each support leg unit.
Further, a horizontal position sensor arranged on the load platform, such as a two-axis angle sensor, is used for detecting the angle value of the load platform, so that whether the load platform has deviation or not is judged, and if the load platform has deviation, corresponding adjustment is carried out according to the measured angle value so as to keep the load platform horizontal.
Further, the supporting leg unit base frame is adjusted to be kept in a horizontal state by a level sensor provided on each supporting leg unit base frame. The level sensor may be a pressure sensor or an angle sensor.
The invention has the advantages that the plurality of supporting leg units are arranged, the supporting legs in each supporting leg unit can be independently controlled, the rotating radius is small, the structure is simple, the supporting legs are independently controlled, the horizontal and stable movement of the load platform in the moving process can be realized, and the turning can be conveniently realized under the condition of small turning radius.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order that the present disclosure may be more readily and clearly understood, the following detailed description of the present disclosure is provided in connection with the accompanying drawings, which are included to illustrate and not limit the present disclosure, but are provided by way of illustration only
Fig. 1 is a schematic perspective view of a multi-leg unit walking platform of embodiment 1 of the present invention (3 x 2 six-legged robot, with the telescopic frame as a leg);
FIG. 2 is a schematic view of an installation structure between a bracket and a load platform according to embodiment 1 of the present invention;
fig. 3 is a schematic view of an installation structure between a support and a base frame according to embodiment 1 of the present invention;
fig. 4 is a schematic perspective view of a multi-leg supporting unit walking platform embodiment 2 of the present invention.
The reference numbers in the embodiments of the present invention are as follows, in combination with the accompanying drawings:
1-a load platform;
2-a support leg unit;
21-a base frame; 211-a guide groove; 23-pedestal horizontal position sensor
22-support legs; 221-a first support leg; 222-a second support leg; 2211-first support leg drive mechanism; 22111-first support leg rotation drive motor; 22112-first support leg extension drive motor;
23-a chassis; 231-first support leg chassis; 232-a second support leg chassis;
3-a scaffold; 31-a moving part; 32-a carriage drive mechanism; 321-a carriage rotation drive motor; 322-carriage movement drive motor; 33-bracket horizontal position sensor;
a1A2a3 is a first support leg group; and B1B2B3 is a second support leg group.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention designs a plurality of supporting leg units, each supporting leg unit comprises two supporting legs, each supporting leg can be independently controlled to move, the platform with smaller radius can rotate by the rotation of the supporting legs, each supporting leg can be controlled to extend and retract, the smooth movement of the uneven road can be realized, the level of the load platform can be ensured while the platform moves, and in order to better explain the effect of the invention, the embodiment is described in detail below.
Example 1:
for the sake of describing the structure of the walking platform in detail, the present embodiment takes three supporting leg units 2 as an example, each supporting leg unit 2 includes two supporting legs 22, and the total number is six supporting legs 22, i.e. 2 × 2 type.
Referring to fig. 1-3, the invention provides a three-support leg unit walking platform, comprising a load platform 1 with load capacity; the three supporting leg units 2 are supported below different sides of the load platform 1; each support leg unit 2 includes a base frame 21 and two support legs 22, the two support legs 22 are a first support leg 221 and a second support leg 222, and the first support leg 221 and the second support leg 222 are only for convenience of description and are not shown in sequence. The first support legs 221 of the three support leg units jointly form a first support leg group A1A2A3, the second support legs 222 of the three support leg units jointly form a second support leg group B1B2B3, each support leg of the first support leg group A1A2A3 and each support leg of the second support leg group B1B2B3 can be controlled to synchronously rotate, and meanwhile, the first support legs 221 and the second support legs 222 of each support leg group can also be independently controlled to rotate and change the telescopic length.
Preferably, the bottom of each supporting leg is provided with a chassis 23 for improving the contact stability between the supporting leg and the road surface, the chassis of the first supporting leg 221 is a first supporting leg chassis 231, and the chassis of the second supporting leg 222 is a second supporting leg chassis 232.
Preferably, each supporting leg 22 is provided with a supporting leg driving unit, the supporting leg driving unit comprises a supporting leg rotation driving motor and a supporting leg extension driving motor, each supporting leg can be independently controlled to extend, retract and rotate, taking a supporting leg unit as an example, a first supporting leg driving unit 2211 is arranged on the first supporting leg 221, the first supporting leg driving unit 2211 comprises a first supporting leg rotation driving motor 22111, a first supporting leg extension driving motor 22112, and the same structure arrangement is also arranged on the second supporting leg. When the walking platform moves, the rotary driving motor of the supporting leg 22 drives the supporting leg 22 to rotate, the telescopic driving motor of the supporting leg controls the telescopic length of the supporting leg, and the supporting leg 22 is convenient to control the level of the load platform 1 in the rotary moving process. Preferably, each of the support legs 22 of the support leg unit 2 is one of an electric push rod, a hydraulic rod, a pneumatic rod, or an electric telescopic frame. The embodiment adopts an electric telescopic frame.
Preferably, the three supporting leg unit walking platforms are also provided with three supports 3 corresponding to the three supporting leg units 2, one end of each support 3 is rotatably fixed on the load platform 1, and the other end is movably fixed on the base frame 21 of the corresponding supporting leg unit 2; the three supports 3 can be synchronously moved and matched with the base frames 21 of the three supporting leg units. Preferably, the three supports 3 form an integral frame to better achieve synchronous movement of the supports 3, although alternatively, the three supports 3 may be provided separately. Preferably, the stand 3 is provided independently, or the stand is provided integrally, and a moving part 31 is formed at a position where the stand 3 is movably engaged with the base frame 21 of the supporting leg unit 2, and the base frame 21 is correspondingly configured to form a guide rail or a guide groove 211 to be engaged with the moving part 31, and particularly, the moving part 31 may be optimized to be a roller or a slider.
Further preferably, each support 3 is provided with a support driving unit, and the driving unit includes a support movement driving motor 322 and a support rotation driving motor 321, so that the support 3 can move relative to the base frame 21 and drive the corresponding support leg unit 2 to rotate integrally relative to the load platform 1. The support 3 moving driving motor 322 of the driving unit drives the support 3 to move relative to the base frame 21 through the support driving mechanism 32, and the support rotating driving motor 321 drives the support 3 to drive the corresponding support leg unit 2 connected with the support 3 to rotate relative to the whole load platform 1. Preferably, a bracket horizontal position sensor 33 is provided on the bracket movement driving motor for controlling the horizontal position of the bracket, and the angle at which the bracket rotation driving motor drives the bracket to rotate may be preset according to the road condition.
It is further preferable that the base frames 21 of the loading platform 1 and the three supporting leg units 2 are respectively provided with a base frame horizontal position sensor 23 for monitoring the horizontal degree of the loading platform 1, so as to control the extension length of the supporting legs 22 to keep the loading platform 1 in a horizontal state.
Therefore, when the walking platform needs to step off the first support leg group (A1A2A3) or the second support leg group (B1B2B3), the three supports 3 can synchronously move on the corresponding base frames 21 to enable the gravity center of the loading platform 1 to move to the support leg group needing to bear weight; when the center of gravity of the loading platform 1 falls on the supporting leg group needing bearing, the supporting leg group at one end is controlled to enable the loading platform 1 to form a stable plane and enable the plane to be kept horizontal; when the walking platform is used for walking, the first supporting leg group (A1A2A3) and the second supporting leg group (B1B2B3) alternately take the steps out to finish walking action, and the bearing legs are always in contact with the ground, so that the stability of the platform is greatly guaranteed when the platform is used for walking.
Example 2:
of course, the invention is not limited to only three legs per supporting leg unit 2, and four, five, six legs per set are also allowed, and furthermore, the type of the supporting leg 22 may be not only an electric telescopic frame, but also an electric push rod, as shown in the embodiment shown in fig. 4, wherein fig. 4 illustrates an electric telescopic rod using an electric telescopic rod, and furthermore, the case of each supporting leg unit 2 having 4 supporting legs 22 is allowed, as long as it is not beyond the gist of the invention, and it is within the protection scope of the present patent.
Other structures of the plurality of leg units 2 in this embodiment have been described in embodiment 1, and are not described herein again.
Example 3:
this embodiment provides an operation method of a multi-leg unit walking platform, taking the three-leg unit 2 walking platform in the form of 2 x 2 in embodiment 1 as an example, as shown in fig. 4, specifically,
s1: when the leg group to be taken is the first support leg group A1A2a3, the plurality of stands 3 are moved simultaneously toward the second support legs 222 of the respective support leg units 2 carrying the loading platform 1 until the center of gravity of the loading platform 1 falls on the second support leg group B1B2B3 constituted by the plurality of second support legs 222;
s2: shortening each first support leg 221 of the first support leg group A1A2a 3;
s3: rotating each support leg unit 2 around each second support leg 222 in the same moving direction;
s4: in the process that each first support leg 221 of the first support leg group A1A2A3 rotates to a designated direction, each first support leg 221 of the first support leg group A1A2A3 is reset and rotated, and the process is completed before the first support leg group A1A2A3 lands;
s5: after the first support legs 221 of the first support leg group A1A2A3 are reset and rotated, extending the first support legs 221 of the first support leg group A1A2A3 to ensure that the load platform 1 is stable and horizontal after the first support leg group A1A2A3 lands;
s6: after the first support legs 221 fall back to the ground, controlling the plurality of supports 3 to move, so that the center of gravity of the loading platform 1 falls on the first support leg group A1A2a3 formed by the first support legs 221;
s7: the movement of the first support leg group A1A2a3 of the walking platform of the multiple support leg units 2 is completed.
S8: after the movement of the first support leg group A1A2a3 is completed, the second support leg group B1B2B3 composed of the second support legs 222 of each support leg unit 2 is controlled to step out;
s9: when the leg group to be taken is the second support leg group B1B2B3, the plurality of stands 3 are moved simultaneously toward the first support legs 221 of the respective support leg units 2 carrying the loading platform 1 until the center of gravity of the loading platform 1 falls on the first support leg group A1A2A3 constituted by the plurality of first support legs 221;
s10: shortening each second support leg 222 of the second set of support legs B1B2B 3;
s11: rotating the respective support leg units 2 around the respective first support legs 221 in the same moving direction;
s12: in the process that each second supporting leg 222 of the second supporting leg group B1B2B3 rotates to a designated direction, each second supporting leg 222 of the second supporting leg group B1B2B3 is reset and rotated and completed before the second supporting leg group B1B2B3 lands;
s13: after the second supporting legs 222 of the second supporting leg group B1B2B3 are reset, the second supporting legs 222 of the second supporting leg group B1B2B3 are extended, and the load platform 1 is stable and kept horizontal after the second supporting leg group B1B2B3 falls to the ground;
s14: after the second support legs 222 fall back to the ground, controlling the brackets 3 to move, so that the center of gravity of the loading platform 1 falls on the second support leg group B1B2B3 formed by the second support legs 222;
s15: the movement of the second support leg group B1B2B3 of the walking platform of the multi-support leg unit 2 is completed, thereby completing a complete movement of the multi-support leg group of the walking platform of the multi-support leg unit 2 to the ground.
After the second support leg group B1B2B3 falls back to the ground, the walking platform can realize the continuous movement of the walking platform by repeating the action steps of the first support leg group A1A2A3 and the second support leg group B1B2B 3.
In the above embodiment, the rotation resetting is to zero the rotation angle formed by the first support leg 221 or the second support leg 222 of each support leg unit 2 and the base frame 21 due to the previous rotation cycle.
Preferably, in order to ensure that the loading platform 1 is in a horizontal state during walking, the first support group or the second support group is controlled by a horizontal position sensor arranged on the loading platform 1 and a horizontal position sensor arranged on the base frame 21 of each support leg unit 2, so that the loading platform 1 is stable and kept horizontal.
Preferably, the angle value of the load platform is detected by a horizontal position sensor arranged on the load platform, such as a two-axis angle sensor, so as to judge whether the load platform has deviation, and if so, the load platform is correspondingly adjusted according to the measured angle value so as to keep the load platform horizontal.
Preferably, the supporting leg unit base frame is adjusted to be maintained in a horizontal state by a level sensor provided on each supporting leg unit base frame. The level sensor may be a pressure sensor or an angle sensor.
The operation mode of the walking platform provided by the embodiment can realize the movement of the walking platform, and no matter how many support leg units 2 are arranged in the walking platform, the horizontal stable movement of the load platform 1 in the moving process is ensured.
Example 4:
in this embodiment, the steps S4, S12, S5, and S13 are adjusted:
specifically, the steps S4 and S12 are:
s4: after the first support legs 221 of the first support leg group A1A2A3 rotate to the designated direction, the first support legs 221 of the first support leg group A1A2A3 are reset and rotated, and the process is completed before the first support leg group A1A2A3 lands;
s12: in the process that each second supporting leg of the second supporting leg group B1B2B3 rotates to the appointed direction, each second supporting leg 222 of the second supporting leg group B1B2B3 is reset and rotated and completed before the second supporting leg group B1B2B3 lands;
specifically, the steps S5 and S13 are:
s5: after the first support legs 221 of the first support leg group A1A2A3 are subjected to the resetting and rotating process, extending the first support legs 221 of the first support leg group A1A2A3 to ensure that the load platform 1 is stable and horizontal after the first support leg group A1A2A3 is reset and rotated to land;
s13: in the process of resetting and rotating each second supporting leg 222 of the second supporting leg group B1B2B3, each second supporting leg 222 of the second supporting leg group B1B2B3 is extended, and the load platform 1 is stable and kept horizontal after the second supporting leg group B1B2B3 is reset and rotated to fall to the ground;
the other steps are the same as in example 3.
Example 5:
in this embodiment, the steps S4 and S12, S5, and S13 are adjusted:
specifically, the steps S4 and S12 are:
s4: in the process that each first support leg 221 of the first support leg group A1A2A3 rotates to a designated direction, each first support leg 221 of the first support leg group A1A2A3 is reset and rotated, and the process is completed before the first support leg group A1A2A3 lands;
s12: in the process that each second supporting leg 222 of the second supporting leg group B1B2B3 rotates to the appointed direction, each second supporting leg 222 of the second supporting leg group B1B2B3 is reset and rotated and completed before the second supporting leg group B1B2B3 lands;
specifically, the steps S5 and S13 are:
s5: in the process of resetting and rotating the first support legs 221 of the first support leg group A1A2A3, extending the first support legs 221 of the first support leg group A1A2A3, so as to ensure that the load platform 1 is stable and horizontal after the first support leg group A1A2A3 is reset and rotated to land;
s13: in the process of resetting and rotating each second supporting leg 222 of the second supporting leg group B1B2B3, each second supporting leg 222 of the second supporting leg group B1B2B3 is extended, and the load platform 1 is stable and kept horizontal after the second supporting leg group B1B2B3 is reset and rotated to fall to the ground;
the other steps are the same as in example 3.
The invention ensures that each supporting leg unit provides one leg to form a supporting leg group all the time, thereby greatly improving the walking stability under the condition of larger load.
In summary, the multi-supporting-leg unit walking platform provided by the above-mentioned embodiments has a simple structure, and by providing a plurality of supporting leg groups, and independently controlling the rotation and the extension of each supporting leg group and the rotation and the extension of each supporting leg in each group of supporting leg units according to the level sensor on each supporting leg in each supporting leg group, the horizontal stable movement of the load platform of the walking platform in the moving process is realized while the turning under a small radius is realized.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (15)
1. A multi-leg supporting unit walking platform is characterized by comprising:
a load platform;
a plurality of support leg units supported under different sides of the load platform
A method for preparing; each supporting leg unit comprises a base frame and two supporting legs, the two supporting legs are a first supporting leg and a second supporting leg, and the first supporting leg and the second supporting leg can be independently controlled to rotate and change the telescopic length;
a plurality of supports corresponding to the support leg units, one end of each support being capable of being connected to the support leg unit
The support driving unit is arranged on each support, so that the support can move relative to the base frame and drive the corresponding supporting leg unit to integrally rotate relative to the load platform;
the first support legs of the plurality of support leg units jointly constitute a first support leg group, and the plurality of support legs
The second support legs of the support leg units jointly form a second support leg group, each support leg of the first support leg group can be controlled to synchronously rotate, and each support leg of the second support leg group can also be controlled to synchronously rotate;
the brackets can be synchronously moved and matched with the base frames of the supporting legs; when in use
When the multi-supporting-leg unit walking platform needs to step out the first supporting leg group or the second supporting leg group, the plurality of supports can synchronously move on the corresponding base frames to enable the gravity center of the loading platform to move to the supporting leg group needing bearing;
when the center of gravity of the loading platform falls on the supporting leg group needing bearing, the supporting leg group at one end is covered
Controlling the load platform to form a stable plane and keeping the plane horizontal;
when the walking robot walks, the first supporting leg group and the second supporting leg group alternately step out to complete walking action.
2. The multi-leg unit walking platform of claim 1, wherein said platform is comprised of a rigid frame and a flexible frame
The plurality of supports form a whole frame or are respectively and independently arranged.
3. The multi-leg unit walking platform of claim 2, wherein said platform is comprised of a rigid frame and a flexible frame
The support of the supporting leg unit is provided with a moving part, and the base frame is correspondingly provided with a guide rail or a guide groove structure matched with the moving part.
4. The multi-leg unit walking platform of claim 3, wherein said platform is comprised of a rigid frame and a flexible frame
The moving part is a roller or a sliding block.
5. The multi-leg unit walking platform of claim 4, wherein said platform is comprised of a rigid frame and a flexible frame
Each of the stand driving units includes a stand movement driving motor and a stand rotation driving motor.
6. The multi-leg unit walking platform of claim 1, wherein said platform is comprised of a rigid frame and a flexible frame
Each support leg is one of an electric push rod, a hydraulic rod, a pneumatic rod or an electric telescopic frame.
7. The multi-leg unit walking platform of claim 6, wherein said platform is comprised of a rigid frame and a flexible frame
Each supporting leg is provided with a supporting leg driving unit, so that the supporting legs can be independently controlled to stretch and rotate.
8. The multi-leg unit walking platform of claim 7, wherein said platform is comprised of a rigid frame and a flexible frame
Each supporting leg driving unit comprises a supporting leg rotation driving motor and a supporting leg extension driving motor.
9. The multiple leg unit walking platform of any one of claims 1-8, wherein the platform is a walking platform
And horizontal sensors are arranged on the load platform and the base frames of the plurality of supporting leg units.
10. The multi-leg unit walking platform of claim 9, wherein said platform is comprised of a rigid frame and a flexible frame
The number of the plurality of support leg units is more than or equal to 3.
11. The method for controlling a multi-legged unit walking platform of any one of claims 1-10,
it is characterized by comprising:
s1: when the leg group to be taken is the first support leg group, the plurality of supports are made to carry the load
The loading platform synchronously moves towards the second supporting legs of the respective supporting leg units until the gravity center of the loading platform falls on the second supporting leg group consisting of the plurality of second supporting legs;
s2: shortening each first support leg of the first set of support legs;
s3: enabling each supporting leg unit to rotate around each second supporting leg in the same movement direction;
s4: during the process that each first support leg of the first support leg group rotates to the designated direction or
After the process, each first support leg of the first support leg group is reset and rotated and completed before the first support leg group falls to the ground;
s5: during or after the resetting rotation of each first support leg of the first support leg group
After the process, extending each first support leg of the first support leg group to ensure that the load platform is stable and kept horizontal after the first support leg group finishes resetting, rotating and falling to the ground;
s6: controlling the plurality of supports to move after the plurality of first support legs fall back to the ground,
landing the center of gravity of the loaded platform on the first set of support legs;
s7: and finishing the motion action of the first support leg group of the walking platform of the plurality of support leg units.
12. The method of controlling a multiple leg unit walking platform of claim 11, wherein said method further comprises the step of controlling a plurality of leg units
In that, still include:
s8: after finishing the movement of the first support leg group, controlling each support leg
A second supporting leg group consisting of second supporting legs is taken out;
s9: with the supports carrying the load platform synchronously to the respective supporting leg units
The first support leg moves until the center of gravity of the loaded platform falls on the first support leg group consisting of the plurality of first support legs;
s10: shortening each second support leg of the second set of support legs;
s11: enabling each supporting leg unit to rotate around the corresponding first supporting leg in the same movement direction;
s12: during the process that each second supporting leg of the second supporting leg group rotates to the designated direction
Or after the process, resetting and rotating each second supporting leg of the second supporting leg group and completing before the second supporting leg group falls to the ground;
s13: during the resetting rotation of each second supporting leg of the second supporting leg group or
After the process, extending each second supporting leg of the second supporting leg group to ensure that the load platform is stable and kept horizontal after the second supporting leg group finishes resetting, rotating and falling to the ground;
s14: when the second support legs fall back to the ground, the supports are controlled to move,
landing the center of gravity of the loaded platform on the second support leg set of second plurality of support legs;
s15: the motion action of the second support leg group of the walking platform of the plurality of support leg units is completed, thereby completing the motion action
The multi-leg support unit walking platform can complete the movement of the multi-leg support group on the ground.
13. The method of controlling a multiple leg unit walking platform of claim 12, wherein said method further comprises the step of controlling a plurality of leg units
The method comprises the following steps: when the second supporting leg group falls back to the ground, the walking platform can realize continuous movement by repeating the movement action steps of the first supporting leg group and the second supporting leg group.
14. The control method for the walking platform of multiple leg units as claimed in any one of claims 11-13
The method is characterized in that: the rotation resetting is to enable the rotation angle formed by the first supporting leg or the second supporting leg of each supporting leg unit and the base frame to be zero due to the rotation of the last period.
15. The method of controlling a multiple leg unit walking platform of claim 14, wherein said method further comprises the step of controlling a plurality of leg units
The method comprises the following steps: the first support leg group or the second support leg group is controlled to stabilize and keep the load platform horizontal, and the load platform is stabilized and kept horizontal by utilizing a horizontal position sensor arranged on the load platform and a horizontal position sensor arranged on a base frame of each support leg unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910626002.4A CN110316275B (en) | 2019-07-11 | 2019-07-11 | Multi-supporting-leg unit walking platform and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910626002.4A CN110316275B (en) | 2019-07-11 | 2019-07-11 | Multi-supporting-leg unit walking platform and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110316275A CN110316275A (en) | 2019-10-11 |
| CN110316275B true CN110316275B (en) | 2020-10-30 |
Family
ID=68121877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910626002.4A Active CN110316275B (en) | 2019-07-11 | 2019-07-11 | Multi-supporting-leg unit walking platform and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110316275B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667729B (en) * | 2019-10-21 | 2021-06-25 | 广东博智林机器人有限公司 | Multi-foot walking robot |
| CN111232084B (en) * | 2020-03-02 | 2021-08-31 | 广东博智林机器人有限公司 | Multi-foot walking robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103309355B (en) * | 2013-05-20 | 2015-07-22 | 哈尔滨工业大学 | Measurement and monitoring method for centroid skewing permitted interference of multi-axis support air floating platform |
| CN103963866B (en) * | 2014-04-24 | 2016-06-01 | 北京航空航天大学 | Full landform Retractive leg formula six foot rotates advance robot |
| CN106080832B (en) * | 2016-08-09 | 2018-06-29 | 重庆邮电大学 | Semi-passive running gear and its control method |
| CN108725625A (en) * | 2018-06-14 | 2018-11-02 | 武汉智伴科技有限公司 | Climb building obstacle detouring transport power carrier, control method, mobile terminal and storage medium |
-
2019
- 2019-07-11 CN CN201910626002.4A patent/CN110316275B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110316275A (en) | 2019-10-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110316275B (en) | Multi-supporting-leg unit walking platform and control method thereof | |
| CN110733617B (en) | Cabin section assembling platform and cabin section assembling method | |
| US20120316682A1 (en) | Balance control apparatus of robot and control method thereof | |
| CN107414793A (en) | The construction method and its series-parallel connection walking robot of a kind of series-parallel connection walking robot | |
| JP2016193721A (en) | Transport device | |
| CN109050697B (en) | Multi-mode full-attitude moving parallel mechanism | |
| WO2013039425A1 (en) | Transportation device for transporting goods and people on stairs and flat surfaces | |
| CN108349516A (en) | Stair-climbing device | |
| CN111232081B (en) | Mechanical system and method of omnibearing horizontal posture stair climbing robot | |
| CN108674513B (en) | Variable-configuration wheel leg moving action robot | |
| CN105599818A (en) | Obstacle-surmounting robot | |
| CN110576922B (en) | Biped walking robot with speed equalizer and control method thereof | |
| JP4818039B2 (en) | Stair lifting device | |
| US7878276B2 (en) | Ambulatory vehicle | |
| CN110304169B (en) | Double-support-leg-set walking platform and control method thereof | |
| CN113334365A (en) | Folding and unfolding reconfigurable multi-mode mobile robot | |
| CN109515553A (en) | Transport robot and vehicle body thereof | |
| CN110588830B (en) | Double-support leg group walking robot with speed homogenizer and control method thereof | |
| JP2006055972A (en) | Foot traveling mechanism and bipedal walking robot with the same | |
| CN110576921B (en) | Multi-supporting-leg-unit walking robot with speed equalizer and control method thereof | |
| JP2007528791A (en) | Balance system by fluid movement for legged robot | |
| CN210707687U (en) | Multi-supporting-leg-unit walking robot with speed equalizer | |
| JP2022013438A (en) | robot | |
| JP2003205480A (en) | Caster type mobile robot | |
| CN210284434U (en) | Double-support leg group walking platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |