CN110450193A - The walking supporting mechanism of biped running type robot - Google Patents
The walking supporting mechanism of biped running type robot Download PDFInfo
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- CN110450193A CN110450193A CN201910841719.0A CN201910841719A CN110450193A CN 110450193 A CN110450193 A CN 110450193A CN 201910841719 A CN201910841719 A CN 201910841719A CN 110450193 A CN110450193 A CN 110450193A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 57
- 230000005484 gravity Effects 0.000 claims abstract description 6
- 239000003381 stabilizer Substances 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
One kind facilitating biped running type robot in weight bearing, the walking supporting mechanism for the biped running type robot squatted and stood that can steadily walk, rise in various road conditions.The supporting mechanism that can be trailed forward or backward is set on the upper body of the robot, which can be such that the drop point of line of gravity of the robot in weight bearing is located between the touchdown point of the supporting mechanism and the touchdown point of the robot foot section.The supporting mechanism is stood according to robot weight bearing and walk stretches forward or backward automatically, so that the robot is in the case where weight bearing, no matter ascend a height in standing, level walking, Pan Po, stair activity, barycentre steadiness can be kept not topple over when squatting down or standing up, moves steady and smooth.When robot does not bear a heavy burden, do not need to assist support, robot control system controls supporting mechanism and folds withdrawal, stores close to upper body, and robot keeps the shape of biped robot and reduces the occupancy in space.
Description
Technical field
The present invention relates to a kind of robot of biped running type, in particular to a kind of walking branch of biped running type robot
Support mechanism.
Background technique
With the development of artificial intelligence technology and robot mechanism technology, the function of various intelligent robots becomes increasingly abundant,
Application range is increasingly extensive, and robot and daily life can be increasingly close, and the walking mechanism of robot has pair of class people
Sufficient running type, the four-footed of class animal, multi-foot walking type and running on wheels type, class people biped running type robot movement flexibly,
It occupies little space, both hands can flexibly complete a variety of work, it will undertake the particular demands for being more able to satisfy various crowds
Work.But due to only leaning on biped to stand and walk, when the weight bearing of both arms 15 W is larger, supporting point A of the weight bearing to biped 14
Tilting moment it is larger, exist to the fulcrum B rotating torque of upper body 12 also very big (referring to shown in Fig. 1, Fig. 2), exoskeleton 1
It stands and is not easy to keep balance and stability when walking, the weight bearing ability and weight bearing for influencing biped running type robot 1 pass through complicated road
The ability and speed in face, the ability for the stair activity that such as bears a heavy burden, the limitation of this ability will affect biped running type robot 1 and undertake
The ability of various work and the range of application.
Summary of the invention
The technical problem to be solved in the present invention is to provide one kind to facilitate biped running type robot in weight bearing, energy
It is enough steadily walk in various road conditions, rise and squat and the walking supporting mechanism of the biped running type robot of standing.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
The walking supporting mechanism of biped running type robot of the invention, it is characterised in that: in the upper body of the robot
It is equipped at least one set of supporting mechanism that can be trailed forward or backward, which can make weight of the robot in weight bearing
The drop point of line of force is located between the touchdown point of the supporting mechanism and the touchdown point of the robot foot section.
Left side and/or right side/or the rear side of the robot is arranged in the supporting mechanism, and the supporting mechanism is according to control
The instruction of system sending is born a heavy burden in the robot and stands, bears a heavy burden and assisted when moving ahead or bear a heavy burden backward with robot or so leg with synchronous
The mode of tune is stretched forward or is stretched backward, is formed to the robot of weight bearing and is stablized the standing of support, travels forward or backward
Movement；When the robot does not need support, which can be issued by control system and be instructed, and folded and withdrawn, be attached to this
The posterior dorsal of robot.
The supporting mechanism is made of support base, swing rod and support rod, wherein
Support base is fixed in the back of the upper body, and the first rotating shaft perpendicular with swing rod is equipped on the support base,
The inner end of the first rotating shaft connects with the first driving part that the swing rod can be driven to rotate around the first rotating shaft axis, and first turn
The outer end of axis seat close with swing rod end connects；
The remote seat end of swing rod is hinged by the nearly rod end of the second shaft and support rod；
The branch ground terminal of support rod is free end, and being additionally provided in the nearly rod end of support rod can drive the support rod around the second shaft
Second driving part of axis rotation.
The support base is fixed on the upper body by rotating base, drive of the rotating base in third driving part
The angle that the swing rod rotates setting in the vertical plane where upper body back can be taken under dynamic.
The stabilizer blade with elastic construction is equipped on the end face of the branch ground terminal of the support rod, which passes through universal hinging
Ball socket structure connects with the branch ground terminal, and the ground engaging end of the stabilizer blade is plane.
The swing rod and support rod are power-actuated Telescopic rod structure.
First driving part, the second driving part and third driving part are ordinary motor, stepper motor or fluid power
Motor.
The rotating base can be moved left and right by automatically controlled slide construction at the back of upper body.
The supporting mechanism is two groups, is separately positioned on the left and right sides of the upper body back of robot.
The nearly seat end of swing rod on support base, forms the first flexural pivot, the first driving portion by the first spherical axis spherical support
Part drives swing rod around the first Spherical Joint Motion；The remote seat end of swing rod is hinged by the nearly rod end of the second spherical axis and support rod, is formed
Second flexural pivot drives support rod around the second Spherical Joint Motion by the second driving part.
Compared with prior art, supporting mechanism, this supporting mechanism foundation is arranged in the present invention on two leg walking robot
Robot weight bearing is stood and walk stretches forward or backward automatically so that the robot is in the case where weight bearing, no matter
Standing, level walking, Pan Po ascend a height, stair activity, barycentre steadiness can be kept not topple over when squatting down or standing up, and movement is flat
It is steady smooth.That is, supporting mechanism is under the control of robot control system, with robot when robot weight bearing stands, walks
The movement of biped cooperation guarantees robot weight bearing standing, the stability of walking, quickly through various road conditions such as stair activity
Passability；When robot does not bear a heavy burden, do not need to assist support, robot control system controls supporting mechanism and folds withdrawal, patch
Closely upper body storage, robot keep the shape of biped robot and reduce the occupancy in space.
Detailed description of the invention
Fig. 1 is the exoskeleton of standing state.
Fig. 2 is the exoskeleton of walking states.
Fig. 3 is that the robot in Fig. 1 is equipped with supporting mechanism schematic diagram of the invention.
Fig. 4 is the top view of Fig. 3.
Fig. 5 is the right view of Fig. 3 and the Local map of supporting mechanism.
Fig. 6 is the schematic diagram that the robot in Fig. 2 is mounted on supporting mechanism of the invention.
The schematic diagram of support is unfolded forward in supporting mechanism when Fig. 7 is under Fig. 3 state.
Fig. 8 is that two groups of supporting mechanisms of robot two sides and the robot Bipedal coordinated movement of various economic factors and right is arranged in
The schematic diagram of exoskeleton formation kinematic mount.
Fig. 9 is the top view of Fig. 8；
Figure 10 is that single group supporting mechanism forms schematic diagram to rear support to exoskeleton.
Figure 11 is the top view of Figure 10；
Figure 12 is in Figure 10 in the schematic diagram of supporting mechanism ground terminal setting stabilizer blade.
Figure 13 is the schematic diagram that the supporting mechanism in Fig. 5 is mounted on rotating base.
Figure 14 is the schematic diagram that the swing rod in Fig. 5 is equipped with the first spherical axis and the second spherical axis.
Appended drawing reference is as follows:
Robot 1, head 11, upper body 12, both legs 13, biped 14, both arms 15, supporting mechanism 2, support base 3, swing rod 4,
Nearly seat end 41, remote seat end 42, first rotating shaft 43, the first spherical axis 433, the first driving part 44, support rod 5, nearly rod end 51, branch
Ground terminal 52, the second shaft 53, the second spherical axis 533, the second driving part 54, stabilizer blade 6, ground 7, robot weight bearing 8.
Specific embodiment
As shown in Fig. 3-13, the walking supporting mechanism 2 of biped running type robot 1 of the invention is arranged in biped row
Walk avoids it from losing center of gravity and topple on the upper body 12 of humanoid robot 1 when standing, walk for the robot 1 weight bearing, and
The supporting mechanism that support robot 1 is smoothly walked by various road conditions.Biped running type robot 1 includes main body mechanism and control
System processed, main body mechanism refer to head 11, upper body 12, both legs 13, biped 14 and the both arms 15 of robot 1.
The walking supporting mechanism 2 can be one or more groups of, can in the robot 1 of biped running type body 12
Front, back or two sides setting, under the control of 1 control system of robot, which can be with 1 both legs of robot
13 cooperations avoid robot 1 weightless to play a supportive role when moving ahead or retreat in the case that it to the robot 1 (when weight bearing)
Topple over.That is, when exoskeleton 1 in level road walking (move ahead or retreat), climbing, stair activity, squat down or fortune of standing up
During dynamic, biped 14 is difficult to support body and have when toppling over tendency, the supporting mechanism 2 give the robot 1 forward or to
Rear support makes the pick-up point of the line of gravity (plumb line that line of gravity was center of gravity) of the robot 1 be located at support
Between the touchdown point of 1 foot of supporting point and robot of mechanism 2.
Currently preferred structure is described in detail for the supporting mechanism 2 of 1 two sides of robot is set below.
Every group of supporting mechanism 2 is by support base 3, swing rod 4, first rotating shaft 43, the first driving part 44,5, second turns of support rod
Axis 53 and the second driving part 54 are constituted.
1, support base 3
Support base 3 can be the support with axle sleeve, be fixed in the left or right side at the back of the upper body 12,
Bottom bracket axle is horizontally disposed, first rotating shaft 43 is equipped in the axle sleeve, the inner end of the first rotating shaft 43 is (close to back perpendicular bisector direction
To be interior, far from back perpendicular bisector direction be it is outer, similarly hereinafter) connect with the first driving part 44, the first driving part 44, first rotating shaft
43 outer end seat close with swing rod 4 end 41 (i.e. on swing rod 4 with one end similar in support base 3) connects.When the first driving part 44
When work, which can be axis in machine using the axis of first rotating shaft 43 by the driving swing rod 4 of first rotating shaft 43
It is rotated from front to back in the vertical plane in the outside of the left arm or right arm of people 1.
2, swing rod 4
Swing rod 4 can be single rod piece, can also be that can be extended or be reduced by what power drive formed by plurality of rods part
Telescopic rod structure, be arranged to Telescopic rod structure and be conducive to robot 1 and be under 7 situation of Different Ground obtain best support effect
Fruit.
The remote seat end 42 (i.e. on swing rod 4 with the farther away one end of support base 3) of swing rod 4 is axle sleeve structure, solid in the axle sleeve
Second shaft 53 is set surely, the outer end of the second shaft 53 rotatably with support rod 5 nearly rod end 51 (i.e. on support rod 5 with pendulum
One end that bar 4 connects) and the second driving part 54 connect.When the work of the second driving part 54, which can
Driving support rod 5 is that axis rotates from front to back in the vertical plane in the outside of swing rod 4 with the second shaft 53.
3, support rod 5
Support rod 5 branch ground terminal 52 (i.e. on support rod 5 with swing rod 4 remote seat end 42 one end apart from each other, and propping up
The one end contacted when support with ground 7) it is free end.
Support rod 5 can be single rod piece, can also be that can be extended or be contracted by what power drive formed by plurality of rods part
Small Telescopic rod structure is arranged to Telescopic rod structure and is conducive to robot 1 and is under 7 situation of Different Ground obtain best support
Effect.
4, rotating base
In order to allow support base 3 to make the rotation of appropriate angle at 1 back of robot, so that swing rod 4 and support rod 5 are unfolded
Lateral support is given to robot 1 afterwards, the support base 3 can be mounted on a rotating base.The rotating base can be rotated
The left dorsal for being mounted on robot 1 or right side, the rotating base connect with third driving part, when third driving part work
When making, powered rotatable pedestal rotation, rotating base rotation can drive the swing rod 4 being installed on it where upper 12 back of body
Vertical plane in rotation setting angle [alpha], so as to make swing rod 4, support rod 5 to outside 1 left arm of robot or right arm obliquely downward
Side trails.
5, the stabilizer blade 6 of Universal active
It, can be in the support in order to make support rod 5 land steady and the variation adapted to can be made according to the flatness of touchdown point
Setting has the stabilizer blade 6 of elastic construction on the end face of the branch ground terminal 52 of bar 5, which passes through universal hinging ball socket structure and institute
It states branch ground terminal 52 to connect, the ground engaging end of the stabilizer blade 6 is plane.
6, slide construction
When supporting mechanism 2 is inactive, in order to collapse it on the inside of 1 back of robot, rotating base can be mounted on
On one horizontally movable slide construction, rotating base is driven to take supporting mechanism 2 in upper body 12 by fourth drive part part
Back move left and right.
7, driving part
First driving part 44, the second driving part 54, third driving part and fourth drive part part can be common
Motor, stepper motor or fluid-power motor.
8, the action process of supporting mechanism 2
It stands or walks when robot 1 bears a heavy burden, when needing to support, the control system of robot 1 starts the first driving part
44 and second driving part 54, make respectively the swing rod 4 for being close to the placement of 12 side arm of body and support rod 5 to the front of trunk or after
Side swings expansion, contacts one end of support rod 5 with ground 7, forms the support to robot 1.When the robot 1 of weight bearing walks
When, 1 control system of robot controls the coordinated movement of various economic factors of swing rod 4 and support rod 5, the movement phase with 13 both feet 14 of robot 1 both legs
Coordinate, forms the support and driving to exoskeleton 1 in the process of walking；When robot 1 does not bear a heavy burden or does not need support,
1 control system of robot controls swing rod 4 and support rod 5 swings and withdraws, and stacks and sets close to upper 12 back realized depreciation of body.
9, shaft is replaced using spherical hinge structure
The nearly seat end 41 of swing rod 4 is fixed with the first spherical axis 433 and hingedly forms the first flexural pivot with 3 spherical surface of support base, by the
One driving part 44 drives swing rod 4 around the first Spherical Joint Motion；The remote seat end 42 of swing rod 4 is fixed with the second spherical axis 533 and support
51 spherical surface of nearly rod end of bar 5 hingedly forms the second flexural pivot, by the second driving part 54 driving support rod 5 around the second Spherical Joint Motion,
To increase the freedom degree (shown in Figure 14) of 5 supporting movement of swing rod 4 and support rod.
Claims (10)
1. a kind of walking supporting mechanism of biped running type robot, it is characterised in that: in the upper body (12) of the robot (1)
It is equipped at least one set of supporting mechanism (2) that can be trailed forward or backward, which can make robot (1) In
The drop point of line of gravity when weight bearing be located at the supporting mechanism (2) touchdown point and robot (1) foot touchdown point it
Between.
2. the walking supporting mechanism of biped running type robot according to claim 1, it is characterised in that: the support machine
Structure (2) setting is issued in the left side of the robot (1) and/or right side/or rear side, the supporting mechanism (2) according to control system
Instruction, the robot (1) weight bearing stand, weight bearing move ahead or weight bearing backward when and robot (1) left and right leg with synchronous coordination
Mode stretch forward or stretch backward, the robot (1) of weight bearing is formed and stablizes the standing of support, is travelled forward or backward
Movement；When the robot (1) does not need support, which can be issued by control system and be instructed, and fold withdrawal, patch
It is attached to the posterior dorsal of the robot (1).
3. the walking supporting mechanism of biped running type robot according to claim 2, it is characterised in that: the support machine
Structure (2) is made of support base (3), swing rod (4) and support rod (5), wherein
Support base (3) is fixed in the back of the upper body (12), is equipped on the support base (3) perpendicular with swing rod (4)
First rotating shaft (43), the inner end of the first rotating shaft (43) are rotated with that can drive the swing rod (4) around first rotating shaft (43) axis
The first driving part (44) connect, the outer end of first rotating shaft (43) seat end (41) close with swing rod (4) connects；
The remote seat end (42) of swing rod (4) is hinged by the nearly rod end (51) of the second shaft (53) and support rod (5)；
The branch ground terminal (52) of support rod (5) is free end, and the support rod can be driven by being additionally provided in the nearly rod end (51) of support rod (5)
(5) around the second driving part (54) of the second shaft (53) axis rotation.
4. the walking supporting mechanism of biped running type robot according to claim 3, it is characterised in that: the support base
(3) it is fixed on the upper body (12) by rotating base, which can take institute under the driving of third driving part
State the angle of swing rod (4) rotation setting in the vertical plane where upper body (12) back.
5. the walking supporting mechanism of biped running type robot according to claim 4, it is characterised in that: in the support
The end face of the branch ground terminal (52) of bar (5) is equipped with the stabilizer blade (6) with elastic construction, which passes through universal hinging ball seat
Structure connects with the branch ground terminal (52), and the ground engaging end of the stabilizer blade (6) is plane.
6. the walking supporting mechanism of biped running type robot according to claim 4, it is characterised in that: the swing rod
(4) and support rod (5) is power-actuated Telescopic rod structure.
7. the walking supporting mechanism of biped running type robot according to claim 4, it is characterised in that: described first drives
Dynamic component (44), the second driving part (54) and third driving part are ordinary motor, stepper motor or fluid-power motor.
8. the walking supporting mechanism of biped running type robot according to claim 4, it is characterised in that: the rotation base
Seat can be moved left and right by automatically controlled slide construction at the back of upper body (12).
9. the walking supporting mechanism of biped running type robot according to claim 1 to 8, feature exist
In: the supporting mechanism (2) is two groups, is separately positioned on the left and right sides of upper body (12) back of robot (1).
10. the walking supporting mechanism of biped running type robot according to claim 2, it is characterised in that: swing rod (4)
Nearly seat end (41) on support base (3), forms the first flexural pivot, the first driving part by the first spherical axis (433) spherical support
(44) driving swing rod (4) is around the first Spherical Joint Motion；The remote seat end (42) of swing rod (4) passes through the second spherical axis (533) and support rod
(5) nearly rod end (51) hingedly, forms the second flexural pivot, by the second driving part (54) driving support rod (5) around the second flexural pivot
Movement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910841719.0A CN110450193A (en) | 2019-09-06 | 2019-09-06 | The walking supporting mechanism of biped running type robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910841719.0A CN110450193A (en) | 2019-09-06 | 2019-09-06 | The walking supporting mechanism of biped running type robot |
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Family
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111195910A (en) * | 2019-12-28 | 2020-05-26 | 深圳市优必选科技股份有限公司 | Anti-falling control method based on mechanical equipment and mechanical equipment |
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