CN205601951U - Biped walking robot and focus adjusting device thereof - Google Patents
Biped walking robot and focus adjusting device thereof Download PDFInfo
- Publication number
- CN205601951U CN205601951U CN201620452249.0U CN201620452249U CN205601951U CN 205601951 U CN205601951 U CN 205601951U CN 201620452249 U CN201620452249 U CN 201620452249U CN 205601951 U CN205601951 U CN 205601951U
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- CN
- China
- Prior art keywords
- walking robot
- adjusting device
- rotary shaft
- counterweight
- leg walking
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Abstract
The utility model relates to a biped walking robot and focus adjusting device thereof. A focus adjusting device includes power spare, axis of rotation, base, counterweight for the biped walking robot, the base is installed the waist of robot, power spare is installed on the base, the axis of rotation wears to establish on the counterweight, the power that power spare was received to the axis of rotation rotates and drives the counterweight moves along the axis of axis of rotation. The utility model discloses a focus adjusting device can play following useful technological effect for the biped walking robot: can realize the focus of biped walking robot with simpler structure adjusts to guarantee the stable walking of robot.
Description
Technical field
This utility model relates to a kind of gravity adjusting device for two leg walking robot and includes this
The two leg walking robot of gravity adjusting device.
Background technology
The stabilized walking how realizing two leg walking robot is always the motion difficulty of two leg walking robot
Topic, because two leg walking robot is in the process of walking, propping up is unidirectional, not between spike and ground
Drive.If can not effectively control, it is easy to the feelings that robot is toppled over around its spike edge occur
Condition.ZMP (the Zero Movement of Yugoslavia scholar doctor Vukobratovic proposition in 1972
Point) control method is by the basic norm of the Dynamic Stability Control as anthropomorphic robot.
Prior art proposes the design side of a kind of self-adaptive PID controller based on inverse dynamics model
Method, the method is to be realized by complicated control and algorithm, and it controls and algorithm is complicated, for by ground
The anthropomorphic robot of face constraint, the method can not realize its stability contorting.
Existing paper " Inverse Dynamics Control with Floating Base and Constraints "
Propose a kind of use inverse metabolic engineering device to the method controlling apery robot stabilized walking, but should
Method is to control stabilized walking by optimization joint moment, might not meet the ground such as ZMP about
Bundle, thus it cannot be guaranteed that robot stabilized walking.
Utility model content
A purpose of the present utility model is, it is provided that a kind of center of gravity for two leg walking robot is adjusted
Regulating device, it can realize the center of gravity regulation of two leg walking robot, thus ensure machine with better simply structure
Device people's stabilized walking.
Object above of the present utility model passes through a kind of gravity adjusting device for two leg walking robot
Realizing, this gravity adjusting device being used for two leg walking robot includes force piece, rotary shaft, base
Seat, counterweight, described pedestal is arranged on the waist of described robot, and described force piece is arranged on pedestal
On, described rotary shaft is located on described counterweight, and described rotary shaft receives the power of force piece and carries out
Rotate and drive described counterweight along the axial-movement of rotary shaft.
According to technique scheme, the gravity adjusting device for two leg walking robot of the present utility model
Following Advantageous Effects can be played: the center of gravity tune of two leg walking robot can be realized with better simply structure
Joint, thus ensure robot stabilized walking.Wherein, the power of rotary shaft reception force piece rotates
And drive counterweight along the axial-movement of rotary shaft so that the center of gravity of whole two leg walking robot
Can be varied from the lateral direction, to reach the purpose of center-of-gravity regulating.
It is preferred that described pedestal is provided with more than one lead rail axis, described lead rail axis is located in institute
State the axial-movement guiding described counterweight along rotary shaft on counterweight.
It is preferred that the quantity of described lead rail axis is two, and two described lead rail axis are at described pedestal
On centered by rotary shaft line be symmetrical arranged.
It is preferred that described rotary shaft is leading screw, described leading screw is provided with the nut engaged, institute
State nut and be connected to described counterweight.
It is preferred that described counterweight is battery contiguous block, described battery contiguous block is provided with battery.
It is preferred that be provided with the battery mounting for fixing described battery on described battery contiguous block.
It is preferred that described counterweight is provided with the lead rail axis through hole equal with lead rail axis quantity, described
Lead rail axis is inserted in described lead rail axis through hole.
It is preferred that described counterweight is provided with rotary shaft through hole, described rotary shaft inserts described rotation
In shaft through-hole.
It is preferred that described force piece is motor；The two ends of described rotary shaft are all arranged on by bearing
On pedestal.
Another object of the present utility model is, it is provided that a kind of two leg walking robot, it can guarantee that machine
Device people's stabilized walking.
Object above of the present utility model is realized by a kind of two leg walking robot, and this biped is walked
Robot includes foregoing for the gravity adjusting device of two leg walking robot.
According to technique scheme, two leg walking robot of the present utility model can play following Advantageous
Effect: the center of gravity regulation of two leg walking robot can be realized with better simply structure, thus ensure robot
Stabilized walking.Wherein, the power of rotary shaft reception force piece carries out rotating and drive counterweight along rotating
The axial-movement of axle, so that the center of gravity of whole two leg walking robot can have in the lateral direction
Changed, to reach the purpose of center-of-gravity regulating.
Accompanying drawing explanation
Fig. 1 is the overall schematic of the two leg walking robot of this utility model one embodiment；
Fig. 2 is the gravity adjusting device for two leg walking robot of this utility model one embodiment
Front view；
Fig. 3 is the gravity adjusting device for two leg walking robot of this utility model one embodiment
Axonometric chart；
Fig. 4 is the gravity adjusting device for two leg walking robot of this utility model one embodiment
In the axonometric chart of battery contiguous block.
Reference is:
1, force piece；
2, shaft coupling；
3, rotary shaft；
4, pedestal；
5, nut；
6, counterweight；
7, battery；
8, bearing；
9, battery mounting；
41, lead rail axis；
61, lead rail axis through hole；
62, rotary shaft through hole；
63, bolt hole；
100, gravity adjusting device.
Detailed description of the invention
Below in conjunction with specific embodiments and the drawings, the utility model is described in further detail, in the following description
Elaborate more details so that fully understanding this utility model, but this utility model obviously can be with many
Kind is different from this alternate manner described and implements, and those skilled in the art can be without prejudice to this utility model
Make similar popularization according to practical situations, deduce in the case of intension, the most should be with this specific embodiment
Content constraints protection domain of the present utility model.
Fig. 1 is the overall schematic of the two leg walking robot of this utility model one embodiment.Fig. 2 is
The front view of the gravity adjusting device for two leg walking robot of this utility model one embodiment.Figure
3 is the solid of the gravity adjusting device for two leg walking robot of this utility model one embodiment
Figure.Fig. 4 is in the gravity adjusting device for two leg walking robot of this utility model one embodiment
The axonometric chart of battery contiguous block.
According to this utility model one embodiment, as Figure 1-3, for two leg walking robot's
Gravity adjusting device 100 includes force piece 1, rotary shaft 3, pedestal 4, counterweight 6, and pedestal 4 is pacified
Being contained in the waist of robot, force piece 1 is arranged on pedestal 4, and rotary shaft 3 is located in counterweight 6
On, rotary shaft 3 receives the power of force piece 1 and carries out rotating and drive counterweight 6 along rotary shaft 3
Axial-movement.
So, the center of gravity regulation of two leg walking robot can be realized with better simply structure, thus ensure machine
Device people's stabilized walking.Wherein, the control signal outside force piece reception rotates, and rotary shaft receives
The power of force piece carries out the axial-movement rotating and driving counterweight along rotary shaft, so that whole
The center of gravity of two leg walking robot can be varied from the lateral direction, to reach the mesh of center-of-gravity regulating
's.
It is preferred that pedestal 4 is provided with more than one lead rail axis 41 (as shown in Figure 3), guide rail
Axle 41 is located on counterweight 6 axial-movement guiding counterweight 6 along rotary shaft 3.
It is preferred that the quantity of lead rail axis 41 is two (as shown in Figure 3), and two lead rail axis
41 on pedestal 4 centered by rotary shaft 3 line be symmetrical arranged.
It is preferred that rotary shaft 3 is leading screw, leading screw is provided with the nut 5 engaged, nut 5
It is connected to counterweight 6 (as shown in Figures 2 and 3).
So, the power of rotary shaft (leading screw) reception force piece rotates, due to nut and leading screw
Engagement so that the counterweight being fixed on nut on pedestal along rotary shaft axis move linearly,
Thus change the center of gravity of this device, so that the center of gravity of whole two leg walking robot can be on a left side
It is varied from right direction, to reach the purpose of center-of-gravity regulating.
It is preferred that counterweight 6 is battery contiguous block, battery contiguous block is provided with battery 7 (as
Shown in Fig. 2 and 3).
So, the gravity adjusting device for two leg walking robot of the present utility model makes full use of biped
The original battery of walking robot regulates counterweight as center of gravity, it is to avoid increases additional weight, saves biped
The inner space of walking robot, and reduce the walking energy consumption of two leg walking robot.
It is preferred that be provided with on battery contiguous block battery mounting 9 for self-contained battery 7 (as
Shown in Fig. 2 and 3).
So, fixing more reliable and more stable between battery and battery contiguous block.
It is preferred that counterweight 6 be provided with the lead rail axis through hole equal with lead rail axis 41 quantity 61 (as
Shown in Fig. 4), lead rail axis 41 is inserted in lead rail axis through hole 61.
So, counterweight obtains the effectively supporting of lead rail axis, it is ensured that counterweight is along the guide rail on pedestal
Axle the most reliablely and stablely moves.
It is preferred that counterweight 6 is provided with rotary shaft through hole 62 (as shown in Figure 4), rotary shaft 3
Insert in rotary shaft through hole 62.
So, it is further ensured that counterweight the most reliablely and stablely moves along the lead rail axis on pedestal.
It is preferred that force piece 1 is motor；The two ends of rotary shaft 3 are all arranged on base by bearing 8
On seat 4 (as shown in Figures 2 and 3).
So, the motor preferred versions as force piece is chosen；Rotary shaft obtains the effectively supporting of bearing,
It is further ensured that counterweight reliablely and stablely moves along the axis of rotary shaft.
It is preferred that the gravity adjusting device 100 for two leg walking robot also includes shaft coupling 2
(as shown in Figures 2 and 3), one end (such as, the right-hand member in Fig. 2) of shaft coupling 2 is connected to move
The outfan of power part 1, the other end (such as, the left end in Fig. 2) of shaft coupling 2 is connected to rotate
Axle 3.
It is preferred that battery mounting 9 is provided with screwed hole (not shown), counterweight 6 is provided with
Bolt hole 63 (such as, as shown in Figure 4, be provided with four bolts hole 63), battery mounting 9 passes through
It is screwed into bolt hole 63 and the bolt of screwed hole and is fixed on counterweight 6.
Certainly, those skilled in the art are appreciated that spiral shell on the basis of this utility model disclosure
Tether to connect and only connect fixing a kind of preferred mode.This utility model may be used without other and connects solid
Determine mode, such as, weld, riveting etc..Above-mentioned modification fall into equally protection domain of the present utility model it
In.
According to this utility model one embodiment, two leg walking robot includes foregoing for double
The gravity adjusting device 100 of foot walking robot.
This two leg walking robot can be any type of two leg walking robot, such as, nurse company
Robot, intelligent robot, pet robot, biped pet toy etc..
Above detailed description of the invention of the present utility model is described, but those skilled in the art will
Understanding, above-mentioned detailed description of the invention is not intended that restriction of the present utility model, those skilled in the art
Multiple amendment can be carried out on the basis of disclosure above, and without departing from scope of the present utility model.
Claims (10)
1. the gravity adjusting device for two leg walking robot, it is characterised in that include power
Part, rotary shaft, pedestal, counterweight, described pedestal is arranged on the waist of described robot, described dynamic
Power part is arranged on pedestal, and described rotary shaft is located on described counterweight, and described rotary shaft receives dynamic
The power of power part carries out the axial-movement rotating and driving described counterweight along rotary shaft.
2. the gravity adjusting device for two leg walking robot as claimed in claim 1, its feature
Being, described pedestal is provided with more than one lead rail axis, and described lead rail axis is located in described counterweight
The described counterweight of upper guiding is along the axial-movement of rotary shaft.
3. the gravity adjusting device for two leg walking robot as claimed in claim 2, its feature
Being, the quantity of described lead rail axis is two, and two described lead rail axis on described pedestal to rotate
Centered by axle, line is symmetrical arranged.
4. the gravity adjusting device for two leg walking robot as claimed in claim 1, its feature
Being, described rotary shaft is leading screw, and described leading screw is provided with the nut engaged, and described nut is even
It is connected to described counterweight.
5. the gravity adjusting device for two leg walking robot as claimed in claim 1, its feature
Being, described counterweight is battery contiguous block, and described battery contiguous block is provided with battery.
6. the gravity adjusting device for two leg walking robot as claimed in claim 5, its feature
It is, described battery contiguous block is provided with the battery mounting for fixing described battery.
7. the gravity adjusting device for two leg walking robot as claimed in claim 2, its feature
Being, described counterweight is provided with the lead rail axis through hole equal with lead rail axis quantity, and described lead rail axis is inserted
Enter in described lead rail axis through hole.
8. the gravity adjusting device for two leg walking robot as claimed in claim 1, its feature
Being, described counterweight is provided with rotary shaft through hole, and described rotary shaft is inserted in described rotary shaft through hole.
9. the gravity adjusting device for two leg walking robot as claimed in claim 1, its feature
Being, described force piece is motor；The two ends of described rotary shaft are all arranged on pedestal by bearing.
10. a two leg walking robot, it is characterised in that include as any one of claim 1-9
The described gravity adjusting device for two leg walking robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620452249.0U CN205601951U (en) | 2016-05-17 | 2016-05-17 | Biped walking robot and focus adjusting device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620452249.0U CN205601951U (en) | 2016-05-17 | 2016-05-17 | Biped walking robot and focus adjusting device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205601951U true CN205601951U (en) | 2016-09-28 |
Family
ID=56948933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620452249.0U Expired - Fee Related CN205601951U (en) | 2016-05-17 | 2016-05-17 | Biped walking robot and focus adjusting device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205601951U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639183A (en) * | 2018-06-07 | 2018-10-12 | 重庆邮电大学 | A kind of device and control method improving biped robot's balance and the speed of travel |
-
2016
- 2016-05-17 CN CN201620452249.0U patent/CN205601951U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639183A (en) * | 2018-06-07 | 2018-10-12 | 重庆邮电大学 | A kind of device and control method improving biped robot's balance and the speed of travel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160928 Termination date: 20210517 |