CN104401418B - A kind of two foot air cushion shoe walking robot and traveling methods thereof - Google Patents
A kind of two foot air cushion shoe walking robot and traveling methods thereof Download PDFInfo
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- CN104401418B CN104401418B CN201410605016.5A CN201410605016A CN104401418B CN 104401418 B CN104401418 B CN 104401418B CN 201410605016 A CN201410605016 A CN 201410605016A CN 104401418 B CN104401418 B CN 104401418B
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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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Abstract
The present invention relates to the walking mechanism of a kind of robot and traveling method thereof, a kind of two foot air cushion shoe walking robots, in the both sides of hip plate (9), configuration swings thigh (3), the lower end swinging thigh (3) even swings shank (5), and the lower end swinging shank (5) connects air cushion boots (6) with ball pivot (18) structure；Swinging, between thigh (3) and swing shank (5), controlled latch (4) is set, support rail (11) is stretched out in the bottom of described swing shank (5), arranges at least one uprighting spring (12) between support rail (11) and top layer hardboard (17)；The structure of described air cushion boots (6) is to configure flexible skirt (15) in the bottom of top layer hardboard (17), at the air-blowing blower fan (14) being provided above being driven by air-blowing blower motor (13) of top layer hardboard (17)；The traveling method of robot provides in micromotion mode and has placed restrictions on motion characteristic.Robot architecture of the present invention is simple, and two lower limb degree of freedom are few, and control unit requires low；Equal two foot bearing loads in walking process, walking stability is good；Grounding pressure is little better pardon to complicated ground, and energy utilization efficiency is high.
Description
Technical field
The present invention relates to the walking mechanism of a kind of robot and traveling method thereof, especially a kind of robot walking configuration walked in air cushion boots mode and traveling method thereof.
Background technology
Up to now, research field at walking robot, mostly adopt multi-joint, multivariant imitative personal structure, and it is all then realize the swing of lower limb to complete the movement of robot by controlling the motion in joint of lower limb in traveling process, which results in that existing two-foot walking robot structure is complicated, big, the poor stability that controls difficulty and the problem such as energy utilization efficiency is low.Simultaneously traditional biped robot monopodia in traveling process lands, and grounding pressure is big, it is impossible to pass through soft terrain.Therefore, for above deficiency, it is necessary to technical progress realizes the control stability of two-foot walking robot and passes through sex chromosome mosaicism.
Through the retrieval of existing technical literature is found:
Chinese utility model patent number: 200920105112.8, title: a kind of three bar biped walking mechanisms.This utility model simple in construction, on a foot installed therein for engine, intermediate connecting rod is driven to do gyration by revolute pair, so only drive with an engine and realize two foot ground connection walkings, solve the problem that existing two-foot walking robot structure is complicated, control difficulty is big, but, still there is single foot and land in this technology, the problem that walking stability is inadequate, and also without considering soft terrain passes through sex chromosome mosaicism.
Chinese invention patent application number: 201210554495.3, title: a kind of two-foot walking robot.Every lower limb of this two-foot walking robot has freedom degree hip-joint, degree of freedom knee joint, degree of freedom ankle joint.On slope, the multiple driving progression such as walking, climbing, turning under the complex road surface such as ladder, can be realized.But, every lower limb of this technology is separately controlled, and structure is complicated, and degree of freedom is many, is unfavorable for remaining stable for, simultaneously also without the walk problem considered on soft terrain.
Chinese invention patent application number: 201010109042.0, title: air cushion type walking vehicle.This air cushion type walking vehicle include before in after each two of machinery foot, points two rows are distributed in the car body left and right sides side by side, and each sufficient structure is identical, designs simultaneously and also includes drive motor, controlling organization, sealed air chamber, booster fan, air-blowing blower motor and image first-class.But, this air cushion type walking vehicle need six lower limbs move, it is contemplated that on soft terrain by sex chromosome mosaicism but not there is good control performance.
It will be apparent from the above that, by literature search, do not find the correlational study achievement for two foot air cushion shoe walking robots.Therefore, air cushion technology is in the application in two-foot walking robot field, it is possible to provide a new rational solution for the walking mechanism of bipod walking robot from now on innovatively.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of two-foot walking robot, it is possible to achieve the walking on soft terrain, walking stability is good, simple in construction, and degree of freedom is few, controls difficulty little.
The purpose of the present invention is realized by following technical scheme.
A kind of two foot air cushion shoe walking robots, it is characterised in that:
Arranged on left and right sides at hip plate configure can the shaft-like swing thigh of swing, swing the lower end of thigh connect can before and after the shaft-like swing shank that rotates, the lower end swinging shank connects the top layer hardboard of air cushion boots upper surface with spherical hinge structure；
Arranging controlled latch between swing thigh and swing shank, described controlled latch has insertion locking and release two states, and insertion locking state can be placed restrictions on two rod members and mutually be rotated, and is maintained at a straight line or certain angle, and release conditions two rod member can rotate mutually；
Support rail is stretched out in the bottom of described swing shank, arranges at least one uprighting spring between support rail and top layer hardboard；
The structure of described air cushion boots is to configure flexible skirt in the bottom of top layer hardboard, at the air-blowing blower fan being provided above being driven by air-blowing blower motor of top layer hardboard；Air-blowing fanman oppose described air cushion boots inflation, flexible skirt upwards expands and lifts, and forms certain air gap with ground；Air-blowing blower fan quit work described air cushion boots venting, flexible skirt retracted downward falls；
On described hip plate, configuration can drive the drive motor of described swing thigh swing, also configures that control unit on described hip plate；
Described control unit can control inflation and the stopping of air-blowing blower fan；Can control to swing the swing or static of thigh；Locking or the release of controlled latch can be controlled.
Further, the flexible skirt of described air cushion boots is up-small and down-big shape, and from top to bottom arranges the circumferential clasp of some dimensions.
Further, described spherical hinge structure is a gimbal structure, is fixedly connected between swing shank lower end and air cushion boots top layer hardboard, and described support rail is circular, described swing shank rod member is positioned at annulus central authorities, and described uprighting spring is that a diameter is more than the sleeve swinging shank rod member.
Further, described spherical hinge structure is that a ball is arranged between swing shank lower end and air cushion boots top layer hardboard in two shallow pit patterns, described support rail is swinging the horizontal plate that shank front and rear direction is respectively stretched out, and described uprighting spring is be respectively configured vertical extension spring below forward and backward horizontal plate.
Further, configuring the hip ring of ring-type in described hip plate periphery, described hip ring is circular or rectangle becket.
Further, the configuration of described hip plate arranged on left and right sides swing the position of thigh be respectively configured again can the swing arm of swing, the swaying direction of side swing arm is contrary with the swing thigh swaying direction of homonymy, and the swing thigh swaying direction of opposite side is identical.
Further, described air cushion boots shape of cross section is circular or oval or long waist shaped.
Further, at the junction configuration elastic washer of described swing thigh with hip plate.
A kind of traveling method of two foot air cushion shoe walking robots as described in preceding solution, it is characterised in that: described robot goes round and begins again and walks with following action:
Ith action: air-blowing blower fan in both sides does not work, both sides air cushion boots are not inflated, and flexible skirt shrinks, the controlled latch locking in both sides, and the drive motor on the hip plate of both sides does not work, thigh of rolling to each side is upright together with swinging the perpendicular shape of shank；
IIth action: wherein side air-blowing fanman oppose described air cushion boots inflation, flexible skirt upwards expands and lifts, the controlled latch of homonymy is opened, drive motor work on homonymy hip plate, swing forward with side oscillation thigh, forming an angle with same side oscillation shank shape, until flexible skirt is expanded to bottom, extreme higher position and forms air gap, now controlled latch is locked this action definition as lifting lower limb action；
IIIth action: homonymy air-blowing blower fan works on, make described air cushion boots bottom maintain and form air gap, homonymy drive motor works on, continue to be rocked to forward setpoint distance with side oscillation thigh, opposite side swings thigh and linearly turns forward together with swinging shank, hip plate height reduces, and is across lower limb action by this action definition；
IVth action: homonymy air-blowing blower fan does not work, described air cushion boots shrink, and homonymy drive motor does not work, with the unpowered constraint of side oscillation thigh, controlled latch is opened, and recovers gradually downward to linearly with swing shank with side oscillation thigh, is the lower limb action that falls by this action definition；
Hereafter, opposite side repeats the II, the III, IV action makes two lower limbs reconsolidate uprightly to complete a walking and walk.
Further, while a side oscillation thigh swings forward, the swing arm of opposite side synchronizes and swings forward.
When the present invention works: left and right lower limb follow procedure alternately swings forward successively, as left lower limb first moves forward certain distance, right lower limb moves identical distance further along, or moves forward the distance of twice, completes the overall movement forward of robot.And when wherein one leg forward moving duty, another one leg keeps relative static conditions with ground.When working such as left lower limb, right lower limb and ground remain stationary, and relative sliding does not occur, and vice versa.
In order to become apparent from understanding the traveling method of robot of the present invention, it is also possible to from robot lift lower limb, move one's steps and land three actions carry out decompose explain, in the process that robot moves forward, for left lower limb, it is necessary to be sequentially completed following action:
The first step, lifts lower limb action.After robot switches on power, according to the control signal that control unit sends, the air-blowing blower motor work in left side, air cushion boots are filled with gas-pressurized to the left, and air cushion inflation expands.Air cushion boots entirety is lifted by cushion lift, is lifting before and after lower limb action, and the locking of controlled latch makes leg play a supportive role；In lifting lower limb course of action, controlled latch is opened so that " knee joint " swung between thigh and swing shank can free bend.
Second step, action of moving one's steps.Drive motor work on the hip plate of left side so that left side swings thigh, swing shank swings forward, drives left side air cushion boots to move forward.When moving to a suitable position, drive motor quits work, and the distance of movement is a step-length.In lower limb course of action, air-blowing blower motor maintenance work, controlled latch is locked.
3rd step, fall lower limb action.Controlled latch is opened, and air-blowing blower motor quits work, and cushion lift disappears, and air cushion shrinks, and completes lower limb action, and the locking of controlled latch continuation subsequently makes leg play a supportive role.
Now the air cushion boots on right side are not inflated, and the controlled latch on right side is still locked, and swing thigh and swing shank in a straight line, playing a supportive role.
For achieving the above object, the technical solution used in the present invention is:
A kind of two-foot walking robot is provided, including: air cushion boots, air-blowing blower fan, air-blowing blower motor, spring mechanism, swing thigh, controlled latch, swing shank, swing arm, hip ring, drive motor, power supply and control unit, wherein swing thigh and swing shank collectively forms and leads leg, and connected by controlled latch；Whole leg structure one end is connected by rotating shaft with hip plate, the other end is connected by ball pivot and spring mechanism with air cushion boots, both can support, again can at certain angle scale oscillation, air-blowing blower fan is placed on air cushion boots, completes the operations such as the inflation of air cushion boots, venting by controlling air-blowing blower motor；Drive motor is connected with swinging thigh, completes the swing of robot leg by controlling drive motor；Knee joint place equipped with controlled latch, air cushion boots lifting and when declining latch open, other time latch locking lower limb is played a supportive role；Control unit is arranged on the hip plate in hip ring, and power supply can be external.
Described use material of leading leg need to have enough rigidity, and its cross section can be square, rectangle or circle.
Described swing arm chooses identical material with leading leg, and is arranged on hip plate both sides, and is connected with contralateral leg by frame for movement, it is achieved the automatic reverse motion of arm and lower limb, suppresses robot torsion of health in swinging kick process, keeps balance.
Described air cushion boots include: top layer hardboard and flexible skirt, and it is provided with air-blowing blower fan and air-blowing blower motor.Wherein top layer stiff board material can be aluminium alloy or other materials, which is provided with air inlet, is connected with air-blowing blower fan.Flexible skirt divides three layers or Multi-layer design, up-small and down-big, and it is bad to arrange card between three layers apron.Air cushion boots shape of cross section can be circular, oval or other shape.
The spring mechanism of the present invention includes support rail, spring and ball pivot can adopt the following two kinds structure:
One, ball pivot is that a ball is arranged between swing shank and air cushion boots in two shallow pit patterns, and described spring is extension spring, is strained and fixed between the support rail and the air cushion boots top layer hardboard that swing shank.
Its two, ball pivot is a gimbal structure, be fixedly connected on swing shank lower end and air cushion boots top layer hardboard between, described spring for support spring.
Described hip plate: drive motor is arranged on hip plate, driving the swing swinging thigh, hip plate may be disposed in the hip ring of solid shape annulus, and drive motor and control unit are arranged in hip ring, the profile of hip is better, and is easy to swing the installation of thigh.
Described control unit includes: air-blowing air-blower control unit, drive motor control unit and controlled latch control unit.Wherein air-blowing air-blower control unit is in order to control the work of air-blowing blower fan, and drive motor control unit is in order to control drive motor work, and controlled latch control unit is in order to control opening and locking of controlled latch.
Beneficial effects of the present invention, by literature search, does not find the correlational study achievement for air cushion shoe two-foot walking robot.The present invention is directed to the deficiency that prior art exists, first air cushion technology and biped robot are combined, novelty propose a kind of two foot air cushion shoe walking robots, realize class biped walking when simple control, with the addition of a newcomer for walking robot family.Robot architecture is simple, and two lower limbs are class straight-bar mechanism, are provided with the knee joint of controlled latch, and degree of freedom is little, and the requirement of corresponding control unit is significantly reduced；In the process of walking, even if when dynamic locomopion, remaining both feet support, two foots all bear vertical load, and center of gravity only moves in little scope, will not occur to roll or anteversion and retroversion phenomenon, improve the traveling stability of mechanism；Air cushion boots grounding pressure is little, and on soft terrain, by property, strong and air cushion boots and connecting device design thereof are ingenious, it is possible to complicated ground has better pardon；Air cushion boots while bearing compared with big pressure and between ground frictional force little, it is possible to reach higher energy utilization efficiency.
Accompanying drawing explanation
Fig. 1 is an example structure schematic diagram of the present invention two foot air cushion shoe walking robot；
One embodiment of Tu2Shi robot of the present invention, the configuration schematic diagram of hip ring and internal part；
One embodiment of Tu3Shi robot of the present invention, swings the schematic diagram of shank, air cushion boots and bindiny mechanism；
One embodiment of Tu4Shi robot of the present invention, simple motion schematic diagram in walking process；
Fig. 5 is the embodiment of traveling method of the present invention two foot air cushion shoe walking robot, is decomposed into upright, and lifts lower limb, diagram across lower limb, three walking motion of lower limb that fall.
In figure: 1, hip ring；2, swing arm；3, thigh is swung；4, controlled latch；5, shank is swung；6, air cushion boots；7, drive motor；8, control unit；9, hip plate；10, becket；11, support rail；12, vertical extension spring；13, air-blowing blower motor；14, air-blowing blower fan；15, flexible skirt；16, snap ring；17, top layer hardboard；18, spherical hinge structure.
Detailed description of the invention
The structure of the present invention is further described below in conjunction with accompanying drawing.
A kind of two foot air cushion shoe walking robots, arranged on left and right sides at hip plate 9 configures can the shaft-like swing thigh 3 of swing, swing the lower end of thigh 3 connect can before and after the shaft-like swing shank 5 that rotates, the lower end swinging shank 5 connects the top layer hardboard 17 of air cushion boots 6 upper surface with spherical hinge structure 18；
Arranging controlled latch 4 between swing thigh 3 and swing shank 5, described controlled latch 4 has insertion locking and release two states, and insertion locking state can be placed restrictions on two rod members and mutually be rotated, and is maintained at a straight line or certain angle, and release conditions two rod member can rotate mutually；
Support rail 11 is stretched out in the bottom of described swing shank 5, arranges at least one uprighting spring 12 between support rail 11 and top layer hardboard 17；
The structure of described air cushion boots 6 is to configure flexible skirt 15 in the bottom of top layer hardboard 17, at the air-blowing blower fan 14 being provided above being driven by air-blowing blower motor 13 of top layer hardboard 17；Air-blowing blower fan 14 works and described air cushion boots 6 is inflated, and flexible skirt 15 upwards expands and lifts, and forms certain air gap with ground；The air-blowing blower fan 14 described air cushion boots 6 that quit work are exitted, and flexible skirt 15 retracted downward falls；
On described hip plate 9, configuration can drive the drive motor 7 of described swing thigh 3 swing, also configures that control unit 8 on described hip plate 9；
Described control unit 8 can control inflation and the stopping of air-blowing blower fan 14；Can control to swing the swing or static of thigh 3；Locking or the release of controlled latch 4 can be controlled.
The flexible skirt 15 of described air cushion boots 6 is in up-small and down-big shape, and from top to bottom arranges the circumferential clasp 16 of some dimensions.Flexible skirt 15, by up-small and down-big design, increases and contact area of ground, reduces ratio and reduces blower fan power consumption while pressure, and ground is had better pardon, a general point triple layer designs is preferred, and in order to prevent extending out of air cushion, arranges card bad 16 between three layers or multilamellar apron.
Described spherical hinge structure 18 is a gimbal structure, it is fixedly connected between swing shank 5 lower end and air cushion boots 6 top layer hardboard, described support rail 11 is in circular, described swing shank 5 rod member is positioned at annulus central authorities, described uprighting spring 12 is the diameter sleeve more than swing shank 5 rod member, and this project plan comparison is simple.
Described spherical hinge structure 18 is that a ball is arranged between swing shank lower end 5 and air cushion boots 6 top layer hardboard in two shallow pit patterns, described support rail 11 is swinging the horizontal plate that shank 5 front and rear direction is respectively stretched out, described uprighting spring 12 is be respectively configured vertical extension spring below forward and backward horizontal plate, this scheme is with strong points, the requirement tilted forward and back during main satisfied walking.
At the hip ring 1 of described hip plate 9 peripheral configuration ring-type, described hip ring 1 is circular or rectangle becket 10.The structure and the profile that make hip are more reasonable, attractive in appearance.
The configuration of described hip plate 9 arranged on left and right sides swing the position of thigh 3 be respectively configured again can the swing arm 2 of swing, the swaying direction of side swing arm 2 is contrary with swing thigh 3 swaying direction of homonymy, and swing thigh 3 swaying direction of opposite side is identical.Improve walking balance, stationarity.
Described air cushion boots 6 shape of cross section is circular or oval or long waist shaped, it is possible to configure the flexible skirt 15 of conveniently shape, favorably inflation and walking.
At the junction configuration elastic washer of described swing thigh 3 with hip plate 9, for offsetting the trickle sideshake swung when thigh 3 is walked forward.
A kind of as aforementioned two foot air cushion shoe walking robots traveling method, described robot goes round and begins again and walks with following action:
Ith action: both sides air-blowing blower fan 14 does not work, both sides air cushion boots 6 are not inflated, and flexible skirt 15 shrinks, and the controlled latch 4 in both sides is locked, and the drive motor 7 on both sides hip plate 9 does not work, thigh 3 of rolling to each side is upright together with swinging the perpendicular shape of shank 5；
IIth action: wherein side air-blowing blower fan 14 works and described air cushion boots 6 are inflated, flexible skirt 15 upwards expands and lifts, the controlled latch 4 of homonymy is opened, in order to coordinate the drive motor 7 on the lifting homonymy hip plate 9 of air cushion boots to start working, swing forward with side oscillation thigh 3, forming an angle with same side oscillation shank 5 shape, until flexible skirt 15 is expanded to bottom, extreme higher position and forms air gap, now controlled latch 4 is locked；
IIIth action: homonymy air-blowing blower fan 14 works on, make described air cushion boots 6 bottom maintain and form air gap, homonymy drive motor 7 works on different rotating speeds, drive and continue to be rocked to forward setpoint distance with side oscillation thigh 3, opposite side swings thigh 3 and linearly turns forward together with swinging shank 5, hip plate 9 height reduction；
IVth action: homonymy air-blowing blower fan 14 does not work, described air cushion boots 6 shrink, and homonymy drive motor 7 does not work, and with the unpowered constraint of side oscillation thigh 3, controlled latch 4 is opened, and recover gradually downward with side oscillation thigh 3 to linearly with swing shank 5；
Hereafter, opposite side repeats the II, the III, IV action makes two lower limbs reconsolidate uprightly to complete a walking and walk.
While a side oscillation thigh 3 swings forward, the swing arm 2 of opposite side synchronizes and swings forward.
Below in conjunction with the drawings and specific embodiments, the goal of the invention of the present invention is described in further detail, the present embodiment is implemented lower premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but therefore embodiments of the present invention are not defined in following example.
As it is shown in figure 1, two described foot air cushion shoe walking robots include hip ring 1, this is as robot waist；Swing thigh 3 and swing shank 5, being connected by controlled latch 4, collectively form robot and lead leg；Robot leads leg and air cushion boots 6, and this is as robot leg.Robot leg includes left lower limb and right lower limb, and left lower limb, right lower limb are all connected with robot waist and hip ring 1.The swing arm 2 of robot chooses identical material with leading leg, and is arranged on hip ring both sides, and is connected with contralateral leg by frame for movement, it is achieved the automatic reverse motion of arm and lower limb, this is as the arm of robot.
As in figure 2 it is shown, described robot waist, namely hip ring includes: drive motor 7, control unit 8, hip plate 9 and becket 10.Wherein, becket 10 chooses the rigid material of lightweight, plays solid shape and supporting role；Hip plate 9 is installed in the inner and fixes with becket 10；Drive motor 7 and control unit 8 are arranged on hip plate 9；Robot leg and hip Huan Ji robot waist, by being rotationally connected, form two revolute pairs；Drive motor is connected with swinging thigh, drives the swing swinging thigh.Control unit 8 includes: air-blowing blower motor control unit, drive motor control unit and controlled latch control unit, operationally controls each motor respectively.
As it is shown on figure 3, described robot leg includes: lead leg, air cushion boots 6, air-blowing blower motor 13, air-blowing blower fan 14 and spring mechanism.Wherein: lead leg and be connected by spring mechanism with air cushion boots, air-blowing blower motor 13, air-blowing blower fan 14 are placed on air cushion boots, complete the inflation of air cushion boots, bleed air operation by controlling blower motor 13.
Described use material of leading leg need to have enough rigidity, and its cross section can be square, rectangle or circle.
Described air cushion boots include: top layer hardboard 17 and flexible skirt 15, and wherein top layer stiff board material can be aluminium alloy or other materials, which is provided with air inlet, is connected with air-blowing blower fan 14.15 points of triple layer designs of flexible skirt, by up-small and down-big design, increase and contact area of ground, reduce ratio and reduce blower fan power consumption while pressure, and ground has better pardon.In order to prevent extending out of air cushion, card bad 16 is set between three layers apron.
Described spring mechanism includes: support rail 11, vertical extension spring 12 and ball pivot 18.Ball pivot 18 is arranged on leads leg and between air cushion boots so that air cushion foot has better adaptability under different surface conditions.Before and after leading leg, it is symmetrical arranged a pair support rail 11, is connected with leading leg to fix, and vertical extension spring 12 is set between support rail 11 and air cushion boots, it is ensured that lead leg and can only swing near vertical position.
During the present embodiment work: the sufficient rational distance of advancing forward that strides successively about two foot air cushion shoe walking robots, complete the overall movement forward of robot.First, left foot completes to stride, and namely completes to lift lower limb, across lower limb and the lower limb action that falls.
The first step, lifts lower limb action.After robot connects external power supply, according to the control signal that control unit 8 sends, controlled latch 4 is opened, and air-blowing blower motor 13 works, and is filled with gas-pressurized by the through hole on top layer hardboard 17 to air cushion boots 6, and air cushion inflation expands.Air cushion boots 6 entirety is lifted by cushion lift, and keeps the road clearance, completes to lift lower limb action.Lifting after lower limb completes, controlled latch 4 is locked again.
Second step, across lower limb action.Drive motor 7 in hip ring 1 works so that leads leg and swings forward, drives air cushion boots 6 to move forward.When moving to a suitable position, drive motor 7 quits work, and the distance of movement is a step-length.In lower limb course of action, air-blowing blower motor 13 keeps work, and controlled latch 4 is locked.
3rd step, fall lower limb action.Controlled latch is opened, and air-blowing blower motor 13 quits work, and cushion lift disappears, and air cushion shrinks, and completes lower limb action.Controlled latch 4 continues locking leg is played a supportive role subsequently.
Left sufficient action is fully completed, and now foot air-blowing blower motor in left and right does not all work, and left and right two air cushion boots all shrink, and controlled latch is locked, and two lead leg intersection.Identical with left foot subsequently, right foot passes sequentially through and lifts lower limb, completes to stride across lower limb and the lower limb that falls, and comes back to the state parallel with left foot.Now, two foot air cushion shoe walking robot entirety have pushed ahead a suitable distance, i.e. a step-length.
Two foot air cushion shoe walking robot two foots are independent to be controlled, and the operating time that can pass through to control drive motor in theory changes robot travel distance, therefore can suitably choose different step-lengths for different operating modes.
Obviously, the above embodiment of the present invention is only for clearly demonstrating example of the present invention, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Every belong to apparent change that technical scheme extended out or the variation row still in protection scope of the present invention.
Claims (10)
1. a foot air cushion shoe walking robot, it is characterised in that:
Arranged on left and right sides at hip plate (9) configures can the shaft-like swing thigh (3) of swing, swing thigh (3) lower end connect can before and after rotate shaft-like swing shank (5), swing shank (5) lower end with spherical hinge structure (18) connect air cushion boots (6) upper surface top layer hardboard (17)；
Swinging, between thigh (3) and swing shank (5), controlled latch (4) is set, described controlled latch (4) has insertion locking and release two states, insertion locking state can be placed restrictions on two rod members and mutually be rotated, being maintained at a straight line or certain angle, release conditions two rod member can rotate mutually；
Support rail (11) is stretched out in the bottom of described swing shank (5), arranges at least one uprighting spring (12) between support rail (11) and top layer hardboard (17)；
The structure of described air cushion boots (6) is to configure flexible skirt (15) in the bottom of top layer hardboard (17), at the air-blowing blower fan (14) being provided above being driven by air-blowing blower motor (13) of top layer hardboard (17)；Described air cushion boots (6) are inflated by air-blowing blower fan (14) work, and flexible skirt (15) upwards expands and lifts, and forms certain air gap with ground；Air-blowing blower fan (14) quit work described air cushion boots (6) venting, flexible skirt (15) retracted downward falls；
The drive motor (7) of described swing thigh (3) swing can be driven in the upper configuration of described hip plate (9), described hip plate (9) also configures that control unit (8)；
Described control unit (8) can control inflation and the stopping of air-blowing blower fan (14)；Can control to swing the swing or static of thigh (3)；Locking or the release of controlled latch (4) can be controlled.
2. according to claim 1 two foot air cushion shoe walking robot, it is characterised in that the flexible skirt (15) of described air cushion boots (6) is in up-small and down-big shape, and from top to bottom arranges the circumferential clasp (16) of some dimensions.
3. according to claim 1 two foot air cushion shoe walking robot, it is characterized in that described spherical hinge structure (18) is a gimbal structure, it is fixedly connected between swing shank (5) lower end and air cushion boots (6) top layer hardboard, described support rail (11) is in circular, described swing shank (5) rod member is positioned at annulus central authorities, and described uprighting spring (12) is that a diameter is more than the sleeve swinging shank (5) rod member.
4. according to claim 1 two foot air cushion shoe walking robot, it is characterized in that described spherical hinge structure (18) is that a ball is arranged between swing shank (5) lower end and air cushion boots (6) top layer hardboard in two shallow pit patterns, described support rail (11) is swinging the horizontal plate that shank (5) front and rear direction is respectively stretched out, and described uprighting spring (12) for be respectively configured vertical extension spring below forward and backward horizontal plate.
5. according to claim 1 two foot air cushion shoe walking robot, it is characterized in that the hip ring (1) in described hip plate (9) peripheral configuration ring-type, described hip ring (1) is circular or rectangle becket (10).
6. according to claim 1 two foot air cushion shoe walking robot, it is characterized in that swinging that the position of thigh (3) is respectively configured again in the configuration of described hip plate (9) arranged on left and right sides can the swing arm (2) of swing, the swaying direction of side swing arm (2) is contrary with swing thigh (3) swaying direction of homonymy, identical with swing thigh (3) swaying direction of opposite side.
7. two foot air cushion shoe walking robot according to claim 1, it is characterised in that described air cushion boots (6) shape of cross section be circular or ellipse or long waist shaped.
8. two foot air cushion shoe walking robot according to claim 1, it is characterised in that at the junction of described swing thigh (3) and hip plate (9) configuration elastic washer.
9. the traveling method of two foot air cushion shoe walking robots as claimed in claim 1, it is characterised in that: described robot goes round and begins again and walks with following action:
Ith action: both sides air-blowing blower fan (14) does not work, both sides air cushion boots (6) are not inflated, flexible skirt (15) shrinks, the controlled latch in both sides (4) are locked, drive motor (7) on both sides hip plate (9) does not work, and thigh of rolling to each side (3) is upright together with swinging shank (5) perpendicular shape；
IIth action: wherein described air cushion boots (6) are inflated by side air-blowing blower fan (14) work, flexible skirt (15) upwards expands and lifts, the controlled latch of homonymy (4) is opened, drive motor (7) work on homonymy hip plate (9), swing forward with side oscillation thigh (3), form an angle with same side oscillation shank (5) shape, until flexible skirt (15) is expanded to bottom, extreme higher position and forms air gap, now controlled latch (4) locking, by this action definition for lifting lower limb action；
IIIth action: homonymy air-blowing blower fan (14) works on, make described air cushion boots (6) bottom maintain and form air gap, homonymy drive motor (7) works on, continue to be rocked to forward setpoint distance with side oscillation thigh (3), opposite side swings thigh (3) and linearly turns forward together with swinging shank (5), hip plate (9) height reduction, is across lower limb action by this action definition；
IVth action: homonymy air-blowing blower fan (14) does not work, described air cushion boots (6) are shunk, homonymy drive motor (7) does not work, with side oscillation thigh (3) unpowered constraint, controlled latch (4) is opened, recover gradually downward with side oscillation thigh (3) to linearly with swing shank (5), be the lower limb action that falls by this action definition；
Hereafter, opposite side repeats the II, the III, IV action makes two lower limbs reconsolidate uprightly to complete a walking and walk.
10. according to claim 9 two foot air cushion shoe walking robots traveling method, it is characterised in that: while a side oscillation thigh (3) swings forward, the swing arm (2) of opposite side synchronizes and swings forward.
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| CN105523098A (en) * | 2015-12-24 | 2016-04-27 | 哈尔滨工业大学 | Humanoid robot foot structure with adjustable rigidity |
| CN106428287B (en) * | 2016-10-28 | 2018-09-21 | 河海大学常州校区 | The flexible legged robot foot structure of the toe containing double-lumen air sac |
| CN110341837B (en) * | 2019-07-02 | 2020-10-27 | 湖州海明机械科技有限公司 | Bicycle support |
| CN110386205A (en) * | 2019-08-12 | 2019-10-29 | 吉林大学 | A kind of walking robot is from limit-type foot end mechanism |
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Effective date of registration: 20171130 Address after: 223001 Huaian City, Jiangsu Province Economic and Technological Development Zone Huaian Mei Gao road Huaian wisdom Valley 19 Building No. B1 4 Patentee after: Jiangsu Jiaotong University North Jiangsu Science and Technology Development Co., Ltd. Address before: 200240 Huashan Road, Shanghai, No. 1954, No. Patentee before: Shanghai Jiao Tong University |