CN104742997B - Double-twisted rocker type passive walking device - Google Patents
Double-twisted rocker type passive walking device Download PDFInfo
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- CN104742997B CN104742997B CN201510137039.2A CN201510137039A CN104742997B CN 104742997 B CN104742997 B CN 104742997B CN 201510137039 A CN201510137039 A CN 201510137039A CN 104742997 B CN104742997 B CN 104742997B
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Abstract
The invention discloses a double-twisted rocker type passive walking device which comprises a leg part composed of two inside legs and two outside legs. The inside legs and the outside legs are connected through a crank. The crank comprises an upper transverse shaft, two middle transverse shafts, two lower transverse shafts and rockers for connecting the transverse shafts. The two inside legs are rotationally arranged on the upper transverse shaft. The two outside legs are rotationally arranged on the lower transverse shafts at the two ends. The inside legs and the outside legs are provided with sliding pipes capable of sliding on the inside legs and the outside legs. The sliding pipes on the two inside legs are connected into a synchronous moving whole through a synchronous shaft. Torsion springs are arranged between the sliding pipes on the inside legs and the sliding pipes of the corresponding outside legs. H-shaped supporting pieces are arranged between the torsion springs and the middle transverse shafts. The middle transverse shafts rotationally penetrate through the upper ends of the H-shaped supporting pieces and the torsion springs penetrate through the lower ends of the H-shaped supporting pieces. The problem that the legs and the feet rub with the ground when swinging is solved, robustness is higher, and the device has wider space in actual application.
Description
Technical field
The invention belongs to passive walking robot field, and in particular to a kind of double torsion rocker-type passive walking devices.
Background technology
Now, roboticses are that the focus of countries in the world research, the especially research of passive walking robot even more should
The frontier science and technology in field.Both at home and abroad good achievement is had been achieved in the research of passive walking robot, be have developed very
More representational physical prototyping prototype.But these passive walking models but design for big foot, take up room big, use value is not
It is high；And these have been directed to swing the problem that legs and feet wipe ground by movable model, need to build in experimentation special domatic
Could normally walk.
The content of the invention
In view of this, it is an object of the invention to provide a kind of double turn round rocker-type passive walking device, except can realize only according to
Along outside the descending action of slope stability, foot's point of use is contacted to earth mode for bad natural agent and this body structure, moreover it is possible to perfect to solve
The problem that legs and feet wipe ground is swung, robustness is higher, there is wider array of space in practice.
The purpose of the present invention is achieved through the following technical solutions：
Double torsion rocker-type passive walking devices, including the leg being made up of two inner side lower limbs and two outer legs, the inner side
Lower limb is connected with outer legs by bent axle, and the bent axle includes transverse axis and two sections of lower transverse axis and connection in one section of upper transverse axis, two sections
The rocking bar of transverse axis, two inner sides lower limb is spindle rotationally arranged on transverse axis, and two outer legs rotatably set respectively
Put on the lower transverse axis at two ends, the slip pipe that can be slid on is provided with the medial and lateral lower limb, on the lower limb of two inner sides
Slip pipe one entirety being synchronized with the movement is connected into by synchronizing shaft, the slip pipe on the inner side lower limb with corresponding outer legs
Torsion spring is provided between slip pipe, H type support members are provided between the torsion spring and middle transverse axis, wherein the middle cross axle is rotatably passed through
The upper end of H type support members, lower end of the torsion spring through H type support members.
Further, the lower end of the leg is provided with the foot as part of contacting to earth, and the foot is four identical
Inverted triangle post, the inverted triangle post and slope ground linear contact lay are arranged.
Further, the interior outer legs of the leg be four identical long straight legs, wherein, during walking, inner side lower limb or
Contact with slope ground in person's outer legs for supporting leg, leave slope ground to lead leg.
Further, the slip pipe in the interior outer legs and torsion spring form double torsion articular portions of this passive walking device.
Further, the bent axle together form the hip of this passive walking device with double torsion articular portions and H type support members
Portion, used as the action support section of this passive walking device, hip top passes through bent axle and leg is realized being connected, bent axle for the hip
It is free to rotate；Hip bottom is partially passed through by torsion spring and is fixed, and double torsion articular portions are full symmetric two parts composition, bent axle
In vertical state when torsion spring be relaxed state.
Further, the hip crankshaft length is d, and radius of crankshaft is r, and crankshaft rotation angle is α, hip top matter
Heart quality is m, and hip bottom barycenter quality is M；It is φ to lead leg with supporting leg angle, the supporting leg and ground perpendicular angle
For θ；The torsion spring coefficient of elasticity is k；The slope ground inclination angle is γ, and system components parameter should meet following kinetics side
Journey：
System dynamics equation is in swing process：
Kinetics equation when colliding with ground of leading leg is：
Further, the walking manner of the walking device is divided into following step：
A, outer legs are placed in into minimum state, are placed on slope, and be β with slope angle；
B, give bent axle one initial velocity, counterclockwise, rotating speed w discharges walking device in direction；
C, walking device outer legs carry out inverted pendulum, and inner side lower limb realizes that forward swing sinks because of bent axle, double torsion joints and action of gravity；
When d, crank rotation are to horizontal level, inner side lower limb contacts to earth, and inner side lower limb is changed into supporting leg carries out inverted pendulum, in bent axle and
Under double torsion joint effects, outer legs realize that forward swing is above carried；
E, bent axle continue after rotate counterclockwise half cycle, and outer legs are contacted to earth again, repeat c), d), e) process.
The invention has the beneficial effects as follows：Double torsion rocker-type passive walking devices of the present invention, realize walking by hip structure
During receive lower limb automatically, leg is straight legs, is point contact type with the ground way of contact, reduces the complexity of structure, and simple structure is easy-to-use
Yi Zao, this device cleverly solves the problems, such as that 2D walkings are led leg and wipes ground, and walking step state nature, parameter domain of attraction is big, and energy consumption is low,
There is bigger application space in real life.
Other advantages of the present invention, target and feature will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.The present invention target and other advantages can be realized by description below and
Obtain.
Description of the drawings
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
The detailed description of one step, wherein：
Fig. 1 is schematic structural view of the invention；
Fig. 2 is crankshaft structure schematic diagram；
Fig. 3 is physical model schematic diagram of the present invention.
Specific embodiment
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.It should be appreciated that preferred embodiment
Only for the explanation present invention, rather than in order to limit the scope of the invention.
As illustrated, double torsion rocker-type passive walking devices, including the lower limb being made up of two inner side lower limbs 1 and two outer legs 2
Portion, the inner side lower limb is connected with outer legs by bent axle 3, and the bent axle includes transverse axis 32 and two in one section of upper 31, two sections of transverse axis
The rocking bar 34 of the lower transverse axis 33 of section and connection transverse axis, two inner sides lower limb is spindle rotationally arranged on transverse axis, described two
Outer legs are spindle rotationally arranged in respectively on the lower transverse axis at two ends, are provided with what is can slid on the medial and lateral lower limb
Slip pipe 4, the slip pipe on the lower limb of two inner sides connects into the entirety being synchronized with the movement by synchronizing shaft 5, on the inner side lower limb
Slip pipe and the slip pipe in corresponding outer legs between be provided with torsion spring 6, be provided between the torsion spring and middle transverse axis H types support
Part 7, wherein the middle cross axle is rotatably through the upper end of H type support members, lower end of the torsion spring through H type support members.
In the present embodiment, the lower end of the leg is provided with the foot 8 as part of contacting to earth, and the foot is four complete
Identical inverted triangle post, the inverted triangle post is arranged with slope ground linear contact lay, so as to realize that the foot side of contacting to earth is put in two-dimensional space
Formula.
In the present embodiment, the interior outer legs of the leg are four identical long straight legs, wherein, during walking, inner side
Contact with slope ground in lower limb or outer legs for supporting leg, leave slope ground to lead leg.
In the present embodiment, the slip pipe in the interior outer legs forms double torsion articular portions of this passive walking device with torsion spring.
In the present embodiment, the bent axle together form this passive walking device with double torsion articular portions and H type support members
Hip, used as the action support section of this passive walking device, hip top is connected the hip by the realization of bent axle and leg,
Bent axle is free to rotate；Hip bottom is partially passed through by torsion spring and is fixed, and double torsion articular portions are full symmetric two parts composition,
Torsion spring is relaxed state when bent axle is in vertical state.
In the present embodiment, the hip crankshaft length is d, and radius of crankshaft is r, and crankshaft rotation angle is α, on hip
Portion's barycenter quality is m, and hip bottom barycenter quality is M；It is φ to lead leg with supporting leg angle, the supporting leg and ground perpendicular
Angle is θ；The torsion spring coefficient of elasticity is k；The slope ground inclination angle is γ, and system components parameter should meet following power
Learn equation：
System dynamics equation is in swing process：
Kinetics equation when colliding with ground of leading leg is：
In the present embodiment, the walking manner of the walking device is divided into following step：
A, outer legs are placed in into minimum state, are placed on slope, and be β with slope angle；
B, give bent axle one initial velocity, counterclockwise, rotating speed w discharges walking device in direction；
C, walking device outer legs carry out inverted pendulum, and inner side lower limb realizes that forward swing sinks because of bent axle, double torsion joints and action of gravity；
When d, crank rotation are to horizontal level, inner side lower limb contacts to earth, and inner side lower limb is changed into supporting leg carries out inverted pendulum, in bent axle and
Under double torsion joint effects, outer legs realize that forward swing is above carried；
E, bent axle continue after rotate counterclockwise half cycle, and outer legs are contacted to earth again, repeat c), d), e) process.
Double torsion rocker-type passive walking devices of the present embodiment, realize receiving lower limb, lower limb in walking process automatically by hip structure
Portion is straight legs, is point contact type with the ground way of contact, reduces the complexity of structure, and simple structure is easy-to-use easily to make, and this device is cleverly
Solve the problems, such as that 2D walkings are led leg and wipe ground, walking step state nature, parameter domain of attraction is big, and energy consumption is low, has more in real life
Big application space.
Finally illustrate, above example is only unrestricted to illustrate technical scheme, although with reference to compared with
Good embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent, and without deviating from the objective and scope of the technical program, it all should cover in the present invention
Right in the middle of.
Claims (5)
1. rocker-type passive walking device pair is turned round, it is characterised in that：Including the leg being made up of two inner side lower limbs and two outer legs,
The inner side lower limb is connected with outer legs by bent axle, and the bent axle includes transverse axis and two sections of lower transverse axis in one section of upper transverse axis, two sections
And the rocking bar of connection transverse axis, lower limb is spindle rotationally arranged on transverse axis on the inside of described two, and two outer legs respectively can
What is rotated is arranged on the lower transverse axis at two ends, is provided with the slip pipe that can be slid on the medial and lateral lower limb, described two
Slip pipe on the lower limb of inner side connects into the entirety being synchronized with the movement by synchronizing shaft, and the slip pipe on the inner side lower limb is outer with corresponding
Torsion spring is provided between slip pipe on the lower limb of side, H type support members are provided between the torsion spring and middle transverse axis, wherein the middle cross axle can turn
The dynamic upper end through H type support members, lower end of the torsion spring through H type support members.
2. rocker-type passive walking device is turned round according to claim 1 pair, it is characterised in that：The lower end of the leg is provided with
Used as the foot of part of contacting to earth, the foot is four identical inverted triangle posts, the inverted triangle post and slope land upper thread
Contact is arranged.
3. rocker-type passive walking device is turned round according to claim 1 pair, it is characterised in that：The interior outer legs of the leg are
Four identical long straight legs, wherein, during walking, contact with slope ground in inner side lower limb or outer legs for supporting leg,
Leave slope ground to lead leg.
4. rocker-type passive walking device is turned round according to claim 3 pair, it is characterised in that：Slip pipe in the interior outer legs
With double torsion articular portions that torsion spring forms this passive walking device.
5. rocker-type passive walking device is turned round according to claim 4 pair, it is characterised in that：The bent axle and double torsion joint portions
Point and H type support members together form the hip of this passive walking device, action of the hip as this passive walking device
Support part point, hip top is realized being connected by bent axle and leg, and bent axle is free to rotate；Hip bottom is partially passed through simultaneously by torsion spring
Fixed, double torsion articular portions are full symmetric two parts composition, and torsion spring is relaxed state when bent axle is in vertical state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510137039.2A CN104742997B (en) | 2015-03-26 | 2015-03-26 | Double-twisted rocker type passive walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510137039.2A CN104742997B (en) | 2015-03-26 | 2015-03-26 | Double-twisted rocker type passive walking device |
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| Publication Number | Publication Date |
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| CN104742997A CN104742997A (en) | 2015-07-01 |
| CN104742997B true CN104742997B (en) | 2017-04-12 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105015643A (en) * | 2015-07-21 | 2015-11-04 | 重庆邮电大学 | Semi-passive walker driven by single motor and walking control method thereof |
| CN105128976B (en) * | 2015-07-21 | 2017-06-16 | 重庆邮电大学 | A kind of drive lacking running gear and its Servo Control method |
| CN105411818B (en) * | 2016-01-08 | 2018-03-09 | 广州足步医疗科技有限公司 | A kind of bionical sufficient formula walking aid device with drive control |
| CN106394716B (en) * | 2016-07-05 | 2018-07-13 | 河海大学常州校区 | A kind of shipping stair climbing auxiliary device |
| CN109625116B (en) * | 2018-12-18 | 2020-12-15 | 江汉大学 | Semi-passive walking robot capable of doing knee bending movement and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2009936C1 (en) * | 1991-07-01 | 1994-03-30 | Виктор Сергеевич Богатырев | Step propulsive device |
| CN2136784Y (en) * | 1991-11-20 | 1993-06-23 | 冯建光 | Bionic vehicle with alternately or sequentially lifted supporting base and leg |
| JP3665013B2 (en) * | 2001-11-09 | 2005-06-29 | 本田技研工業株式会社 | Leg joint assist device for legged mobile robot |
| CN1319800C (en) * | 2004-04-08 | 2007-06-06 | 辽宁工程技术大学 | Cam transition type mechanical legs having three joints |
| CN2776799Y (en) * | 2005-04-05 | 2006-05-03 | 刘红星 | Electric robot |
| CN201390303Y (en) * | 2009-02-10 | 2010-01-27 | 张敏学 | Walking mechanism |
| CN103204192B (en) * | 2013-03-19 | 2015-08-26 | 北京交通大学 | A kind of two-foot moving mechanism |
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Effective date of registration: 20210425 Address after: 450018 1601, 16th floor, Henan enterprise union building, Shangxian street, Mingli Road, Zhengdong New District, Zhengzhou City, Henan Province Patentee after: Zhongyuan power intelligent robot Co., Ltd Address before: 400065 Chongqing Nan'an District huangjuezhen pass Chongwen Road No. 2 Patentee before: CHONGQING University OF POSTS AND TELECOMMUNICATIONS |