CN104973160B - A kind of straight legs walking device of biped with upper body - Google Patents
A kind of straight legs walking device of biped with upper body Download PDFInfo
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- CN104973160B CN104973160B CN201510366481.2A CN201510366481A CN104973160B CN 104973160 B CN104973160 B CN 104973160B CN 201510366481 A CN201510366481 A CN 201510366481A CN 104973160 B CN104973160 B CN 104973160B
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Abstract
The invention discloses a kind of straight legs walking device of biped with upper body, walking device main body is made up of two parts, including hip and upper body coupling part, hip and leg foot coupling part.Hip includes being fixed with the upper body of device master control borad, connection hip and upper body and motor M1, M2 and spring system R, L for controlling angle between leg and upper body with upper body coupling part.Hip and leg foot coupling part include the leg being fixedly connected with hip, it is hinged on the foot of leg bottom, motor A, B that control foot is lifted and put down, two ends are fixed on spring system A, the B for connecting motor A and foot L, motor B and foot R in the middle of on leg by belt.Device also includes the sensor for being placed on each controlling unit.Semi-passive walking is realized by the way of energy compensating.Device leg is the straight legs for not needing knee, and control method is simple；Collide and be avoided by foot-up control enough；Influence of the upper body to passive walking device gait can also be utilized, energy-conservation walking naturally is realized.
Description
Technical field
The present invention relates to rehabilitation medical, toy, Military Application field, straight legs walking of specifically a kind of biped with upper body
Device.
Background technology
At present, the research of robot is all a focus, especially the biped running machine to anthropomorphic form in countries in the world
The research of people is even more like a raging fire.The biped walking device emerged at present has achieved many worth accreditations in apery walking
Achievement, but it is general all or there are some defects, such as (1) is not the biped robot in complete meaning, including picture
The Ranger of Cornell universities, it is the function that simple two leg is realized with four legs, can only be the row in two-dimensional sense
Walk；(2) consume energy too big, be not suitable for practical application, including as the Asimo of HONDA companies of Japan, although possess complete humanoid
State, but the robot of active form, consume energy very big.(3) also there is the passive walking for possessing the complete apery form of comparison certainly
Device, but roomy foot is used, the lateral movement process of mankind's walking process can not be simulated, thus also fail to realize
The semi-passive walking of complete class people.And found according to recent correlation theory research：Passive walking device with upper body can be realized
Zero energy consumption gait.
The content of the invention
In view of deficiency of the prior art, the present invention is intended to provide a kind of having a upper body and half quilt of 3D walkings can be realized
Dynamic walking device, the walking device can realize the human-imitating double-foot walking in more complete meaning, and using the leg for not needing knee
Portion's system, device is very succinct.
The present invention is adopted the following technical scheme that to achieve these goals：A kind of straight legs walking device of biped with upper body, bag
Include hip and upper body coupling part and hip and the sufficient coupling part of leg；The hip includes upper body with upper body coupling part, fixed
Main control board in upper body, the hip L and hip R being connected respectively with upper body, hip L and hip R inside are fixed respectively
Control hip and foot is set to swing the motor M1 and motor M2 of angle, and spring system L and spring system R；The hip with
Leg foot coupling part includes cutting with scissors with hip L and hip R the leg L being fixedly connected and leg R, leg L and leg R bottom respectively
Foot L and foot R are met, motor A and motor that hip L and hip R internal control foot L and foot R are lifted and put down is arranged on
B, and spring system A and spring system B.
The control method of the walking device of the present invention is as follows：When each step of walking device motion process starts, the past branch of walking device
Support leg side is rotated, and the rotation will trigger the sensor of the foot sensor group heel portion of supporting leg side, and sensing data is through master
Control data feedback control after circuit board processing and, to the foot controlled motor for side of leading leg, control the foot lift of supporting leg side
Rise；After when the rotation along supporting leg side reaches maximum angle, the foot sensor group toe of triggering supporting leg side
Sensor, data feedback control is controlled to the foot controlled motor for side of leading leg after sensing data is handled through main control board
The foot of supporting leg side is put down.
The device realizes semi-passive walking by the way of energy compensating.Apparatus system leg be do not need knee it is straight
Leg, control method is simple；Solved and collided enough by way of foot-up；Device can also be walked using the swing of upper body to walking device
State produces influence, realizes energy-conservation walking naturally.The device has directive significance to passive walking in theory, in practice may be used
For on the rehabilitation medical of leg foot, having sizable application prospect on toy art, or even be also in Military Application
There is of great value potential application.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the connection diagram of hip and upper body；
Fig. 3 is the walking flow chart of device walking manner one；
Fig. 4 is the walking process schematic diagram of device walking manner one；
Fig. 5 is the walking flow chart of device walking manner two；
Fig. 6 is the walking process schematic diagram of device walking manner two；
Fig. 7 is the sideshake process schematic of device；
In figure：1- hips and upper body coupling part；2- hips and the sufficient coupling part of leg；3- upper bodies；4- main control boards；5-
Hip L；6- hips R；7- motors M1；8- motors M2；9- spring systems L；10- spring systems R；11- legs L；12- legs R；13-
Foot L；14- foots R；15- motors A；16- motors B；17- spring systems A；18- spring systems B；19- sensor groups；20- is compiled
Code device；21- connection members；22- cylindrical pieces；23- roller bearings；24- battery packs.
Embodiment
Referring to Fig. 1 and Fig. 2, a kind of straight legs walking device of biped with upper body, including hip and upper body coupling part 1 and hip
With the sufficient coupling part 2 of leg；The hip includes upper body 3 with upper body coupling part 1, is fixed on the main control board 4 in upper body 3,
Control hip is fixedly installed in the hip L 5 and hip R 6 being connected respectively with upper body 3, hip L 5 and hip R 6 inside respectively
The motor M17 and motor M28 of angle, and spring system L 9 and spring system R 10 are swung with foot；The hip connects enough with leg
Socket part points 2 include respectively with hip L 5 and hip R 6 the leg L 11 being fixedly connected and leg R 12, leg L 11 and leg R
12 bottom is hinged foot L 13 and foot R 14, is arranged on hip L 5 and the internal control foot L13 of hip R 6 and foot R
The 14 motor A 15 and motor B 16 for lifting and putting down, and spring system A 17 and spring system B 18.
The leg L 11 and leg R 12 be a pair do not need knee straight legs.
The foot L 13 and foot R 14 are to be connect for a pair to be hinged on leg L 11 and the lower ends of leg R 12 with shaft coupling
The narrow arc foot on leg is connected in toed-out shape, the profile and connected mode of the foot can be with solving device walking processes
In lateral balance the problem of.
Two belts of the spring system A 17 are socketed in motor A 15 and are cased with the rotor of shaft coupling and foot L respectively
On 13 shaft coupling, spring system B 18 two belts are socketed in motor B 16 and are cased with the rotor of shaft coupling and foot respectively
On R 14 shaft coupling；Spring system A 17 two ends and spring system B 18 two ends are respectively fixed on leg by geometrical clamp
Somewhere (the top half somewhere and the latter half somewhere of leg) on portion L 11 and leg R 12, fixed position is it is ensured that spring system
All springs be in extended state in elastic limit.Motor A (B) is by spring system A (B) with the side of pulley drive
Formula control foot is progressively lifted and put down, in order that control is effective, it is necessary to spring system A (B) spring is in nature and stretch
Long status, so that motor A (B) just can be lifted and put down by belt drive foot L (R) once work.
The bottom of the foot L 13 and foot R 14 are provided with sensor group 19, and sensor group 19 is mainly pressure sensing
Device.Keying formula pressure sensor specifically is disposed with the lower arcuate surface of foot, to obtain controlling what foot was lifted and put down
Control data so that positioned at upper body main control board 4 can by these sensor groups obtain control lead leg foot lift with
The related data put down.
The inner panel of the stator and hip L 5 and hip R 6 of the motor M17 and motor M28 is fixed, rotor point
Do not consolidated by the connection member 21 after roller bearing 23 fixed on the madial wall of hip L 5 and the frameworks of hip R 6 with the middle part of upper body 3
It is fixed；Spring system L 9 and spring system R 10 belt are socketed on motor M17 and motor M28 rotor respectively, spring system L
Lower walls of the 9 and spring system R 10 respectively with hip L 5 and the frameworks of hip R 6 is fixedly connected；Hip L 5 and the outsides of hip R 6
Roller bearing 23 of the wall in the connection member 21 in raised cylindrical piece 22 with the outside of upper body 3 is connected.
Motor M17 and motor M28 combine the encoder 20 carried thereon and spring system L (R) control leg L (R) with it is upper
Swing angle between body.Motor M1 (M2) rotating shaft by the lower end inside of bearing clamping upper body 3 close to hip L (R) connection
Part, motor M1 (M2) stator and hip L (R) is fixed.The lower spring end at spring system L (R) two ends and hip L (R) downsides
Plate is fixed, the rotor of the belt socket motor M1 (M2) in the middle of spring system L (R), so as to realize upper body and hip and leg
Swing and realize synchronously.
The upper body 3 is the case that a downside has four connection members 21, two lower ends of connection member 21 in outside
Roller bearing 23 is fixedly installed, is connected by roller bearing with cylindrical piece raised on the outside of hip；Two legs of inner side respectively with motor
M1, M2 rotor are fixed；Inside is provided with main control board 4 and supplying cell group 24.
The main control board 4 be by one or a few circuit board group into offer device walking process in sensor signal
The circuit board that processing is sent with control signal.
The control method of walking device in the present embodiment is as follows：When each step of walking device motion process starts, walking device
Rotated toward supporting leg side, the rotation will trigger the sensor of the foot sensor group heel portion of supporting leg side, sensing data
Data feedback control controls the foot of supporting leg side to the foot controlled motor for side of leading leg after being handled through main control board
Lift；After when the rotation along supporting leg side reaches maximum angle, the foot sensor group toe of triggering supporting leg side
Sensor, after sensing data is handled through main control board data feedback control to side of leading leg foot controlled motor, control
The foot of supporting leg side processed is put down.
The upper body of walking device and two kinds of specific control modes of hip, leg are as follows：
Mode one：The motor reversal (stator rotation) led leg, driving is led leg and with leading leg fixed hip forward
Swing, while while the motor of supporting leg rotates forward (rotor rotation) so as to realize hip with leg exercise, upper body is accordingly swung,
Upper body is set to be in all the time perpendicular to walking surface using the upper body of supporting leg side and the auxiliary adjustment spring system of hip simultaneously.
Mode two：The motor reversal (stator rotation) led leg, driving is led leg and with leading leg fixed hip forward
Swing, while while the motor of supporting leg rotates forward (rotor rotation) so as to realize hip with leg exercise, upper body is accordingly swung,
Simultaneously using the upper body and the auxiliary adjustment spring system of hip of supporting leg side, upper body is pressed from both sides with walking surface vertical line in motion process
Angle α meets following relation between angle θ, supporting leg and walking surface vertical line angle β, two legs：
Specifically, when device works in the present embodiment, implementation process is as follows：
Mode one, flow remains vertical referring to Fig. 4, upper body referring to Fig. 3, walking process with ground：
A) check and connect each part of device, by device across standing in plane of travel, battery is connected with master control borad, will
Main control chip of the control program by downloaded to master control borad, opening device after having downloaded；
B) hip leg controlled motor of leading leg is inverted, and leg of leading leg obtains initial swing torque, while foot of leading leg
Controlled motor is rotated forward so that toe of leading leg pedals ground.Device obtains initial kinetic energy, and lateral rotation along supporting leg side is opened
Begin.
C) device is along supporting leg side lateral rotation, and the foot sensor of supporting leg side is triggered, foot control of leading leg
Motor is stalled, and the lower end spring contraction of the corresponding spring system of foot controlled motor of leading leg, foot of leading leg is lifted, led leg
Forward swing.Supporting leg hip leg controlled motor is rotated forward, and makes upper body in device motion process vertical with walking surface.Device is sufficient along supporting leg
Portion turns to maximum position.
D) device turns to lateral movement maximum angle position, the toe of supporting leg foot sensor group along supporting leg foot
Portion's sensor-triggered, leads leg and is also rocked to the position that side projection is overlapped with supporting leg.Start revolution with rear support leg.
E) supporting leg revolution and continuation forward swing of leading leg, foot controlled motor of leading leg are rotated forward so that foot of leading leg is put
Under, on continue to keep vertical with walking surface in the effect of supporting leg hip thigh motor is lower.Lead leg and land.
F) foot of leading leg lands, and device walking process switches, former the lead leg supporting leg for becoming new, former supporting leg
Become new to lead leg.New foot controlled motor rotating forward of leading leg so that new toe of leading leg pedals ground.
G) foot controlled motor of leading leg is rotated forward so that toe of leading leg pedals ground, hip leg controlled motor reversion of leading leg,
Lead leg leg obtain shaking moment.Supporting leg occurs along supporting leg side in inertia and leading leg in the presence of foot pedals ground
Rotate.
H) device motion process is similar c), d), e), and simply the supporting leg of device and leading leg is switched, correspondence electricity
Machine A, B, M1, M2 working condition also accordingly switch.
Mode two, flow keeps the stabilization of walking device by the swing to upper body referring to Fig. 5, walking process referring to Fig. 6：
A) check and connect each part of device, by device across standing in plane of travel, battery is connected with master control borad, will
Main control chip of the control program by downloaded to master control borad, opening device after having downloaded；
B) hip leg controlled motor of leading leg is inverted, and supporting leg hip thigh motor is rotated forward, and upper body starts forward swing, and leads leg
Leg obtains initial swing torque, while foot controlled motor rotating forward of leading leg so that toe of leading leg pedals ground.Device is obtained just
Initiating energy, and lateral rotation along supporting leg side starts.
C) device is along supporting leg side lateral rotation, foot controlled motor of leading leg stalling, foot controlled motor of leading leg
The lower end spring contraction of corresponding spring system, foot of leading leg is lifted, forward swing of leading leg, and upper body starts backswing, device motion
During haveAngular relationship.Supporting leg turns to maximum position along its foot.
D) supporting leg turns to lateral movement maximum angle position along its foot, leads leg and is also rocked to side projection and branch
The position that support leg is overlapped.Start revolution with rear support leg.
E) supporting leg is turned round, and continuation forward swing of leading leg, upper body is accordingly put afterwards, and foot controlled motor of leading leg is rotated forward, and will be put
Dynamic leg foot is put down.Lead leg and land.
F) foot of leading leg is landed, and device walking process switches, and original is led leg as new supporting leg, former supporting leg
Led leg as new, upper body returns to the position overlapped with walking surface vertical line, rotate forward, make with stylish foot controlled motor of leading leg
Obtain toe of newly leading leg and pedal ground.
G) foot controlled motor of leading leg is rotated forward so that toe of leading leg pedals ground, hip leg controlled motor reversion of leading leg,
Supporting leg hip thigh motor is rotated forward, and upper body starts forward swing, and leg of leading leg obtains initial swing torque.Supporting leg in inertia and
Foot of leading leg pedals the rotation occurred in the presence of ground along supporting leg side.
H) device motion process is similar c), d), e), and simply the supporting leg of device and leading leg is switched, correspondence electricity
Machine A, B, M1, M2 working condition also accordingly switch.
The stereogram of above walking process is as shown in Figure 7.
Claims (9)
1. a kind of straight legs walking device of biped with upper body, it is characterised in that：Including hip and upper body coupling part (1) and hip and
Leg foot coupling part (2)；The hip includes upper body (3) with upper body coupling part (1), is fixed on the master control electricity in upper body (3)
Road plate (4), the hip L (5) and hip R (6) being connected respectively with upper body (3), control hip is fixedly installed in hip L (5) inside
The motor M1 (7) and spring system L (9) of angle are swung with foot, control hip and foot is fixedly installed in hip R (6) inside
Swing the motor M2 (8) and spring system R (10) of angle；The sufficient coupling part (2) of the hip and leg include respectively with hip L
(5) the leg L (11) and leg R (12) being fixedly connected with hip R (6), leg L (11) and leg R (12) bottom are hinged foot
Portion L (13) and foot R (14), is arranged on motor A (15) and spring that hip L (5) internal control foot L (13) is lifted and put down
System A (17), is arranged on motor B (16) and spring system B that hip R (6) internal control foot R (14) is lifted and put down
(18)；Two belts of the spring system A (17) are socketed in motor A (15) and are cased with the rotor of shaft coupling and foot L respectively
(13) on shaft coupling, spring system B (18) two belts be socketed in respectively motor B (16) be cased with the rotor of shaft coupling and
On foot R (14) shaft coupling；Spring system A (17) two ends and spring system B (18) two ends respectively pass through geometrical clamp
Somewhere, fixed position on leg L (11) and leg R (12) are fixed on it is ensured that all springs of spring system are in elastic limit
Extended state in degree.
2. straight legs walking device of a kind of biped with upper body according to claim 1, it is characterised in that：The leg L (11) and
Leg R (12) be a pair do not need knee straight legs.
3. straight legs walking device of a kind of biped with upper body according to claim 1, it is characterised in that：The foot L (13) and
Foot R (14) is to be hinged on being connected in toed-out shape on leg for leg L (11) and leg R (12) lower end for a pair with shaft coupling
Narrow arc foot.
4. according to a kind of straight legs walking device of any one of Claim 1-3 biped with upper body, it is characterised in that：The foot
Portion L (13) and foot R (14) bottom are provided with sensor group (19), and sensor group (19) is pressure sensor.
5. according to a kind of straight legs walking device of any one of Claim 1-3 biped with upper body, it is characterised in that：The electricity
The inner panel of machine M1 (7) and motor M2 (8) stator and hip L (5) and hip R (6) is fixed, and rotor passes through hip L respectively
(5) fixed roller bearing (23) is fixed with the connection member (21) in the middle part of upper body (3) afterwards and on the madial wall of hip R (6) framework；Bullet
Spring system L (9) and spring system R (10) belt are socketed on motor M1 (7) and motor M2 (8) rotor respectively, spring system
System L (9) and lower walls of the spring system R (10) respectively with hip L (5) and hip R (6) framework are fixedly connected；Hip L (5) and
Hip R (6) lateral walls are connected by raised cylindrical piece (22) with the roller bearing (23) in the connection member (21) on the outside of upper body (3).
6. straight legs walking device of a kind of biped with upper body according to claim 1, it is characterised in that：The upper body (3) is one
Individual downside has the case of four connection members (21).
7. straight legs walking device of a kind of biped with upper body according to claim 1, it is characterised in that：The main control board
(4) be by one or a few circuit board group into offer device walking process in sensor signal processing send with control signal
Circuit board.
8. according to the control method of any one of claim 1 to 7 walking device, it is characterised in that：Walking device motion process
When each step starts, walking device is rotated toward supporting leg side, and the rotation will trigger the foot sensor group heel of supporting leg side
The sensor in portion, after sensing data is handled through main control board data feedback control to side of leading leg foot controlled motor,
The lead leg foot of side of control is lifted；After when the rotation along supporting leg side reaches maximum angle, supporting leg side is triggered
Foot sensor group toe sensor, data feedback control is to leading leg one after sensing data is handled through main control board
The foot controlled motor of side, the lead leg foot of side of control is put down.
9. the control method of walking device according to claim 8, it is characterised in that：Two ways is used in motion process：One
It is that upper body remains vertical with ground to plant；Another is upper body and walking surface vertical line angle theta, and supporting leg is pressed from both sides with walking surface vertical line
Angle α meets following relation between angle beta, two legs：
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105799806B (en) * | 2016-03-18 | 2017-11-10 | 重庆邮电大学 | A kind of three-dimensional apery walking device and its control method |
| CN107363811B (en) * | 2017-07-18 | 2020-11-20 | 深圳龙海特机器人科技有限公司 | Exoskeleton lower limb and wearable robot |
| CN109263747A (en) * | 2018-09-30 | 2019-01-25 | 重庆电子工程职业学院 | Eight sufficient bio-robots and science popularization external member |
| CN114044065B (en) * | 2021-11-10 | 2024-01-26 | 江苏科技大学 | Lower limb structure of biped robot and movement method thereof |
| CN115120473B (en) * | 2022-06-23 | 2023-04-18 | 北京航空航天大学 | Walking-aid exoskeleton for paraplegic patient |
| CN115465382A (en) * | 2022-10-10 | 2022-12-13 | 吉林大学 | Passive biped robot with bionic hip joint and ankle joint |
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Effective date of registration: 20210426 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 |
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