CN112639295B

CN112639295B - Double-fluid load mutual feedback automatic control device, driving method thereof and foot-type mobile machine

Info

Publication number: CN112639295B
Application number: CN201980049656.3A
Authority: CN
Inventors: 白保忠
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-04-28
Filing date: 2019-04-28
Publication date: 2023-10-13
Anticipated expiration: 2039-04-28
Also published as: CN112639295A; WO2020220165A1

Abstract

A dual fluid load mutual feedback automatic control device, a driving method thereof and a foot-type mobile machine. The double-fluid load mutual feedback automatic control device utilizes the special structure installation relation of the two fluid loads to enable the two fluid loads to timely and mutually feedback pressure, and automatically adjusts the moving speed of the two fluid loads corresponding to different working conditions, is applied to a foot-type mobile machine, can reduce the number of local parts, simplifies a control mechanism, and reduces power consumption and manufacturing cost.

Description

Double-fluid load mutual feedback automatic control device, driving method thereof and foot-type mobile machine

Technical Field

The invention relates to an automatic control device and a driving method thereof, in particular to a double-fluid load mutual feedback automatic control device, a driving method thereof and a foot-type mobile machine.

Background

The existing automatic control device is based on feedback and closed-loop control, and mainly comprises: the signal generator translates various physical quantities with different properties fed back into electronic signals, which are also called sensors; the signal flow exchanges electronic signals through a wired or wireless electronic transmission mode and comprises uplink and downlink; the controller integrates all input electronic signals and outputs electronic control signals through a set program; the actuator, which receives the electronic control signal and converts it into a logic mechanical action, generally includes a power amplifying function. The automatic control device originates from a centrifugal controller of the steam engine, and in the centrifugal controller of the steam engine, the centrifugal ball integrates a signal generator, a signal flow, a controller and an actuator, so that the automatic control of the steam engine is simple and reliable. In other equipment environments like steamers, which only need to transmit signals at close distances, signal generators, signal flows, controllers, and actuator simplifications or partial simplifications have a unique effect on reducing mechanical energy consumption, cost, and failure rate.

Existing mobile machines mainly include wheeled mobile machines and foot mobile machines, the wheeled mobile machines must be able to pass by means of continuous support points, while foot mobile machines are able to pass by means of discontinuous support points when there is no road. The existing foot-type mobile machine is provided with a servo actuator at each kinematic pair, various sensors are assisted, a complex control algorithm is adopted, and a program is programmed to accurately control the displacement of each servo actuator.

Disclosure of Invention

The invention aims to provide a double-fluid load mutual feedback automatic control device, which solves the problem of a large number of structural parts of the existing foot-type mobile machine.

The second purpose of the invention is to provide a driving method of two double-fluid load mutual feedback automatic control devices and an optimized driving method thereof, so as to simplify the control strategy of the existing foot-type mobile machine.

The invention aims to provide a bionic foot-type mobile machine, which alternately supports the gravity centers of two groups of double-fluid load mutual feedback automatic control devices, so that the foot-type mobile machine is enabled to generate a ground-leaving state and complete space displacement under the working conditions of low power consumption and low frequency.

One of the objects of the present invention is achieved by: a double-fluid load mutual feedback automatic control device comprises:

a first reciprocating fluid load disposed on the frame for providing reciprocating rotational motion for driving the second reciprocating fluid load to reciprocate similar to a simple pendulum;

the second reciprocating fluid load is arranged on the first reciprocating fluid load relative motion component (rotary output shaft), the relative fixed component of the second reciprocating fluid load is connected with the relative motion component of the first reciprocating fluid load, the axial distance between the end part of the relative motion component and the axial center of the first reciprocating fluid load relative motion component is variable, the second reciprocating fluid load is used for changing the cycloid length, and the end part of the relative motion component is a center of gravity fulcrum of the total mass of the double-fluid load mutual feedback automatic control device and other auxiliary devices;

a fluid discharge conduit for communicating the working chamber of the first reciprocating fluid load with the working chamber of the second reciprocating fluid load; and an intermittent fluid power source connected to the fluid discharge pipe for intermittently supplying the fluid working medium to the whole device.

The first reciprocating fluid load comprises a rotary reciprocating fluid load which directly converts fluid pressure into rotary motion and a linear reciprocating fluid load which indirectly realizes rotary reciprocating motion, and the indirect rotary reciprocating motion means that the linear reciprocating fluid load converts the fluid pressure into linear reciprocating motion and then drives other mechanical structures, so that the fluid pressure finally outputs power in a rotary reciprocating motion mode. The design scheme of the linear reciprocating fluid load and other mechanical structures which are mutually matched to convert linear reciprocating motion into rotary reciprocating motion can be seen in a hydraulic cylinder and design thereof published by China national defense industry Press, book number ISBN978-7-118-07583-0. The use of a linear reciprocating fluid load in combination with a lever type mechanism design to output rotary reciprocating motion in this specification means "rotary reciprocating fluid load".

The first reciprocating fluid load is hereinafter referred to as a "wobble load".

Similarly, the second reciprocating fluid load includes a linear reciprocating fluid load that directly converts fluid pressure into linear motion and a rotary reciprocating fluid load that converts fluid pressure into rotary reciprocating motion and drives other mechanical structures, so that the fluid pressure is finally output in a linear reciprocating manner.

The second reciprocating fluid load is opposite the moving part end or other mechanical structure moving part end driven by the second reciprocating fluid load, the axial distance of the moving part relative to the first reciprocating fluid load is variable for varying the cycloid length in two ways:

1. the linear reciprocating direct output mode uses linear reciprocating fluid load, the axial lead of the piston rod is overlapped with cycloid, the cycloid length is the distance from the end of the linear reciprocating fluid load relative to the fixed part to the end of the piston rod piston, and the telescopic piston rod directly realizes the cycloid length variable. 2. The rotary reciprocating conversion output mode uses a rotary reciprocating fluid load to output in a rotary reciprocating mode or uses a linear reciprocating fluid load to convert fluid pressure into linear reciprocating motion and then drives other mechanical structures, so that the fluid pressure is finally output in the rotary reciprocating mode, the rotary reciprocating output shaft is fixedly connected with a supporting rod, and when the supporting rod swings in a reciprocating mode, the distance between the other end of the supporting rod and the rotating axis of the swinging load relative to the rotating part is continuously changed, and the distance is the cycloid length of the double-fluid load mutual feedback automatic control device.

The second reciprocating fluid load is hereinafter referred to as the "pendulum load".

The reciprocating fluid load does not realize the cyclic repetitive motion without a resetting device, and the resetting device is not marked in the drawing of the specification for simplicity of the drawing. The resetting device can be a passive energy storage and re-release resetting device such as a spring and an energy accumulator, for example, a solid elastic deformation type, a compressed gas type, a magnetic repulsive force type, a gravity type and the like, or an active resetting device such as another fluid power source with different phases.

The reset device of the swinging load and the reset device of the swinging load are respectively arranged, the ratio of the energy storage capacity to the energy storage pressure of the two reset devices is adjusted, the relative motion phase of the swinging load and the swinging load is changed, and an asynchronous state is generated to adapt to different road conditions. According to actual needs, the resetting device of the swinging load and the swinging length load can also share one device.

If the reset device of the fluid load is used as the force application object, the invention can be described as follows: the automatic mutual feedback controller for double energy accumulating units consists of two energy accumulating units, one with two fluid working medium to transfer pressure, and the two energy accumulating units change the spatial position of the other side simultaneously.

One end of the swing length load hinged with the swing rotation load rotary output shaft is used as a relative fixed part, and the other end of the swing length load is a relative moving part which is a gravity center fulcrum of all the masses of the double-fluid load mutual feedback automatic control device and other accessory devices. When the pendulum length load is selected as a linear reciprocating fluid load, the relative motion part is generally a piston rod, when the pendulum length load is applied to a foot-type mobile machine, the relative motion part is used as a ground contact part, the working environment is bad, the cylinder barrel is preferably a relative motion part, and two fluid passages are arranged in the piston rod and are used as relative fixing parts and are connected with a pendulum rotation load output shaft. In order to meet the habit, the present specification still describes a piston rod as a relatively moving part.

On an organism, the muscle can only "pull" one form of force by contracting the output. For example, the ankle joint realizes plantar flexion, the shank and the foot surface are lever structures, the ankle joint is a fulcrum, the muscle of the rear group of the shank contracts to pull the calcaneus, the toe of the foot arch stretches elastically, the length of the lower limb is indirectly increased, the force application point and the force bearing point are respectively located on two sides of the fulcrum, and the movement directions are opposite. The fluid load output power has two force application modes of pushing and pulling, the illustration of the present specification uses the common pushing force application mode of the fluid load, which is equivalent to the change of the muscle of the rear group of the lower leg into the muscle of the front group, the force application point and the force receiving point are located on one side of the fulcrum, the force application point is consistent with the movement direction of the force receiving point, thus the swing load is directly sprung and stretched to increase the length of the lower limb relative to the stretching action bionic toe of the moving part, and the principle is the same.

The pendulum-length load, pendulum-spin load fluid working medium may be an incompressible liquid fluid or may be other fluids that can be compressed to a limited extent. The limited compression of the fluid working medium may create a delayed motion of the fluid load, which may be used in the present invention as a method of adjusting the phase.

The fluid discharge pipe refers to a device capable of containing fluid to flow freely in the fluid discharge pipe and preventing the fluid from exchanging with external substances, and a plurality of fluid discharge ports are arranged on the fluid discharge pipe according to the system requirement to be communicated with a plurality of working cavities of fluid loads (including fluid power sources).

The double-fluid load mutual feedback automatic control device can generate different motion tracks by needing to asynchronously move the pendulum long load and the pendulum rotary load in response to different road conditions, and needs to adjust the mutual feedback quantity of the pendulum long load and the pendulum rotary load to control the bidirectional non-equivalent flow of fluid, and the adjusting means can be as follows: and adjusting the cross-sectional area proportion and the stroke proportion of the pistons of the two loads, adjusting the cross-sectional area of a fluid channel entering the two loads to form a throttle, and arranging other fluid discharge passages of a fluid control valve in parallel with the throttle for forming the throttle by the fluid discharge pipe.

When the device of the present invention is required to operate continuously, an intermittent fluid power source is required to provide energy input. Intermittent fluid power source refers to a pressure fluid power source that includes two operating states (a fluid supply state that provides pressure fluid to a load and a fluid recovery state that causes pressure fluid to be discharged from the load). The pressurized fluid supplied by the fluid power source may be an incompressible liquid or may be other fluid that can be compressed to a limited extent. When the dual fluid load mutual feedback automatic control device has enough potential energy, the intermittent fluid power source can be a pseudo power source when the speed is reduced or other energy is supplied (such as gravitational potential energy), namely, the fluid power source is controlled to temporarily not supply fluid working medium.

The double-fluid load mutual feedback automatic control device is used as a foot-type mobile machine, and the bionic division is as follows:

the swing load, the swing load and the intermittent fluid power source are connected together to form a whole body to be used as a lower limb, wherein the swing load drives the swing load to swing in a reciprocating manner. The swing-rotation load output shaft bionic hip joint swings lower limbs, the swing-length load relative fixed part bionic leg swings, the swing-length load relative motion part bionic knee joint swings, the telescopic leg length (the knee joint drives the lower leg to be similar to the ankle joint drives the arch of foot to be similar in function, the telescopic leg length is considered as two in one), the end part of the swing-length load relative motion part is the swing axis of the foot-type mobile machine, and the end part of the swing-length load relative motion part bears the whole weight of the foot-type mobile machine and is bionic feet.

The first driving method of the second object of the present invention is achieved by: a driving method of a double fluid load out-of-one feedback automatic control device comprises the following steps:

a. the double-fluid load mutual feedback automatic control device is arranged, the intermittent fluid power source is a pseudo power source, and when the pendulum long load is in a rod-out state and the pendulum rotary load is in a reset state, the device is filled with fluid; in the initial state, the double-fluid load is received from the automatic control device, and the automatic control device is in a ground-leaving state and has enough gravity or inertia potential energy;

b. Under the action of potential energy, the end part of a piston rod of the pendulum load bears the whole weight of the whole device, when the end part of the piston rod touches the ground, the return rod starts, the cycloid length is shortened, the gravitational potential energy is converted into fluid pressure to act on a piston of the pendulum load, a reset device of the pendulum load enters an energy storage state, and meanwhile, the pendulum load drives the pendulum load to swing; when gravitational potential energy is fully converted into energy of the swinging load resetting device, the swinging load resetting device reaches a maximum energy storage state and starts to reset, the swinging load resetting device drives a piston of the swinging load to reset, a piston rod of the swinging load is indirectly driven to discharge a rod, the cycloid length is increased, when the acting force of the end part of the piston rod to the ground is larger than the inertia of the dual-fluid load mutual feedback automatic control device, the dual-fluid load mutual feedback automatic control device vacates the ground along the swinging direction of the piston rod of the swinging load, falls to the next supporting point, and completes and keeps the swinging load in the rod discharging state and the swinging load in the resetting state under the action of the swinging load resetting device in vacation time;

c. and (c) repeating the step (b) after the first cycle is completed, and completing the set spatial displacement by the double-fluid load mutual feedback automatic control device when the initial potential energy is completely consumed.

The second driving method of the second object of the present invention is achieved by: a driving method of a double-fluid load common-receiving and mutual feedback automatic control device comprises the following steps:

a. setting the double-fluid load mutual feedback automatic control device, and filling the device with fluid when the pendulum length load is in a back rod state and the rotary reciprocating fluid load is in a reset state; in the initial state, the pendulum load is in a grounding state; providing an intermittent fluid power source communication fluid discharge pipe;

b. under the action of an intermittent fluid power source, the end part of a piston rod of a pendulum long load bears the whole weight of the whole device, the end part of the piston rod touches the ground to start to output a rod, and meanwhile, the pendulum rotary load drives the pendulum long load to swing; when the acting force of the end part of the piston rod to the ground is larger than the inertia of the dual-fluid load mutual feedback automatic control device, the dual-fluid load mutual feedback automatic control device vacates the ground along the swinging direction of the piston rod of the dual-fluid load mutual feedback automatic control device, falls to the next supporting point, stops providing pressure fluid by an intermittent fluid power source in the vacation time, discharges fluid under the action of respective reset devices of the swinging load and the swinging load, returns the rod and keeps a return rod state;

c. And (3) finishing the first cycle, repeating the step (b), and finishing the set spatial displacement by the double-fluid load mutual feedback automatic control device.

In the second driving method of the second object of the present invention, step b may be designed to reset and maintain a reset state when the intermittent fluid power source stops supplying the pressure fluid and the swing load discharges the fluid under the action of the reset device during the flight time; the swing length load keeps the state of the discharge rod without discharging the fluid, and approaches to the state of the step a of the first driving method of the second object of the present invention. When the step b is repeated in the second cycle, the end part of a piston rod of the pendulum load bears the whole weight of the whole device, when the end part of the piston rod touches the ground, the return rod is started, the pressure energy and the inertia potential energy of the intermittent fluid power source are simultaneously converted into fluid pressure to act on a piston of the pendulum load, and the pendulum load drives the pendulum load to swing; the piston rod of the pendulum long load bears bidirectional pressure, contracts and stretches first, when the downward acting force to the ground is larger than the inertia of the dual-fluid load mutual feedback automatic control device, the dual-fluid load mutual feedback automatic control device vacates the ground along the pendulum long load piston rod swinging direction, and falls to the next supporting point.

In the second driving method of the second object of the present invention, in the step b, during the flight time, the intermittent fluid power source may be designed to stop supplying the pressure fluid, swing the load to discharge the fluid under the action of the resetting device, return the rod and maintain the return rod state; when repeating the second action, the initial start time of the intermittent fluid power source is advanced, and before the double-fluid load mutual feedback automatic control device touches the ground, the swing load is set to complete or partially complete the rod-out action, and the state of the step a of the first driving method is also similar to the second object of the invention.

The two designs can be understood as the phase adjustment category of the second driving method of the second object of the invention, and can be also understood as the switching use of the two driving methods, so as to recover inertial potential energy, utilize gravitational potential energy and lighten the vibration of the whole device. In the switching process, if the capacity, the force application direction, the resetting device and the like of the original swinging load and the swinging length load do not meet the switching matching requirement, the original swinging load can be connected with another swinging load meeting the matching requirement in parallel through a fluid single-pole double-throw switch, and the switching substitution is performed at the proper moment. The long load bionic leg is not easy to backup and replace.

In the two driving methods of the second object of the invention, the pendulum length load is selected from linear reciprocating fluid load, the pendulum length load is bionic leg relative to the fixed part, thigh and shank are not distinguished, and the piston rod of the linear reciprocating fluid load bears lateral component force. In order to prolong the service life of the machine and reduce the energy consumption, knee joints are arranged to separate thighs and calves, the swing angle of the central axis of the linear reciprocating fluid load is reduced by separating thighs and calves, and the linear reciprocating fluid load is always vertical (or nearly vertical) to the ground, so that the lateral component force is eliminated. The swing rotation load output shaft rotation angle is increased, the step length is unchanged, the lower limb ground clearance height of the double-fluid load mutual feedback automatic control device is increased, obstacle surmounting and climbing capacity is improved, and actions similar to squatting, standing, climbing stairs and the like can be completed.

The invention provides a method for applying two double-fluid load mutual feedback automatic control devices to knee joint setting, so as to optimize a driving method for the second purpose of the invention.

The first optimized driving method of the second object of the present invention is realized by: a method for applying a double-fluid load mutual feedback automatic control device to knee joint setting, namely a swinging load driving knee joint to rotate, comprises the following steps:

a. the swinging load is arranged on the rack;

the swing length load relative fixed part is in fixed connection with the swing rotation load output shaft. The swing load output shaft drives a swing rod (a swing rod bionic thigh), the swing length load is hinged on the swing rod relative to a fixed part (a bionic shank), and the hinge shaft bionic knee joint realizes thigh and shank separation; the end part of the swing length load relative to the moving part still serves as a gravity center fulcrum of the whole device, and the hinged shaft and an output shaft (hip joint) of the swing rotation load are provided with reversing locking devices, so that the two shafts synchronously act and the rotating directions are opposite; and

a fluid discharge pipe for communicating the working chamber of the pendulum load with the working chamber of the pendulum load,

b. the swing load indirectly drives the shank hinge shaft to swing back and forth through the reversing locking device, the two shafts synchronously rotate, meanwhile, the length of the swing load per se increases and decreases, the included angles of the thigh (the connecting line between the center of the hinge shaft and the center of the swing load output shaft) and the shank (the center axis of the swing load) are gradually changed, the linear distance (cycloid length) of the two end points is continuously changed, and the characteristic that the lengths (cycloid length) of the axes of the first swing load and the second swing load are variable is equivalent to the driving method.

The second optimized driving method of the second object of the present invention is realized by: a method for applying a double-fluid load mutual feedback automatic control device to knee joint setting, namely a method for driving knee joint to rotate by a pendulum length load, comprises the following steps:

a. the swinging load is arranged on the rack; the swing length load relative fixed part is in fixed connection with the swing rotation load output shaft. The swing load output shaft drives a swing rod (a swing rod bionic thigh), a swing length load is fixed on the swing rod relative to a fixed part, the swing length load adopts a rotary reciprocating fluid load mechanism or a mechanism of which the linear reciprocating fluid load is matched with other mechanisms to output rotary reciprocating motion, the mechanism rotary output shaft is fixedly connected with a support rod (a mechanism bionic shank), and the mechanism rotary output shaft bionic knee joint is used for realizing thigh and shank separation; the end of the supporting rod is used as a center of gravity fulcrum of the whole device, and the installation direction of the pendulum length load or the fluid inlet and outlet are adjusted, so that the hip joint (pendulum rotation load output shaft) and the knee joint (mechanism rotation output shaft) synchronously act, and the rotation directions are opposite. And the fluid discharge pipe is used for communicating the working containing cavity of the swinging load with the working containing cavity of the swinging load.

b. In the synchronous rotation process of the two shafts, the pendulum long load swings back and forth along with the pendulum rotary load swinging rod, and meanwhile, the supporting rod fixedly connected with the rotary output shaft of the pendulum long load mechanism also swings back and forth. The included angle between thigh (the connection line between knee joint axis and hip joint axis) and shank (support bar) is changed gradually, the straight line distance (cycloid length) at two ends is changed continuously, and the equivalent driving method is characterized in that the length (cycloid length) of the load axis of the first swing length and the second swing length is variable.

The method has the advantages that the shank is of a fixed length, and the shank can also be used as a passive energy storage and release resetting device with a variable length, such as a spring, so as to synchronously perform passive actions and shock absorption.

The second knee joint setting method of the second object of the invention can realize the synchronous motion of the two axes of the hip joint and the knee joint without setting other reversing linkage devices, and the rotation directions are opposite, and can be also understood as a reversing locking device required by the knee joint setting method. The second optimized driving method of the second object of the present invention is combined with the first optimized driving method of the present invention to drive the knee joint, as shown in fig. 2-3. In order to complete more accurate and complex movements of the foot-type mobile machine in more directions, a plurality of groups of double-fluid load mutual feedback automatic control devices can be arranged in the corresponding movement directions of the thighs.

The third object of the present invention is to provide a bionic foot type mobile machine comprising:

a bionic foot-type mobile machine at least uses two groups of double-fluid load mutual feedback automatic control devices, and the two groups of automatic control devices are arranged to alternately support the gravity centers of the two groups of automatic control devices, so as to delay the gravity center descending time.

A method for setting the center of gravity of a bionic foot-type mobile machine, wherein two groups of automatic control devices alternately support each other, comprises the following steps: the two reciprocating fluid loads of the same function of the two groups of automatic control devices are reset devices mutually opposite to each other. In view of the fact that the pendulum length load and the pendulum rotation load of the double-fluid load mutual feedback automatic control device are always connected, the pendulum length or pendulum rotation load with the same function of the two groups of automatic control devices can be reset by mutually opposite pendulum length or pendulum rotation load, the gravity centers of the two groups of automatic control devices can be alternately supported, and the pendulum length and pendulum rotation load with the same function of the two groups of automatic control devices are not needed to be simultaneously satisfied by the reset devices mutually opposite to each other. The two groups of automatic control devices have different relative positions in space, and different reset device schemes which are mutually opposite can be selected. The mechanical design scheme of the reset devices which are mutually opposite can be fixed pulleys, four-gear combination, three-bevel gear combination, steel wire inhaul cable, hydraulic locking and the like.

A preferred setting method for the bionic foot type mobile machine, wherein the two groups of automatic control devices alternately support the gravity centers of the two groups of automatic control devices, comprises the following steps:

the invention provides a resetting device with a hydraulic locking scheme, which realizes the same functions of two groups of automatic control devices and has mutually opposite reciprocating fluid loads: the two reciprocating fluid loads with the same functions of the two groups of foot-type mobile devices both use double-acting reciprocating fluid loads, when one double-acting reciprocating fluid load is in a rod outlet state and the other double-acting reciprocating fluid load is in a rod return state, a rod return cavity communicated with the two double-acting reciprocating fluid loads is filled with flowable working mediums in the rod return cavity and a pipeline communicated with the rod return cavity, so that the rod return cavity of the two double-acting reciprocating fluid loads and the pipeline communicated with the rod return cavity form an independent fluid pressure system, synchronous action is realized, and the action directions are opposite.

The hydraulic locking scheme may be: the swinging load of the two groups of double-fluid load mutual feedback automatic control devices is a double-acting reciprocating fluid load, the rod returning cavities of the two swinging loads are communicated through a communicating pipe, incompressible fluid is filled in the rod returning cavities, and the two swinging loads are reset devices of each other.

The hydraulic locking scheme may also be: the swing length loads of the two groups of double-fluid load mutual feedback automatic control devices are double-acting reciprocating fluid loads, the rod return cavities of the two swing length loads are communicated through a communicating pipe, incompressible fluid is filled in the rod return cavities, and the two swing length loads are reset devices of each other.

If the primary force mode of the double acting reciprocating fluid load is "pull", the hydraulic locking scheme communication may also be an out-rod chamber. In order to meet the choice of reliability and delay of the action, incompressible liquid or other fluids with limited compression can be selected, and if necessary, the fluid or partial fluid in the return rod cavity and the pipeline communicated with the return rod cavity can be discharged, so that the relative working phases of two interconnected reciprocating fluid loads can be adjusted until the linkage locking is released. Or the energy storage device with limited compression volume is filled in the rod return cavity and a pipeline communicated with the rod return cavity, the fluid working medium is compressed to a limited extent to form the delay motion of fluid load, and the adjustment of the precompression of the fluid which is compressed to a limited extent is also a method for adjusting the phase.

The bionic foot type mobile machine has the beneficial effects that: the two driving methods of the second object of the invention require kinetic energy supply with enough power, and the space displacement is characterized by rapidness and jumping. The setting method of the two groups of automatic control devices for alternately supporting the gravity centers of the two groups of automatic control devices utilizes kinetic energy with lower power to finish the reset action of the swinging load and the swinging length load in the air, and finally realizes the spatial displacement under lower stepping frequency.

The bionic foot type mobile machine has the beneficial effects that the two groups of automatic control devices alternately support the setting method of the gravity centers of the two groups of automatic control devices: the reciprocating fluid loads with the same function are reset devices of each other, so that the reset devices of the intermittent fluid power sources of each other are indirectly realized, and if the system is needed, the fluid power source of one group of automatic control devices can be a passive power source, namely, the automatic control devices can be a passive energy storage and release reset device, such as a spring and an energy accumulator.

The bionic foot type mobile machine has the beneficial effects that the two groups of automatic control devices alternately support the setting method of the gravity centers of the two groups of automatic control devices: the two groups of automatic control devices alternately displace, so that when the fluid power source is changed into a fluid recovery state under the lower stepping frequency, the swinging load finishes the reset action, the action of swinging the long load and shrinking the piston rod is finished in the air, and when the continuous supporting points are not in the same horizontal plane, the fluid discharge pipe pressure (the pressure is generated by the self weight and the load of the foot type mobile machine) is used as a trigger condition, the single-time supply volume of the fluid power source is controlled and regulated, the single-time supply volume is not larger than the theoretical maximum value, namely, the single-time supply volume of the intermittent fluid power source is smaller than the sum of the swinging load and the swinging long load working volume, the minimum value of the single-time supply volume is determined by the total weight of the foot type mobile machine, the load determines the pressure, and the minimum pressure generated by the intermittent fluid power source to overcome the total weight must be enough to drive the swinging load action to form the minimum stride (the force application position and the piston area of the swinging load are regulated to help to achieve the aim). The single supply volume of fluid of the fluid power source is not larger than the theoretical maximum value, so that the swing length load piston rod has different rod outlet lengths, the hydraulic power source is suitable for supporting points with different heights, the obstacle crossing capacity of the hydraulic power source is enhanced, and the gravity center of the foot-type mobile machine is maintained to be at the same horizontal plane to the greatest extent.

The invention also provides a foot-type mobile machine, which comprises a plurality of groups of double-fluid load mutual feedback automatic control devices:

a group of double fluid load mutual feedback automatic control device comprises: a first reciprocating fluid load disposed on the frame for providing reciprocating rotational motion for driving the second reciprocating fluid load to reciprocate similar to a simple pendulum;

a fluid discharge conduit for communicating the working chamber of the rotary reciprocating fluid load with the working chamber of the linear reciprocating fluid load; and

an intermittent fluid power source is connected with the fluid discharge pipe for intermittently providing fluid working medium.

The second reciprocating fluid load swinging shaft and the first reciprocating fluid load rotating output shaft are linked through a reversing locking device, the rotating output shaft and the swinging shaft synchronously act, and the rotating directions are opposite;

The linkage form of the two groups of double-fluid load mutual feedback automatic control devices can be as follows: the two groups of double-fluid load mutual feedback automatic control devices are reset devices, the swing length loads of the two groups of double-fluid load mutual feedback automatic control devices are double-acting reciprocating fluid loads, the rod returning cavities of the two swing length loads are communicated through a communicating pipe, incompressible fluid is filled in the rod returning cavities, and the two swing length loads are mutually opposite.

The linkage form of two groups of double-fluid load mutual feedback automatic control devices in the two groups of double-fluid load mutual feedback automatic control devices can also be as follows: the swinging load of the two groups of double-fluid load mutual feedback automatic control devices is a double-acting reciprocating fluid load, the rod returning cavities of the two swinging loads are communicated through a communicating pipe, incompressible fluid is filled in the rod returning cavities, and the two swinging loads are reset devices of each other.

The double-fluid load mutual feedback automatic control device utilizes the special structure installation relation of the two fluid loads to enable the two fluid loads to timely and mutually feedback pressure, and automatically adjusts the moving speed of the two fluid loads corresponding to different working conditions, is applied to a foot-type mobile machine, can reduce the number of local parts, simplifies a control mechanism, and reduces power consumption and manufacturing cost.

The double-fluid load mutual feedback automatic control device of the invention ensures that the pressure fluid acts like a centrifugal ball of a centrifugal controller of a steam engine, integrates a signal generator, a signal flow, a controller and an actuator, is applied to a foot-type mobile machine, reduces the number of parts of the local part of the foot-type mobile machine, simplifies a control mechanism, ensures that the self-balancing pressure of two kinematic pairs (hip joints and ankle joints) of the foot-type mobile machine is timely generated, and generates a space movement track of a foot-like organism so as to solve the problems of complicated control and high power consumption of the traditional foot-type mobile machine.

Drawings

Fig. 1-1 is a schematic view of the structure of the device of example 1.

Fig. 1-2 are schematic structural views of the device described in example 2.

Fig. 2-1, 2-2-2, 2-2-3, 2-3 are schematic structural illustrations of a single-limb biomimetic foot-type mobile device knee joint arrangement.

FIG. 3-1 is a schematic diagram of two sets of reset devices with the device described in embodiments 1 or 2 connected in parallel and the swinging load being the other set.

Fig. 3-2 are schematic structural diagrams of two sets of reset devices with parallel connection and swing load as the other set of devices in embodiment 1 or 2.

Fig. 3-3 are schematic diagrams of intermittent fluid power source structures in which two sets of devices described in embodiments 1 or 2 are connected in parallel, the pendulum loads are reset devices of each other, and the pendulum loads are reset devices of each other.

Fig. 3-4 are schematic structural diagrams of two sets of parallel intermittent fluid power sources for controlling the pendulum load and the pendulum load of each other according to the device of embodiment 1 or 2.

In the figure: 1. the device comprises a frame, 2, a swinging load, 3, a swinging load output shaft, 4, a swinging rod, 5, an intermittent fluid power source, 6, a fluid discharge pipe, 7, a swinging load, 8, a swinging load trunnion, 9, a swinging load rotary output shaft, 10, a first swinging load, 11, a first swinging load, 12, a first fluid discharge pipe, 13, a first fluid power source, 14, a second swinging load, 15, a second swinging load, 16, a second fluid discharge pipe, 17, a second fluid power source, 18, a communicating pipe, 19 and a swinging load supporting rod.

Detailed Description

Example 1: a dual fluid load mutual feedback automatic control device and a driving method thereof.

As shown in fig. 1-1, the dual fluid load mutual feedback automatic control device of the present embodiment includes a frame 1, a swing load 2, a swing load 7, a fluid discharge pipe 6, and the like, and the intermittent fluid power source 5 is pseudo (i.e., the fluid power source is not provided or is controlled to temporarily not supply the fluid working medium).

The swinging load 2 is arranged on the frame 1 relative to the fixed part, the swinging load output shaft 3 drives the swinging rod 4 to do reciprocating single-swinging motion, and the swinging load swinging rod 4 is fixedly connected with the relative fixed part of the swinging load 7.

One end of the fluid discharge pipe 6 is connected with the working cavity of the swinging load 2, and the other end is connected with the working cavity of the swinging load 7. When the pendulum long load 7 is in a rod-out state and the pendulum rotary load 2 is in a reset state, the fluid discharge pipe 6 is communicated with the pendulum long load 7 and the pendulum rotary load 2, and the fluid discharge pipe 6 and a communicated containing cavity thereof are filled with fluid working medium; the swinging load 2 drives the swinging load 7 to swing in a reciprocating manner through the swinging rod 4, so that the swinging load 7 does up-and-down linear reciprocating motion and simultaneously swings in a reciprocating manner around the swinging load output shaft 3; the power source is a pseudo power source, and the energy of the whole device is all from initial inertia or gravitational potential energy; the end of the piston rod of the pendulum load 7 is the weight of the weight bearing device.

In the initial state, the pendulum load 7 is in a ground-off state, and the device is endowed with enough potential energy to fall to the ground according to the set direction. When the end part of the piston rod of the pendulum long load 7 touches the ground, the piston rod starts to retract (the cycloid length is shortened), potential energy is converted into fluid pressure to act on the piston of the pendulum rotary load 2, the fluid flows into the working containing cavity of the pendulum rotary load 2 through the fluid discharge pipe 6, the piston of the pendulum rotary load 2 is further pushed to move, the pendulum long load 7 is driven to swing, and the pendulum rotary load resetting device enters an energy storage state. When the reset device of the swinging load 2 reaches the maximum energy storage state, the reset device drives the piston rod of the swinging load 2 to reset, fluid flows into the working containing cavity of the swinging load 7 through the fluid discharge pipe 6, further pushes the piston rod of the swinging load 7 to extend outwards (the cycloid length is increased), when the acting force of the end part of the piston rod to the ground is larger than the inertia of the device, the device vacates the ground along the swinging direction of the piston rod, falls to the next supporting point, and completes the rod discharging of the swinging load 7 in the vacation time, completes the reset of the swinging load, completes one action cycle and enters the next cycle. The process is repeated continuously, and the set spatial displacement is completed when the initial potential energy is completely consumed. The expected motion trail is set by adjusting the cross-sectional area proportion and the stroke proportion of the pistons of the two loads.

Example 2: another driving method of the double-fluid load mutual feedback automatic control device.

As shown in fig. 1-2, the dual fluid load mutual feedback automatic control device of the present embodiment is the same as that of embodiment 1, except that the fluid discharge pipe 6 is simultaneously communicated with the intermittent fluid power source 5. The pendulum rotary load 2 is represented by a mechanism design of outputting rotary reciprocating motion by using a linear reciprocating fluid load and a lever type cooperation, and the driving method is as follows:

the initial position is a ground contact state, and when the pendulum long load 7 and the pendulum rotary load 2 are in a reset (return lever) state, the intermittent fluid power source 5 is in a fluid initial supply state. The end part of a piston rod of the pendulum long load 7 bears the whole weight of the whole device, and the pendulum rotary load 2 drives the pendulum long load 7 to reciprocate, so that the pendulum long load 7 reciprocates linearly up and down and simultaneously reciprocates around the pendulum rotary load output shaft 3.

Under the action of the intermittent fluid power source 5, the end part of a piston rod of the pendulum long load 7 bears the whole weight of the whole device, the end part of the piston rod touches the ground to start to discharge a rod, and meanwhile, the pendulum rotary load 2 drives the pendulum long load 7 to swing; when the acting force of the end part of the piston rod to the ground is larger than the inertia of the foot type mobile machine, the foot type mobile machine vacates the ground along the swinging direction of the piston rod and falls to the next supporting point, the intermittent fluid power source of the foot type mobile machine stops providing pressure fluid in the vacation time, the swinging load 2 and the swinging load 7 discharge fluid under the action of respective reset devices, and the return rod is reset; repeating this, the foot mobile machine completes the set spatial displacement.

According to Pascal's law, the swinging load 2 and the swinging load 7 are communicated through the fluid discharge pipe 6, the pressure in the working cavities of the two fluid loads is always equal, the intermittent fluid power source 5 drives the swinging load 2 and the swinging load 7 to act simultaneously, in the gravity center position change process of the whole device, the gravity shared by the swinging load 2 and the swinging load 7 changes at any time, and a fluid working medium is used as a signal generator, a signal flow, a controller and an actuator to immediately implement pistons acting on the two fluid loads, and the signals and the pressure moment are fed back in a bidirectional manner in real time along with the change of the relative spatial positions of the two fluid loads.

When the instantaneous power of the intermittent fluid power source 5 is large enough, the generated reaction force is larger than the inertia of the gravity center of the whole device to improve the movement, so that the device is separated from the supporting point to the swinging direction of the piston rod of the pendulum long load 7 to vacate from the supporting point, and parabolic movement is performed. The magnitude of the instantaneous power determines the moment and the distance of movement at which the device vacates the support point.

In the flight time, the intermittent fluid power source 5 is changed into a fluid recovery state, the swinging load 2 and the swinging load 7 shrink the piston rod in the air under the action of the respective resetting device, and the piston rod returns to the initial state before contacting the next supporting point.

The intermittent fluid power source 5 is changed to a fluid supply state, the inertia of the device landing is absorbed by the piston rod of the linear reciprocating fluid load 7, similar to the embodiment 1, potential energy is converted into fluid pressure and combined with the fluid pressure supplied by the fluid power source, the steps in the embodiment 1 are repeated again, and the inertial energy is recovered and the fluid supply state is supplied again.

When the apparatus of this embodiment obtains sufficient potential energy (or there is available gravitational potential energy) in the above-described manner, it is possible to switch to the operation method of embodiment 1, and at an appropriate timing, switch the intermittent hydrodynamic source 5 off, switch to the method of embodiment 1 for movement, recover potential energy, and save energy.

Example 3: a single-control hip, knee and ankle driving method. As shown in fig. 2-1, a first method of knee joint setup is implemented.

The two-fluid load mutual feedback automatic control device of this embodiment is the same as embodiments 1 and 2, except that:

taking the installation of a trunnion linear reciprocating fluid load as an illustration of the pendulum load, a pendulum rotary load output shaft 3 is arranged to drive a swinging rod 4, the swinging rod 4 is fixedly connected with a trunnion bracket, a pendulum load trunnion 8 is used as a relative fixed part and is hinged with the trunnion bracket, a hinge shaft is used for simulating a knee joint, a pendulum load 7 is used for simulating a shank, and the swinging rod 4 is fixedly connected with a trunnion bracket for simulating a thigh. Pendulum length load 7 piston rod flexible bionic ankle joint, pendulum revolves the bionic hip joint of load output shaft 3.

The pendulum length load trunnion 8 is a driven shaft, and the pendulum rotation load output shaft 3 indirectly drives the trunnion 8 to reciprocate through a reversing locking device, so that the two shafts synchronously act, and the rotation directions are opposite. There are various designs of the reversing locking device, which are not shown in the figures.

The movement process is the same as that of the embodiments 1 and 2. The swinging load 2 indirectly drives the trunnion 8 to swing reciprocally through the reversing locking device, the two shafts synchronously rotate, the length of the swinging load 7 is increased and decreased, meanwhile, the included angle between the thigh (the connecting line of the center of the trunnion 8 and the swinging load output shaft center 3) and the shank (the center axis of the swinging load) is gradually changed, and the straight line distance (cycloid length) of the two end points is continuously changed.

Example 4: a single-control hip and knee driving method. And a second method for realizing knee joint setting.

the pendulum length load is a rotary reciprocating fluid load mechanism or a mechanism for outputting rotary reciprocating motion by matching a linear reciprocating fluid load with other mechanisms, the pendulum length load rotary output shaft 9 is fixedly connected with a support rod 19, and the end part of the support rod is used as a center of gravity fulcrum of the whole device to simulate feet.

1. As shown in fig. 2-2-1, the construction is simple, taking the installation of a pendulum length load with a rotary reciprocating pendulum fluid load as an example.

The swinging load 2 is arranged on the frame 1, the swinging load 7 is a reciprocating swinging fluid load mechanism, a relatively fixed part of the swinging fluid load mechanism is fixed on the swinging rod 4, the swinging load rotating output shaft 9 is fixedly connected with the supporting rod 19, the swinging load rotating output shaft 9 simulates a knee joint, and the thigh and the calf are separated; the end of the support rod 19 serves as a center of gravity fulcrum of the whole device, and the installation direction or fluid inlet and outlet of the pendulum load 7 are adjusted, so that the hip joint (pendulum rotation load output shaft 3) and the knee joint (pendulum rotation load output shaft 9) synchronously act in two axes, and the rotation directions are opposite. And the fluid discharge pipe 6 is used for communicating the working cavity of the swinging load 2 with the working cavity of the swinging load 7 and a fluid power source.

2. The pendulum length load adopts a reciprocating pendulum fluid load, and the cost is high. The pendulum long load preferably uses a mechanism design of linear reciprocating fluid load and lever type matched output rotary reciprocating motion, as shown in fig. 2-2-2, the force application mode of the pendulum long load 7 is 'pulling', and in order to meet the installation requirement of the pendulum long load 7, the pendulum long load 4 is prolonged (the pendulum long load 7 is hinged with a support relative to a fixed part, and the support is fixedly connected with the pendulum long load 4 so as to realize the pendulum long load and lever type matched output rotary reciprocating motion). The swing length load rotary output shaft 9 is fixedly connected with a support rod 19, and the other end of the support rod 19 is used as a gravity center fulcrum of the whole device to simulate feet. The distance (cycloid length) between the other end of the support rod 19 and the pendulum load output shaft 3 (bionic hip joint) changes continuously during the reciprocating swing.

3. In order to reduce the dead weight of the mechanism and reduce the inertia loss of the reciprocating swing of the mechanism, a scheme of extending the swing rod 4 is not adopted, a scheme of upwards moving a swing length load core and reducing the angular velocity is preferred, and the deformation design of the figure 2-2-2 is shown in the figure 2-2-3:

the pendulum length load still selects the mechanism design of linear reciprocating fluid load and lever type matched output rotary reciprocating motion, the supporting rod 19 shown in fig. 2-2-2 integrates power input and output, and the deformation design scheme enables the input and output functions of the supporting rod 19 to be separated: the pendulum length load rotary output shaft 9 is fixedly connected with two support rods, one is input and the other is output, one end of the input support rod is hinged with a linear reciprocating fluid load piston rod to receive power, the other end of the input support rod is used for driving the pendulum length load rotary output shaft 9, and the other end of the output support rod 19 is used as a center of gravity fulcrum of the whole device and is a bionic foot.

The force application mode of the pendulum load 7 is 'pulling', the pendulum load 7 is fixedly connected with the swinging rod 4 relative to the fixed part (the pendulum load 7 is firstly hinged with a support relative to the fixed part, the support is fixedly connected with the swinging rod 4 so as to realize the coordination output rotary reciprocating motion of the pendulum load and the lever type), and the pendulum load rotary output shaft 9 is fixedly connected with the support rod 19. The swinging load output shaft 3 (bionic hip joint) drives the swinging rod 4 (bionic thigh). The pendulum length load rotary output shaft 9 is used for simulating knee joints, the pendulum length load output shaft drives the supporting rod 19 (simulated lower leg), and the other end of the supporting rod 19 is used as a gravity center fulcrum of the whole device. The installation position of the pendulum length load 7 is adjusted, and the force application direction is changed to enable the two shafts of the hip joint and the knee joint to synchronously act, and the rotation directions are opposite.

The movement process is the same as that of the embodiments 1 and 2. The swinging length load 7 swings reciprocally along with the swinging rod 4, and meanwhile, the rotating output shaft 9 drives the supporting rod 19 to swing reciprocally in opposite phase. In the synchronous rotation process of the two joints, the included angle between the thigh (the connecting line of the axis of the swing load rotation output shaft 9 and the axis of the swing load output shaft 3) and the shank (the central axis of the swing load 19) is gradually changed, and the linear distance (cycloid length) between the two ends is continuously changed.

Example 5: double-control hip, knee and ankle driving.

As shown in fig. 2-3, the dual fluid load mutual feedback automatic control device of the present embodiment is combined and used by the structures of embodiments 3 and 4, and the swing load rotary output shaft 9 of fig. 2-2-3 drives the swing load trunnion 8 of fig. 2-2-1, and the functions are combined and can be fixedly connected into a whole. The support bar 19 of fig. 2-2-3 is fixedly connected to the pendulum long load relatively fixed member of fig. 2-1.

Only one fluid power source is shown, and two pendulum loads 7 of fig. 2-1 and 2-2-3 are driven simultaneously, and two fluid power sources may be used as desired.

The movement process is the same as that of the embodiments 1 and 2.

In the above embodiments, embodiments 1, 2 and embodiments 3, 4 and 5 use a single set of automatic control devices to cooperate with an intermittent fluid power source (or a potential energy) with enough instantaneous power, and the direction of force applied to the end (foot) of the linear reciprocating fluid load movable component (e.g. the structure of the real-time adjustment device, changing the position of the center of gravity) can be adjusted in real time, so that the direction and balance controllable space movement can be realized by using discontinuous supporting points in a single-limb jumping manner.

The use of two or more sets of the automated control devices of embodiments 1, 2 and the preferred embodiments 3, 4, 5 to move in parallel can simplify the manner in which the ends (feet) of the linear reciprocating fluid load movable members are controlled. The instantaneous flow, pressure, working phase sequence and the like of the intermittent fluid power sources of the two automatic control devices can be adjusted to assist in realizing controllable moving direction and balance, and the jump moving mode of sparrow and kangaroo is simulated.

Example 6: a double-limb linkage bionic foot type mobile machine.

The two groups of foot-type moving devices are alternately displaced, so that the swing load is enabled to shrink the cycloid length action of the swing load to be completed in the air when the swing load is completed in a reset action when the fluid power source is changed into a fluid recovery state under the lower stepping frequency. The two groups of foot-type mobile devices are alternately linked in a plurality of combined deformation modes:

the combination mode of the first: the embodiment comprises a first bionic foot type moving device and a second bionic foot type moving device. Example 6 is preferably combined with the scheme of example 5, and the illustration is shown by combining the thigh and the shank of examples 1 and 2 into a simplified representation, and the swing length load relative fixing part and the swing rod 4 are also combined into a whole, and no description is given in the figure.

As shown in fig. 3-1, the first bionic foot-type moving apparatus includes a first swing load 11, a first swing load 10, a first fluid discharge pipe 12, and a first fluid power source 13. The first swinging load 10 is used for driving the first swinging load 11 to swing reciprocally; the working chamber of the first pendulum load 11 is communicated with the working chamber of the first pendulum load 10 through a first fluid discharge pipe 12, and a first fluid power source 13 is communicated with the first fluid discharge pipe 12 to provide a fluid power source for the first bionic foot type moving device.

The second bionic foot-type moving device comprises a second pendulum long load 15, a second pendulum rotary load 14, a second fluid discharge pipe 16 and a second fluid power source 17. The second swinging load 14 is used for driving the second swinging load 15 to swing reciprocally; the working chamber of the second pendulum load 15 is communicated with the working chamber of the second pendulum load 14 through a second fluid discharge pipe 16, and a second fluid power source 17 is communicated with the second fluid discharge pipe 16 to provide a fluid power source for the second bionic foot type mobile device.

The first swing length load 11 and the second swing length load 15 are respectively provided with a reset device, when the first swing rotation load 10 is in a back rod state and the second swing rotation load 14 is in a rod-out state, a back rod cavity of the first swing rotation load 10 is communicated with a back rod cavity of the second swing rotation load 14 through a communicating pipe 18, and incompressible fluid is filled in the back rod cavity. The swinging loads of the two groups of bionic foot-type mobile devices are reset devices of each other, and the two groups of bionic foot-type mobile devices synchronously act in opposite phases.

The motion description of a group of bionic foot-type mobile devices is the same as that of embodiments 1 and 2, and will not be repeated.

And B, a combination mode: the first swing load 10 and the second swing load 14 are respectively provided with a reset device, when the first swing load 10 is in a back rod state and the second swing load 14 is in a rod-out state, a back rod cavity of the first swing load 11 is communicated with a back rod cavity of the second swing load 15 through a communicating pipe 18, and incompressible fluid is filled in the back rod cavity. Other combinations with the nails are not described in detail.

The C combination mode is as follows: fig. 3-3 are schematic diagrams of intermittent fluid power source structures in which two sets of devices described in embodiments 1 or 2 are connected in parallel, swinging loads are mutually opposite reset devices, and swinging loads are opposite reset devices.

The first fluid discharge pipe 12 is communicated with the first fluid power source 13 and the second swing length load 15, and the second fluid discharge pipe 16 is communicated with the second fluid power source 17 and the first swing length load 11. Other combinations with the nails are not described in detail.

The combination mode of the blocks: the above-mentioned embodiments 1, 2, 3, 4, 5, and 6 are all that the intermittent fluid power source supply state corresponds to the two-fluid load mutual feedback automatic control device leg extension and ground stepping state, and the fluid recovery state corresponds to the leg lifting and ground stepping state. When the two groups of double-fluid load mutual feedback automatic control devices are used together, the fluid supply state of the intermittent fluid power source corresponds to the leg lifting and stepping state, the fluid recovery state corresponds to the leg stretching and ground stepping state, the leg stretching and ground stepping state is controlled by the intermittent fluid power source of the other side, and the indirect force transmission driven action is shown in figures 3-4. The principle is the same as that of the first combination mode, and the description is omitted. Similarly, the combination modes of the A, the B and the C can be deformed and designed according to the combination mode of the T.

Other combination variants are not enumerated one by one.

The two groups of foot-type moving devices are used for alternate linkage, so that the gravity center is alternately rotated, the balance, the moving direction controllability and the loading capacity are enhanced, and the low-speed moving mode of alternate stepping of two legs of a person such as an ostrich is simulated. And other methods are matched for use, so that the passing capacity of various terrains is enhanced, and the energy is saved.

Example 7: four limbs are connected in series.

Two sets of bionic foot-type mobile machine combinations described in the embodiment 6 are used, the two sets of combinations are in a 180-degree working phase relation, namely, four sets of automatic control devices of the two sets of combinations are in a 90-degree working phase relation in sequence, the bionic walking gait of a cow can always have three legs to land, the balance control difficulty is reduced, and the loading capacity is improved.

Two sets of foot type mobile machines moving in parallel are used for combination, one set of the two limbs of the embodiment 6 move simultaneously (or move near simultaneously, in order to adjust balance and movement direction, the working states of the two legs move simultaneously are very little), the front and back diagonal lines of the two limbs are used for simulating jogging gait of a dog, the front and back same sides are used for simulating jogging gait of a horse, and the left and right sides are used for simulating running gait of a tiger in parallel.

By arranging more groups of bionic foot type mobile machines and referring to the moving modes of the bionic six-foot ants, eight-foot spiders and multi-foot centipedes in the embodiments 6 and 7 which are connected in parallel or in series-parallel, the requirements of higher stability and load can be met, and the description is omitted.

Claims

1. The utility model provides a double fluid load mutual feedback automatic control device which characterized in that includes:

the first reciprocating fluid load is used as a swinging load and is arranged on the frame to drive the second reciprocating fluid load to do reciprocating swinging motion;

a second reciprocating fluid load as a pendulum length load, the relatively fixed part of which is connected with the relatively moving part of the first reciprocating fluid load, the end part of the pendulum length load relatively moving part being used as a center of gravity fulcrum of the whole device;

and

a fluid discharge conduit for communicating the working chamber of the first reciprocating fluid load with the working chamber of the second reciprocating fluid load.

2. The dual fluid load mutual feedback automatic control device as recited in claim 1, further comprising: an intermittent fluid power source is connected with the fluid discharge pipe and is used for intermittently providing fluid working medium for the whole device.

3. The dual fluid load mutual feedback automatic control device of claim 1, wherein the output shaft of the swinging load drives the swinging rod, the swinging length load is hinged on the swinging rod relative to the fixed part, the hinging shaft and the output shaft of the swinging load act synchronously, and the rotation directions are opposite.

4. The automatic control device for mutual feedback of double fluid loads according to claim 1, wherein the output shaft of the swinging load drives the swinging rod, the swinging length load is fixed on the swinging rod relative to the fixed part, the swinging length load rotating output shaft is fixedly connected with the supporting rod, the end part of the supporting rod is used as a center of gravity fulcrum of the whole device, and the swinging length load output shaft and the swinging length load rotating output shaft synchronously act, and the rotating directions are opposite.

5. The dual fluid load mutual feedback automatic control device as recited in claim 4, wherein the pendulum load is selected from a rotary reciprocating fluid load mechanism or a linear reciprocating fluid load and other mechanisms in combination to output rotary reciprocating motion.

6. The driving method of the double-fluid load mutual feedback automatic control device is characterized by comprising the following steps of:

a. setting the double-fluid load mutual feedback automatic control device according to claim 1, wherein the device is filled with fluid when the pendulum load is in a rod-out state and the pendulum load is in a reset state; in the initial state, the double-fluid load is received from the automatic control device, and the automatic control device is in a ground-leaving state and has enough gravity or inertia potential energy;

b. under the action of potential energy, the end part of a piston rod of the pendulum long load bears the whole weight of the whole device, when the end part of the piston rod of the pendulum long load touches the ground, the return rod starts, the cycloid length is shortened, the gravitational potential energy is converted into fluid pressure to act on the piston of the pendulum rotary load, a reset device of the pendulum rotary load enters an energy storage state, and meanwhile, the pendulum rotary load drives the pendulum long load to swing; when gravitational potential energy is fully converted into energy of the swinging load resetting device, the swinging load resetting device reaches a maximum energy storage state and starts to reset, the swinging load resetting device drives a piston of the swinging load to reset, a piston rod of a swinging load is indirectly driven to go out of a rod, the cycloid length is increased, when the acting force of the end part of the piston rod of the swinging load to the ground is larger than the inertia of the dual-fluid load mutual feedback automatic control device, the dual-fluid load mutual feedback automatic control device vacates the ground along the swinging direction of the swinging load piston rod, falls to a next supporting point, and the dual-fluid load mutual feedback automatic control device completes under the action of the swinging load resetting device in vacation time and keeps the swinging load in a rod-out state and the swinging load in a resetting state;

7. The driving method of the double-fluid load mutual feedback automatic control device is characterized by comprising the following steps of:

a. setting the double-fluid load mutual feedback automatic control device according to claim 2, wherein the device is filled with fluid when the pendulum load is in a back rod state and the pendulum rotary load is in a reset state; in the initial state, the pendulum load is in a grounding state; providing an intermittent fluid power source communication fluid discharge pipe;

b. under the action of an intermittent fluid power source, the end part of a piston rod of a pendulum load bears the whole weight of the whole device, the end part of the piston rod of the pendulum load touches the ground to start to output a rod, and meanwhile, the pendulum load drives the pendulum load to swing; when the acting force of the end part of the piston rod of the pendulum long load to the ground is larger than the inertia of the dual-fluid load mutual feedback automatic control device, the dual-fluid load mutual feedback automatic control device vacates the ground along the swinging direction of the piston rod of the pendulum long load, falls to the next supporting point, stops providing pressure fluid by an intermittent fluid power source in the vacation time, discharges fluid under the action of respective reset devices of the pendulum long load and the pendulum long load, returns the rod and keeps a return rod-shaped state;

8. A bionic foot type mobile machine is characterized by comprising two groups of double-fluid load mutual feedback automatic control devices according to claim 1, swinging loads of the two groups of double-fluid load mutual feedback automatic control devices are double-acting reciprocating fluid loads, rod returning cavities of the two swinging loads are communicated through a communicating pipe, incompressible fluid is filled in the rod returning cavities, and the two swinging loads are reset devices of each other.

9. A bionic foot type mobile machine is characterized by comprising two groups of double-fluid load mutual feedback automatic control devices according to claim 1, wherein the swinging length loads of the two groups of double-fluid load mutual feedback automatic control devices are double-acting reciprocating fluid loads, the rod return cavities of the two swinging length loads are communicated through a communicating pipe, incompressible fluid is filled in the rod return cavities, and the two swinging length loads are reset devices of each other.