A kind of drive lacking running gear and its Servo Control method
Technical field
The invention belongs to robotics, it is related to a kind of drive lacking running gear and its Servo Control method.
Background technology
Walking has important Research Significance as anthropomorphic robot basic function.Traditional active walking manner, is based on
ZMP is theoretical, by precise control joint angles, adjusts the apish walking of body posture, though relatively easy to implement, paces
Heavy, energy consumption is excessive.State-of-the-art anthropomorphic robot with the Asimo of Japanese Honda as representative, walking energy expenditure rate exceeds
10 times of people, cause rapidly depleting in battery a few hours, seriously limit working time, scope of activities, load-carrying ability, use the longevity
The important indicators such as life.
Therefore, walking energy consumption is the crucial problem for perplexing robot research greatly, is especially failed for many years significantly in battery capacity
Today of breakthrough.And present invention design super low energy consumption passive walking field, by the innovative design to passive walking structure and
Effective master control set, realizes drive lacking walking and turns to, effectively overcome traditional passive walking robot foot wipe ground and
Turn to difficult problem.
The content of the invention
In view of this, it is an object of the invention to provide a kind of drive lacking running gear and its Servo Control method, specifically
Including following technical scheme:
A kind of drive lacking running gear, including the leg being made up of two inner side legs and two outer legs, the inner side leg
It is connected by bent axle with outer legs, the bent axle includes one section of axis, two short supporting axles, the outer horizontal stroke of transverse axis and two ends in two sections
Axle;The inner side leg is spindle rotationally arranged on interior transverse axis, and two outer legs are spindle rotationally arranged in the outer of two ends respectively
On transverse axis;The spacing ring that can be slid on is provided with the inside and outside leg;Lifting hip joint is fixed on upper body platform sinistral
Or right side, including sliding block, screw motor and slide rail, its center is threaded, and centre passes through screw rod, the screw rod with it is solid
It is scheduled on the screw motor axle connection on the platform of upper body;Fixed hip joint is fixed on upper body platform dextral or left side, including flat a pair
Capable spacing ring;There are four supports on the upper body platform, middle two supports are supported on axis two ends, and the axis is rotatable
Ground is passed through on two supports in platform inner side, and the short supporting axle penetrates rotatably platform outrigger, the screw motor point
Not Wei Yu lower position in the middle of left side or right side two stands, be fixedly connected with platform, motor revolves by the way that belt is synchronous with middle major axis
Turn, master control set include data acquisition device, drive device, the information of the master control set real-time processing data harvester,
Control turning device is adjusted by drive device to realize turning, and control driving motor realizes the acceleration and deceleration of walking;Described turn
Bending apparatus are made up of screw motor and arthrodia, realize that walking device is turned right or left-hand rotation by raising arthrodia, are reduced and are slided
Realize that walking device turns left or turns right in joint;The power supply provides energy for device.
Further, the lower end of the leg is provided with the foot as part of contacting to earth, and the foot contacts with ground point and sets
Put.
Further, outer legs are four identical straight legs long in the leg, wherein, during walking, inner side leg or outer legs
In contacted with ground is supporting leg, leave ground to lead leg.
Further, the fixed hip joint is located at the mirror position of lifting hip joint, and rotatable slip pipe is set by two
Composition.
Further, the lifting hip joint is made up of screw motor and slider bracket, slider bracket connection spacing ring, described
Leg passes through spacing ring, the slider bracket to be arranged on the platform right side or lower left and can be slided up and down with screw rod rotation, and lifting hip is closed
It is boundary upper and lower leg ratio long that section can change with joint, and upward sliding can reach minimum scale value 1:10, slide downward is reachable
It is 1 to maximum scale value:8, when lifting slider height is highly consistent with fixed hip joint, ratio value is 1:9;Sliding block declines,
Ratio value is more than 1:Walking device is turned right when 9;Sliding block rises, and ratio value is less than 1:Walking device turns left when 9;Sliding block is maintained at 1:9
During height, walking device straight trip.
Present invention also offers a kind of Servo Control method of described drive lacking running gear, including forward-reverse control
Method and left-hand rotation right-hand rotation control method, forward-reverse control method are comprised the following steps:
A) device is connected, is turned on the power, device starts;
B) motor 10 ° of rotation (counterclockwise) clockwise, upper body center of gravity leans forward (hypsokinesis);
C) motor rotation (clockwise) counterclockwise, is now in preaxial leg for supporting leg, and another is to lead leg;
D) information of master control set real-time processing data harvester, lifting hip joint is adjusted by controlling drive device
Position and the rotating speed of driving motor, keep walking device steadily to advance;
E) lead leg and reach angle on target, wait is led leg and contacted to earth;When control system detects motor reverse impulse, it is determined that
Now lead leg and contacted to earth, now system to be led leg and complete switching action with supporting leg;
F) c), d) and e) process is repeated, completes persistently to move ahead or retreat.
Left-hand rotation right-hand rotation control method is comprised the following steps:
A) walking device is in forward traveling;
B) lead leg when being overlapped with supporting leg, master control set control screw motor turns clockwise, and declines sliding block, joint
Locate upper and lower leg ratio more than 1:9 are less than 1:8, leg step pitch is more than right side step pitch inside and outside left side, after landing of leading leg, walking device left side
Displacement is more than right side, so as to realize turning right, master control set control screw motor rotate counterclockwise rises sliding block, on joint
Lower leg ratio is less than 1:9 are more than 1:10, leg step pitch is less than right side step pitch inside and outside left side, after landing of leading leg, walking device left lateral position
Move and be less than right side, so as to realize;
C) b) process is repeated, walking device is persistently turned;
D) master control set control screw motor makes the upper and lower leg ratio of joint recover 1:9, walking device recovers forward traveling.
The beneficial effects of the present invention are:The design of the drive lacking running gear that the present invention is provided and its Servo Control side
Method, realizes receiving leg action in walking process by hip structure, and leg is straight legs, is point contact type with the ground way of contact, is reduced
The complexity of structure, meanwhile, realize turning by changing unilateral step-length.
Brief description of the drawings
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below and carries out
Explanation:
Fig. 1 is structural representation of the invention;
Fig. 2 is bent axle mechanical structure schematic diagram;
Fig. 3 is lifting hip joint structural representation;
Fig. 4 is Servo Control schematic diagram;
Fig. 5 is overall schematic.
Specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
Fig. 1 is structural representation of the invention, and Fig. 5 is overall schematic, as illustrated, device of the present invention includes
Two inner side legs 9 and two legs of the composition of outer legs 8, the inner side leg 9 are connected with outer legs 8 by bent axle 3, the bent axle
3 include transverse axis 33 outside transverse axis 32 in one section of 34, two sections of short supporting axle of axis 31, two and two ends;The inner side leg 9 is rotatable
It is arranged on interior transverse axis 32, two outer legs 8 are spindle rotationally arranged on the outer transverse axis 33 at two ends respectively;It is described inside and outside
The spacing ring that can be slid on is provided with leg;The lifting hip joint 4 is fixed on upper body platform sinistral (right side), including
Sliding block 44, screw motor 42 and slide rail 41, its center are threaded, and centre passes through screw rod 43, the screw rod 43 with it is solid
The screw motor axle 42 being scheduled on the platform of upper body is connected;The fixed hip joint 2 is fixed on upper body platform dextral (left side), including
A pair of parallel spacing ring;There are four supports 1 on the upper body platform, middle two supports are supported on the two ends of axis 31, described
Axis 31 is penetrated rotatably on two supports in platform inner side, and the short supporting axle 34 penetrates rotatably platform outrigger,
The screw motor 42 is located at lower position in the middle of left side (right side) two stands respectively, is fixedly connected with platform, and motor 7 passes through skin
Band and the synchronous rotary of middle major axis 31, the master control set 6 include data acquisition device, drive device, and the master control set is real-time
The information of processing data harvester, adjusts control turning device and realizes turning by drive device, and control driving motor 7
Realize the acceleration and deceleration of walking;The power supply 5 provides energy for device;The turning structure is by lifting hip joint and fixed hip joint
Constitute, realize that walking device is turned right (left-hand rotation) by raising arthrodia, reduce arthrodia and realize that walking device turns left (right-hand rotation).
Wherein, the lower end of the leg is provided with the foot as part of contacting to earth, and the foot is four identical
Spheroid.The interior outer legs of the leg are identical straight legs long, wherein, during walking, with ground in inner side leg or outer legs
Face contact be supporting leg, leave ground to lead leg.
Fig. 2 is bent axle mechanical structure schematic diagram, the bent axle 3, support 1 and lifting joint 4 and the common structure of spacing ring 45
Into hip, the hip as this running gear action support section, hip top is connected by bent axle 3 with leg realization,
Bent axle is free to rotate;Hip bottom is by the He of lifting joint 4 that is left-right asymmetry and being rotated freely along the direction of vertical support frame 1
Spacing ring 45 is constituted;Lifting joint controlled can realize lifting, and regulation homonymy step-length is so as to realize turning;Leg is spacing through hip
Ring, and can freely up and down slide.Fig. 3 is fixed hip joint structural representation.
The radius of crankshaft is r, and crankshaft rotation angle is α, and hip top barycenter quality is m, hip bottom barycenter
Quality is M;It is φ to lead leg with supporting leg angle, and the step-length is d.
Fig. 4 is Servo Control schematic diagram,
(retrogressing) mode that moves ahead of the walking device is divided into following steps:
A) device is connected, is turned on the power, device starts;
B) motor is (counterclockwise) clockwise rotates 10 ° (the horizontal α of explanation is 90 °), and upper body center of gravity leans forward (retrogressing);
C) motor rotation (clockwise) counterclockwise, is now in preaxial leg for supporting leg, and another is to lead leg;
D) information of master control set real-time processing data harvester, lifting hip joint is adjusted by controlling drive device
Position and the rotating speed of driving motor, keep walking device steadily to advance;
E) lead leg and reach angle on target, wait is led leg and contacted to earth;When control system detects motor reverse impulse, it is determined that
Now lead leg and contacted to earth, now system to be led leg and complete switching action with supporting leg;
F) c), d) and e) process is repeated, completes persistently to move ahead (retrogressing).
Its left-hand rotation (right-hand rotation) is controlled to comprise the following steps:
A) walking device is in forward traveling;
B) lead leg when being overlapped with supporting leg, master control set control screw motor turns clockwise, and declines sliding block, joint
Locate upper and lower leg l1With l2Ratio is more than 1:9 are less than 1:8, leg step pitch is more than right side step pitch inside and outside left side, after landing of leading leg, walking
Device left side displacement is more than right side, so as to realize turning right, master control set control screw motor rotate counterclockwise rises sliding block, closes
Upper and lower leg ratio is less than 1 at section:9 are more than 1:10, leg step pitch is less than right side step pitch inside and outside left side, after landing of leading leg, walking device
Left side displacement is less than right side, so as to realize;
C) b) process is repeated, walking device is persistently turned;
D) master control set control screw motor makes the upper and lower leg ratio of joint recover 1:9, walking device recovers forward traveling.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
Cross above preferred embodiment to be described in detail the present invention, it is to be understood by those skilled in the art that can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.