Biped passive walking robot release device

Abstract

The invention relates to a biped passive walking robot release device. Positioning holes are machined in the upper surface of a bottom plate of the biped passive walking robot release device. The supporting leg fixing and guiding mechanism is arranged on the bottom plate and provided with a sliding block. The supporting leg angle adjusting mechanism is arranged on the sliding block; the supporting leg magnetic attraction releasing mechanism is connected with the supporting leg angle adjusting mechanism. The swing leg fixing mechanism comprises two stand columns and a beam, two ends of the beam are connected with the top ends of the two stand columns, and the sling mechanism is arranged in the middle of the top end of the bottom plate. The swing leg width adjusting mechanism is arranged on the cross beam; the swinging leg width adjusting mechanism is used for bearing and guiding the rope; the swing leg magnetic attraction releasing mechanism is connected to the rope; according to the device, by controlling the supporting legs and the swinging legs of the robot, the angles of the supporting legs and the swinging legs can be adjusted according to experiment requirements, the initial posture of the passive walking robot during releasing in an experiment can be accurately controlled, the experiment repeatability is good, and it is guaranteed that the robot is accurately, stably and controllably released.

Description

Technical Field

[0001] The invention belongs to the technical field of walking robots, and in particular relates to a releasing device for a biped passive walking robot. Background Art

[0002] In recent years, bipedal robots have become a hot topic in the field of walking robotics due to their outstanding performance, including strong adaptability to complex terrain, high mobility, and good human-machine interaction. As bipedal robot research continues to deepen, the requirements for experimental platforms have also gradually increased. In particular, in experiments such as static balance testing, dynamic balance and disturbance recovery testing, and testing on irregular terrain, it is necessary to ensure that the bipedal robot can smoothly start and complete the gait transition to the stable walking stage, which directly affects the accuracy and reliability of the simulation experiment. To ensure the repeatability and safety of the experiment, it is often necessary to use an external release device to pre-position the robot in a specific posture and release it at the appropriate time.

[0003] In the existing technology, most bipedal robots use manual release, which can neither accurately control the initial posture of the robot at the time of release nor meet the repeatability of the experiment. In particular, for passive walking robots among bipedal robots, their gait stability is highly sensitive to the accuracy of the initial posture and the controllability of the release method, which places higher demands on the adjustment accuracy of the release platform, the ability to control the release sequence, and the ability to minimize disturbances. Some release devices use simple slings or hook structures, and are released through mechanical loosening or manual manipulation. These solutions generally have the following problems: the release method is single, and can only achieve overall release or fixed-angle release. It is difficult to independently control the release sequence of the supporting leg and the swinging leg, which limits the flexibility of the experimental design; the positioning is imprecise, making it difficult to accurately adjust the robot's posture, resulting in large deviations in the starting posture, affecting the repeatability and stability of the experiment; the lack of dynamic release function only allows static release.

[0004] To this end, there is an urgent need for a compact, adjustable and controllable release device for a bipedal passive walking robot that can control the release time and method of the supporting leg and the swinging leg respectively, taking into account both dynamic and static release, and improving the accuracy and flexibility of the experiment. Summary of the Invention

[0005] In response to at least one of the problems in the above-mentioned prior art, the purpose of the present invention is to provide a release device for a bipedal passive walking robot. By controlling the robot's supporting legs and swinging legs, the angles of the supporting legs and the swinging legs can be adjusted according to experimental needs, thereby achieving precise control of the initial posture of the passive walking robot when released in the experiment. The experiment has good repeatability, ensuring accurate, stable and controllable release of the robot.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A release device for a biped passive walking robot, comprising: A bottom plate, the upper surface of which is provided with positioning holes; A support leg fixing and guiding mechanism is provided on the bottom plate, wherein the support leg fixing and guiding mechanism is provided with a slider capable of sliding in a vertical direction; A support leg angle adjustment mechanism is provided on the slider and can move along the vertical direction with the slider; A support leg magnetic release mechanism, connected to the support leg angle adjustment mechanism, for adsorbing and releasing the support leg; The swing leg fixing mechanism includes two vertical columns and a crossbeam. The two ends of the crossbeam are connected to the top ends of the two columns. The two columns are respectively arranged on both sides of the top surface of the base plate. A sling mechanism is provided at the middle of the top of the base plate; the sling mechanism is provided with a rope for tightening and retracting the rope; A swing leg width adjustment mechanism is provided on the crossbeam; the swing leg width adjustment mechanism is used to carry and guide the rope; The swing leg magnetic release mechanism is connected to the rope and is used for absorbing and releasing the swing leg.

[0007] Preferably, the base plate includes an adjusting foot cup, a fixing plate, and a fixing clamp. A positioning hole is processed on the fixing plate. The adjusting foot cup is installed on the bottom surface of the fixing plate. The fixing clamp is arranged on the fixing plate.

[0008] Preferably, the support leg fixing and guiding mechanism includes a support leg fixing mechanism and a support leg guiding mechanism, the bottom end of the support leg fixing mechanism is connected to the base plate through the positioning hole, and the support leg guiding mechanism is installed parallel to the support leg fixing mechanism.

[0009] Preferably, the support leg fixing mechanism is a vertical column, the bottom end of the column is connected to the base plate; the support leg guiding mechanism includes a guide rail and a self-locking slider, the guide rail is installed on the column, and the slider is slidably set on the guide rail. The support leg guiding mechanism is used to realize the lifting and positioning of the support leg in the vertical direction.

[0010] Preferably, the support leg magnetic attraction release mechanism comprises a bearing support, a bearing, a rotating shaft, a rotating support, a first electromagnetic suction disc, a first push plate, a first compression spring, a magnetic attraction mechanism fixed base, a pin, a screw hole for installing the bearing support is opened on the upper surface of the magnetic attraction mechanism fixed base, and the magnetic attraction mechanism fixed base is connected with the support leg angle adjusting mechanism; the bearing support and the bearing are two, the bearing is embedded and installed in the mounting hole of the bearing support; the rotating shaft is inserted into the center hole of the bearing, the rotating shaft is supported by the two bearings, and is axially limited by an axial end stop ring; the rotating support is sleeved on the middle part of the rotating shaft and is fixed with the rotating shaft through the pin; the first electromagnetic suction disc is connected with the front end mounting surface of the rotating support through bolts; the first push plate is arranged in parallel in front of the rotating support and is connected with the rotating support through the first compression spring; the locking and releasing of the support leg are realized by the on-off of the first electromagnetic suction disc.

[0011] Preferably, the support leg angle adjusting mechanism comprises a worm gear, an angle indicating mechanism, a worm, and a worm gear support, the worm gear support is installed between the sliding block and the magnetic attraction mechanism fixed base through bolts, the worm is installed in the longitudinal through hole in the worm gear support, and bearings are installed between the worm and the worm gear support; the worm gear is connected with the rotating shaft through a key and is axially limited by an axial end stop ring, the worm gear is engaged with the worm for transmission, and the angle indicating mechanism is fixedly installed at the end of the rotating shaft through screws, and a pointer is installed on the top of the magnetic attraction mechanism fixed base; the angle adjusting and self-locking of the support leg are realized through the worm gear and worm transmission.

[0012] Preferably, the swing leg fixing mechanism comprises two vertical columns and a cross beam, the vertical columns are installed at the top end of the bottom plate through the positioning holes in the fixing plate, and the cross beam is installed above the two columns.

[0013] Preferably, the swing leg width adjusting mechanism comprises a width guide mechanism, a rope guide mechanism fixed base, a first roller, and a rope buckle; the width guide mechanism comprises a linear guide rail and a sliding block, is used for adapting to different robot leg widths, and the linear guide rail is installed above the cross beam; the rope guide mechanism fixed base is fixedly installed on the sliding block and can move along the linear guide rail with the sliding block; the first roller is two, is installed behind, above and in front of the rope guide mechanism fixed base respectively, and is used for bearing and guiding the rope.

[0014] Preferably, the sling mechanism includes a motor, a rotating wheel, a rope, a motor support, and a coupling. The motor support is installed in the middle of the top of the base plate, the motor is installed on the top of the motor support, and the motor output shaft is connected to the rotating wheel through the coupling. One end of the rope is fixedly connected to the rotating wheel, and is led out after being wrapped around the rotating wheel for several turns. After being guided by the first roller, it is connected to the swing leg magnetic release mechanism, and the end of the rope is fixedly connected to the rope buckle. Preferably, the swing leg magnetic release mechanism includes a second roller, a support, a second electromagnetic suction cup, a second push plate, and a second compression spring. The second roller is connected to the rope winding, the second roller is installed on the support by a screw, and the second electromagnetic suction cup is connected to the front end mounting surface of the support by a bolt; the second push plate is arranged parallel to the front of the support and is connected to the support through the second compression spring.

[0015] The present invention has the following advantages due to the adoption of the above technical solution: 1. The release device for the bipedal passive walking robot provided by the present invention adjusts the angle of the supporting legs through a worm gear mechanism, and combines with a vertical linear guide rail to achieve precise adjustment and locking of the supporting leg posture, thereby improving the consistency and repeatability of the initial conditions of the experiment.

[0016] 2. The present invention provides a release device for a bipedal passive walking robot, in which both the supporting leg and the swinging leg are fixed by a magnetic device. When released, the power can be cut off at the same time, or the power can be controlled on and off individually, and the release sequence can be set according to experimental requirements.

[0017] 3. The biped passive walking robot release device provided by the present invention has a movable guide rail slider and roller guide assembly on the crossbeam of the swing leg fixing mechanism, which can flexibly adjust the hanging point position of the swing leg according to different robot sizes and leg structures, and adapt to robots of various sizes.

[0018] 4. The release device for the bipedal passive walking robot provided by this invention supports both static and dynamic release modes. In the static release mode, the power to the magnetic device is simply disconnected, instantly freeing the swinging leg from its restraints. In the dynamic release mode, the motor in the sling mechanism continuously rotates under control commands, driving the sling to gradually pay out the rope at a set speed, allowing the swinging leg to be released smoothly while maintaining a controlled state. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of the release device of the biped passive walking robot provided by the present invention.

[0020] Figure 2 It is a three-dimensional schematic diagram of the release device of the biped passive walking robot provided in Example 1 of the present invention.

[0021] Figure 3 It is a three-dimensional schematic diagram of the support leg angle adjustment mechanism provided by this embodiment of the present invention.

[0022] Figure 4 It is a three-dimensional schematic diagram of the magnetic release mechanism of the support leg provided in this embodiment of the present invention.

[0023] Figure 5 It is a three-dimensional schematic diagram of the swing leg magnetic release mechanism provided in this embodiment of the present invention.

[0024] Figure 6 It is a three-dimensional schematic diagram of the release device of the biped passive walking robot provided in the second embodiment of the present invention.

[0025] In the accompanying drawings: 1 is the base plate, 11 is the adjustment foot cup, 12 is the fixing plate, 13 is the fixing clamp, 2 is the support leg fixing and guiding mechanism, 21 is the support leg fixing mechanism, 22 is the support leg guiding mechanism, 3 is the support leg magnetic release mechanism, 31 is the bearing support, 32 is the bearing, 33 is the rotating shaft, 34 is the rotating support, 35 is the first electromagnetic suction cup, 36 is the first push plate, 37 is the first compression spring, 38 is the fixed base of the magnetic mechanism, 39 is the pin, 4 is the support leg angle adjustment mechanism, 41 is the worm gear, 42 is the angle indicating mechanism, 43 is the worm, 44 is the worm gear support, 5 is the swing leg fixing mechanism, 6 is the sling mechanism, 61 is the motor, 62 is the rotating wheel, 63 is the rope, 64 is the motor support, 65 is the coupling, 7 is the swing leg width adjustment mechanism, 71 is the width guide mechanism, 72 is the fixed base of the rope guide mechanism, 73 is the first roller, 74 is the rope buckle, 8 is the swing leg magnetic release mechanism, 81 is the second roller, 82 is the support, 83 is the second electromagnetic suction cup, 84 is the second push plate, and 85 is the second compression spring. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "backward", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the system or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention. The directions of the arrows in the figures represent coordinate directions.

[0028] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "assemble", "set", "connect" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] The fixing mechanism in the present application takes an aluminum profile structure as an example, but is not limited to this form, and can also be implemented in other structural ways, and the specific implementation mode can be flexibly adjusted according to the use requirements. In order to facilitate the description of the use method of the present application, the components of the biped passive walking robot and the experimental walking road shown in the figure are common structures, and the outlines thereof are indicated by dashed lines in the drawing, which are only used to illustrate the use scene of the present application, and do not constitute the technical features of the present application.

[0030] The present application provides a kind of biped passive walking robot release device, by the control of robot support leg and swing leg, the angle of support leg and swing leg can be adjusted according to the need of experiment, the initial posture of passive walking robot release in experiment can be realized accurately controlled, experiment can be good repeatability, ensure that robot is accurately, stably and controllably released. In the following, the embodiments of the present application are described in detail in conjunction with the drawings.

[0031] Example 1 Please refer to Figures 1 to 5 The biped passive walking robot release device provided in the embodiment includes a bottom plate 1, a support leg fixing and guiding mechanism 2, a support leg magnetic release mechanism 3, a support leg angle adjusting mechanism 4, a swing leg fixing mechanism 5, a sling mechanism 6, a swing leg width adjusting mechanism 7 and a swing leg magnetic release mechanism 8. The bottom plate 1 is provided with an experimental walking road under the bottom plate 1; the experimental walking road is set according to the specific experimental requirements, and the slope range of the walking road is 0-15 degrees; The support leg fixing and guiding mechanism 2 is arranged on one side of the middle part of the top surface of the bottom plate 1, and the support leg fixing and guiding mechanism 2 is used to guide the movement and positioning of the support leg magnetic release mechanism 3 and the support leg angle adjusting mechanism 4 in the vertical direction; the support leg fixing and guiding mechanism 2 is provided with a support leg fixing mechanism 21 fixed to the bottom plate 1 and two support leg guiding mechanisms 22 capable of sliding in the vertical direction; The support leg magnetic release mechanism 3 is arranged on one of the support leg guiding mechanisms 22 and can move with the support leg guiding mechanism 22; the support leg magnetic release mechanism 3 is provided with two electromagnetic suction cups 35 connected with the support leg magnetic suction; The support leg angle adjustment mechanism 4 is simultaneously provided on the two support leg guide mechanisms 22 and can move along with the support leg guide mechanisms 22; The swing leg fixing mechanism 5 is provided on the base plate 1 and is used to lift the swing leg width adjustment mechanism 7 so that the guide point of the rope 63 is located above the magnetic fixing point of the swing leg, thereby providing an upward pulling force for the swing leg. The sling mechanism 6 is provided on the base plate 1 and is provided with a rope 63 for controlling the tensioning, fixing and dynamic release of the swinging leg before release; The swing leg width adjustment mechanism 7 is arranged on the swing leg fixing mechanism 5. Each swing leg width adjustment mechanism 7 includes a width guide mechanism 71, a rope guide mechanism fixing base 72, a first roller 73, and a rope buckle 74 to adapt to different robot leg widths. The swing leg magnetic release mechanism 8 is arranged on the rope 63 to control the locking and releasing of the swing leg.

[0032] The release device for a bipedal passive walking robot in this embodiment serves as the release mechanism for the robot's walking platform. Its purpose is to achieve stable posture setting of the robot's legs before release and stable release during the robot's start-up phase, with controllable release timing, through the coordinated coordination of the support leg fixing and guiding mechanism 2, the support leg magnetic release mechanism 3, and the support leg angle adjustment mechanism 4 with the swing leg fixing mechanism 5, the sling mechanism 6, the swing leg width adjustment mechanism 7, and the swing leg magnetic release mechanism 8. The fixed straight-leg bipedal passive walking robot in this embodiment has a leg spacing of 200 mm and a leg length of 400 mm. The design parameters of the release device meet the release requirements of a bipedal passive walking robot.

[0033] In this embodiment, the base plate 1 is a support module, and its upper surface is provided with multiple threaded holes and T-slots for the installation and adjustment of each submodule. The support module includes an adjustment foot cup 11, a fixing plate 12, and a fixing clamp 13. There are four adjustment foot cups 11, and a rubber gasket is provided at the bottom of the adjustment foot cup 11; the fixing plate 12 is made of high-strength metal material and has a thickness greater than 15mm; the fixing clamp 13 is a U-shaped or pressure plate structure, and the edge of the fixing plate 12 is clamped by bolts. The adjustment foot cups 11 are installed at the four corners of the fixing plate 12 to level the entire base plate so that the device can adapt to uneven ground environments. The fixing plate 12 is installed on the surface of the experimental platform via the fixing clamp 13.

[0034] In this embodiment, the support leg fixing and guiding mechanism 2 is arranged on the upper part of the base plate 1, and includes a support leg fixing mechanism 21 and a support leg guiding mechanism 22. The support leg fixing mechanism 21 is a vertical column, specifically an aluminum profile with a cross-sectional specification of 40×40mm. The lower end of the aluminum profile is installed with a base assembly through a T-nut. The aluminum profile is positioned and installed through the through holes on the base and the threaded holes on the base plate 1 to ensure that the aluminum profile remains perpendicular to the base plate 1; the support leg guiding mechanism 22 is specifically two linear guide rails installed in the vertical direction of the aluminum profile. The linear guide rails include guide rails and self-locking sliders. The guide rails are provided with mounting holes. The two guide rails are installed in the vertical direction on the front and rear sides of the aluminum profile through T-nuts and pressure plates, and the back side is in contact with the surface of the aluminum profile; the slider can move in the vertical direction of the guide rail. A top screw is provided on the side of the slider. When the support leg height adjustment is completed, the top screw is tightened to form friction between the top screw and the guide rail to achieve locking of the slider at any height position. In this embodiment, the support leg magnetic release mechanism 3 is installed on the slider of the front guide rail of the support leg fixing and guiding mechanism 2. The magnetic mechanism fixed base 38 is a U-shaped groove structure mounting plate, which is fixed to the front side of the slider by bolts; the bearing support 31 is installed on the magnetic mechanism fixed base 38 by bolts, and a deep groove ball bearing 32 is installed inside. A rotating shaft 33 is passed through the inner hole of the bearing; a rotating support 34 is installed in the middle of the rotating shaft 33, and the other end extends to the bearing support on the other side. The rotation accuracy is ensured by the double-sided bearing support; the rotating support 34 is fixedly connected to the rotating shaft 33 by a pin 39; the two first electromagnetic suction cups 35 are respectively mounted on the rotating support by bolts At the upper and lower ends of the front side of the seat 34, the first electromagnetic suction cup 35 can be aligned with the metal adsorption surface on the supporting leg; there are four first compression springs 37, which are arranged between the first push plate 36 and the rotating support 34; a rubber pad is provided on the outer surface of the first push plate 36, which can play a buffering role. The upper surface of the first push plate 36 is slightly higher than the upper surface of the first electromagnetic suction cup 35. In the process of the first electromagnetic suction cup 35 adsorbing the supporting leg, the supporting leg is first pressed onto the first push plate 36. After the first compression spring 37 is compressed, the supporting leg is sucked onto the first electromagnetic suction cup 35; when the supporting leg is released, the first compression spring 37 can provide an initial driving force for the robot.

[0035] In this embodiment, the support leg angle adjustment mechanism 4 is mounted on the sliders of the guide rails on both sides of the support leg fixing and guiding mechanism 2. A worm gear 41 is mounted on the end of the rotating shaft 33 by means of a key and a keyway. The worm gear 41 is axially fixed by a shaft end retaining ring. A worm 43 is mounted within a worm gear support 44. The worm 43 is rotatably connected to the worm gear support 44 via a bearing. The worm shaft end is exposed to facilitate manual knob rotation. An angle indicator 42 is provided at the end of the worm gear 41 and is a protractor disk with a scale of -90° to 90°. It cooperates with a pointer mounted on the fixed base 38 of the magnetic attraction mechanism to reflect the angle between the support leg and the base plate in real time. During adjustment, rotating the worm 43 drives the worm gear 41 to rotate, thereby changing the support leg angle. When released, the worm pair self-locks, stably maintaining the angle.

[0036] In this embodiment, the swing leg securing mechanism 5 is specifically a gantry structure consisting of two supporting columns and a transverse beam. The gantry is manufactured from aluminum profiles with a cross-section of 40×40 mm. Anchor assemblies are attached to the lower ends of the columns via T-nuts. The columns are positioned and secured via through-holes in the anchors and threaded holes in the base plate 1. The ends of the beam are connected to the tops of the columns via angle brackets. A swing leg width adjustment mechanism 7 is mounted on the crossbeam. This mechanism includes a width guide mechanism 71, a roller mount 72, a first roller 73, and a rope lock 74. The width guide mechanism 71 is specifically a linear guide rail with mounting holes. The guide rail is vertically mounted to the upper side of the crossbeam via T-nuts, with the back surface contacting the upper surface of the aluminum profile. A slider is mounted on the guide rail, allowing it to slide along the crossbeam. A top screw is provided on the side of the slider. Once the width adjustment is complete, the top screw is tightened to create friction between the top screw and the guide rail, securing the slider and ensuring that the release path of the rope 63 remains unchanged, preventing deviations in the initial release direction of the swing leg. The first roller 73 and rope lock 74 are used to guide the rope's downward direction and position, ensuring that the rope remains pulled downward and aligned with the swing leg's hanging point.

[0037] In this embodiment, the sling mechanism 6 includes a motor support 64, a welded, integrally L-shaped steel structure. The bottom of the motor support 64 is bolted to the fixing plate 12. The motor support 64 is used to elevate the motor 61 to an appropriate height, aligning the motor 61's output shaft with the wheel 62 coaxially, providing a reasonable path for the rope 63 to circumvent the motor. The motor support 64 has a mounting surface on its top with several mounting holes for bolting the motor 61 and suppressing vibration during operation. The motor 61 is mounted on the support, and its output shaft is connected to the wheel 62 via a coupling 65. The wheel 62 is a cylindrical drum, around which is wound a rope 63 made of high-strength nylon. One end of the rope 63 is connected to the wheel 62, passes through a first roller 73 and a second roller 81, and terminates in a rope lock 74. By controlling the rotation direction and speed of the motor 61, the rope 63 can be retracted and slowly released; during static release, the rope 63 remains taut and motionless, and the second electromagnetic suction cup 83 is powered off to release the swinging leg; during dynamic release, the motor 61 releases the rope 63 at a constant speed, and the swinging leg gradually swings out. When the angle sensor at the joint of the bipedal passive walking robot shows that it has reached the preset position, the second electromagnetic suction cup 83 is powered off to release the swinging leg. In this embodiment, the swing leg magnetic release mechanism 8 includes a second roller 81, which is a single-wheel groove roller with a ball bearing structure and an integrated square mounting base. The mounting base is processed with mounting holes for screw fixation. The second roller 81 is fixed to the back of the support 82 by screws, and the swing leg magnetic release mechanism 8 is connected to the rope 63 as a whole through the second roller 81; the second electromagnetic suction cup 83, the second push plate 84, and the second compression spring 85 have the same structure and function as the first electromagnetic suction cup 35, the first push plate 36, and the first compression spring 37 in the support leg magnetic release mechanism 3, and the two second electromagnetic suction cups 83 are respectively installed by bolts. At the upper and lower ends of the front side of the support 82, the second electromagnetic suction cup 83 can be aligned with the metal adsorption surface on the swing leg; there are four second compression springs 85, which are arranged between the second push plate 84 and the support 82; a rubber pad is provided on the outer surface of the second push plate 84, which can play a buffering role. The upper surface of the second push plate 84 is slightly higher than the upper surface of the second electromagnetic suction cup 83. In the process of the two second electromagnetic suction cups 83 adsorbing the swing leg, the swing leg is first pressed onto the second push plate 36. After the second compression spring 85 is compressed, the swing leg is sucked onto the second electromagnetic suction cup 83; when the swing leg is released, the second compression spring 85 can provide an initial driving force for the robot.

[0038] In this embodiment, the release device of the bipedal passive walking robot also includes a controller, which includes a main control module STM32 for logic control, a power supply module for powering the motor and electromagnet, a motor control module, and an electromagnet control module. The controller is connected to the motor 61 and the first electromagnetic suction cup 35 and the second electromagnetic suction cup 83 in the device through cables respectively. The controller can control the operation of the motor 61 and the first electromagnetic suction cup 35 and the second electromagnetic suction cup 83.

[0039] The bipedal passive walking robot release device of this embodiment is used to release the bipedal passive walking robot. The operation process includes the following steps: adjusting and fixing the position of the bipedal passive walking robot's supporting leg, adjusting and fixing the position of the bipedal passive walking robot's swinging leg, and releasing the bipedal passive walking robot. Specifically, Step 1: Adjust and fix the position of the supporting legs of the biped passive walking robot; Power is turned on to activate the first electromagnetic suction cup 35, which is attracted to the metal end of the support leg. The swinging leg first contacts the first push plate 36 and compresses the first compression spring 37, which is then attracted to the first electromagnetic suction cup 35, completing the initial fixation of the support leg. Then, manually twist the worm 43 to rotate, driving the worm gear 41 to rotate. The rotating shaft 33 rotates with the worm gear 41 and drives the entire support leg magnetic release mechanism 3 to rotate together, thereby achieving the angle adjustment of the support leg relative to the base plate 1. The current angle is read through the angle indicating mechanism 42. After adjusting to the target angle, the self-locking characteristics of the worm gear are used to maintain the set posture. Finally, adjust the slider in the support leg guide mechanism 22 to slide up and down along the linear guide rail so that the sole of the support leg is in contact with the ground. The position of the slider is fixed by the locking device on the slider to ensure that the support leg is stably supported in the vertical direction, completing the final locking of the support leg.

[0040] Step 2: adjusting and fixing the position of the swinging legs of the biped passive walking robot; Power is turned on to start the second electromagnetic suction cup 83 to be adsorbed to the metal end of the swing leg, and the supporting leg first contacts the second push plate 84 and compresses the second compression spring 85 and is finally attracted to the second electromagnetic suction cup 83; according to the actual distance between the robot's legs, adjust the position of the width guide mechanism 71 installed on the gantry beam until the first roller 73 is aligned with the hanging point at the end of the swing leg along the direction of the beam, and fix the position of the slider by tightening the locking screw to complete the setting of the horizontal position; start the motor 61 installed at the rear of the device, and the motor 61 rotates forward to drive the wheel 62 on the output shaft to rotate, pulling the rope 63, and reading the angle between the swing leg and the supporting leg through the built-in encoder of the bipedal passive walking robot. When the swing leg reaches the ideal preset position, the motor 61 stops rotating to complete the adjustment and fixation of the swing leg position.

[0041] Step 3: releasing the biped passive walking robot; After the positions of the supporting leg and the swinging leg are fully adjusted and locked, the bipedal passive walking robot is in an experimental preparation state, and the static release mode or dynamic release mode is selected for release operation according to the experimental requirements; in the static release mode, the control system simultaneously disconnects the power supply of the first electromagnetic suction cup 35 and the second electromagnetic suction cup 82, so that their magnetic force disappears, and the swinging leg and the supporting leg are simultaneously separated from the fixed position; at the same time, under the action of the compression spring 37, the first push plate 36 pushes the bottom of the supporting leg forward, providing a momentary mechanical release force, so that it starts to swing; the swinging leg loses adsorption and naturally swings out by relying on gravity, inertia and the thrust of the second push plate 84, realizing a human-like free starting action; in the dynamic release mode, the controller drives the motor 61 to rotate in the opposite direction at a set speed, so that the rope 63 is slowly released, and the swinging leg is controlled to swing down under the slow release of the rope 63. When it swings to the target angle or position, the control system simultaneously disconnects the power supply of the first electromagnetic suction cup 35 and the second electromagnetic suction cup 82, so that the supporting leg and the swinging leg are completely released and freely enter the walking posture.

[0042] In this embodiment, the release device also has a staged release control function, which can realize the sequential release of the supporting leg and the swinging leg. However, when the requirement of releasing the supporting leg before the swinging leg is to be achieved, the static release mode can realize high-precision delay control through timing or logical conditions. In the dynamic release mode, since the release time of the swinging leg is affected by its movement process, there is uncertainty in the actual moment of separation from the adsorption position, and it is difficult to accurately set the delayed release time of the swinging leg. It is not suitable for sequential release experiments with high timing requirements. Therefore, only the static release mode in which the supporting leg is released before the swinging leg is described below. Specifically, when the experiment requires that the supporting leg be released before the swinging leg, first ensure that the supporting leg and the swinging leg must be adjusted to the set preset position and fixed. The position adjustment and fixing steps are the same as steps one and two. The release procedure is: the release controller first disconnects the power supply of the first electromagnetic suction cup 35 to make it lose its magnetic force. The first compression spring 37 releases the prestress and pushes the first push plate 36 to apply an initial thrust to the supporting leg, which helps to overcome the initial static friction and residual adsorption force and ensure that the supporting leg swings smoothly; after the supporting leg is released for a certain time (the delay parameter is set by the controller), the controller disconnects the power supply of the second electromagnetic suction cup 82 to complete the release of the swinging leg; the delayed release of the swinging leg can simulate the natural rhythm of humans starting with the supporting leg first and then the swinging leg.

[0043] In this embodiment, when the experimental requirement is for the swing leg to release before the support leg, both the static and dynamic release modes can achieve high-precision delay control through timing or logic conditions. Specifically, in the static release mode, the same position adjustment and fixation steps as steps 1 and 2 are first completed. Then, the power supply to the second electromagnetic suction cup 82 is disconnected, and the swing leg is immediately released from the suction state. After the swing leg releases for a set time, the controller disconnects the power supply to the first electromagnetic suction cup 35, completing the release of the support leg. In the dynamic release mode, the controller drives the motor 61 to actively release the rope, allowing the swing leg to swing smoothly downward. When the swing leg reaches a preset angle, the controller disconnects the power supply to the first electromagnetic suction cup 35, completing the release of the support leg.

[0044] The bipedal passive walking robot release device of this embodiment controls the bipedal passive walking robot through a motor and an electromagnet, has good experimental repeatability, and can ensure the precise, stable and controllable release of the robot; by adjusting the swing leg width adjustment mechanism 7, the release of bipedal passive walking robots of different sizes can be satisfied.

[0045] Example 2 Please refer to Figure 6 , this embodiment provides a release device for a bipedal passive walking robot with knees. Based on the first embodiment, this embodiment can be further applied to bipedal passive walking robots with knee joints that have a more complex structure and a gait that is closer to anthropomorphic form. When the bipedal passive walking robot with knee joints is released, ensure that the supporting leg is in a "locked / straightened" state at the knee joint, and the adsorption position is selected at the position of the metal part of the knee joint. At the same time, the adsorption surface of the calf near the knee and the thigh near the knee are adsorbed, and the adsorption surface is completely fitted with the upper surface of the first electromagnetic suction cup 35; the hanging point of the swinging leg is adjusted to the calf section below the knee joint to reduce the swing inertia and avoid interference; if there is an initial bend in the knee joint, it is necessary to adjust the knee joint to a preset position and keep it locked in advance by controlling the motor or structural limit at the knee joint to ensure the correct direction of thrust release.

[0046] The fixed knee-supported biped passive walking robot in this embodiment has a leg spacing of 200 mm, a thigh length of 200 mm, and a calf length of 200 mm; the design parameters of the release device can meet the release requirements of the biped robot.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A release device for a bipedal passive walking robot, characterized in that: include: A bottom plate, the upper surface of which is provided with positioning holes; A support leg fixing and guiding mechanism is provided on the bottom plate, wherein the support leg fixing and guiding mechanism is provided with a slider capable of sliding in a vertical direction; A support leg angle adjustment mechanism is provided on the slider and can move along the vertical direction with the slider; A support leg magnetic release mechanism, connected to the support leg angle adjustment mechanism, for adsorbing and releasing the support leg; The swing leg fixing mechanism includes two vertical columns and a crossbeam. The two ends of the crossbeam are connected to the top ends of the two columns. The two columns are respectively arranged on both sides of the top surface of the base plate. A sling mechanism is provided at the middle of the top of the base plate; the sling mechanism is provided with a rope for tightening and retracting the rope; A swing leg width adjustment mechanism is provided on the crossbeam; the swing leg width adjustment mechanism is used to carry and guide the rope; The swing leg magnetic release mechanism is connected to the rope and is used for absorbing and releasing the swing leg.

2. The base plate according to claim 1, wherein: The bottom plate includes an adjusting foot cup, a fixing plate, and a fixing clamp. A positioning hole is processed on the fixing plate. The adjusting foot cup is installed on the bottom surface of the fixing plate. The fixing clamp is arranged on the fixing plate.

3. The release device for a bipedal passive walking robot according to claim 2, characterized in that: The support leg fixing and guiding mechanism includes a support leg fixing mechanism and a support leg guiding mechanism. The bottom end of the support leg fixing mechanism is connected to the base plate through the positioning hole, and the support leg guiding mechanism is installed parallel to the support leg fixing mechanism.

4. The release device for a biped passive walking robot according to claim 3, characterized in that: The supporting leg fixing mechanism is a vertical column, the bottom end of which is connected to the base plate; the supporting leg guiding mechanism includes a guide rail and a self-locking slider, the guide rail is installed on the column, and the slider is slidably set on the guide rail. The supporting leg guiding mechanism is used to realize the lifting and positioning of the supporting leg in the vertical direction.

5. The release device for a biped passive walking robot according to claim 1, characterized in that: The magnetic release mechanism of the support leg includes a bearing support, a bearing, a rotating shaft, a rotating support, a first electromagnetic suction cup, a first push plate, a first compression spring, a magnetic mechanism fixed base, and a pin. A screw hole for installing the bearing support is provided on the upper surface of the magnetic mechanism fixed base, and the magnetic mechanism fixed base is connected to the support leg angle adjustment mechanism; the bearing support and the bearing are two, and the bearing is embedded and installed in the mounting hole of the bearing support; the rotating shaft is passed through the center hole of the bearing, and the rotating shaft is supported by two bearings and axially limited by the shaft end retaining ring; the rotating support is sleeved in the middle of the rotating shaft and fixed to the rotating shaft by the pin; the first electromagnetic suction cup is connected to the front end mounting surface of the rotating support by bolts; the first push plate is arranged parallel to the front of the rotating support and is connected to the rotating support by the first compression spring; the locking and release of the support leg are achieved by turning the power on and off of the first electromagnetic suction cup.

6. The release device for a biped passive walking robot according to claim 5, characterized in that: The support leg angle adjustment mechanism includes a worm gear, an angle indicating mechanism, a worm, and a worm gear support. The worm gear support is installed between the slider and the fixed base of the magnetic attraction mechanism by bolts, and the worm is installed in the longitudinal through hole in the worm gear support. A bearing is installed between the worm and the worm gear support; the worm gear is connected to the rotating shaft by a key and is axially limited by a shaft end retaining ring, and the worm gear and worm are engaged for transmission; the protractor in the angle indicating mechanism is fixedly installed on the end of the rotating shaft by screws, and the pointer is installed on the top of the fixed base of the magnetic attraction mechanism; the angle adjustment and self-locking of the support leg are achieved through worm gear transmission.

7. The release device for a biped passive walking robot according to claim 1, characterized in that: The swing leg fixing mechanism comprises two vertical columns and a crossbeam. The vertical columns are installed on the top of the base plate through the positioning holes on the fixing plate, and the crossbeam is installed above the two columns.

8. The release device for a biped passive walking robot according to claim 1, characterized in that: The swing leg width adjustment mechanism includes a width guide mechanism, a rope guide mechanism fixed base, a first roller, and a rope lock; the width guide mechanism includes a linear guide rail and a slider to adapt to different robot leg widths, the linear guide rail is installed above the crossbeam; the rope guide mechanism fixed base is fixedly installed on the slider and can move along the linear guide rail with the slider; There are two first rollers, which are respectively installed with the rope buckle at the rear, top and front of the fixed base of the rope guide mechanism. The first rollers are used to carry and guide the rope.

9. The release device for a biped passive walking robot according to claim 1, characterized in that: The sling mechanism includes a motor, a rotating wheel, a rope, a motor support, and a coupling. The motor support is installed in the middle of the top of the base plate, the motor is installed on the top of the motor support, and the motor output shaft is connected to the rotating wheel through the coupling. One end of the rope is fixedly connected to the rotating wheel, and is led out after being wrapped around the rotating wheel for several turns. After being guided by the first roller, it is connected to the swing leg magnetic release mechanism, and the end of the rope is fixedly connected to the rope buckle.

10. The release device for a biped passive walking robot according to claim 1, characterized in that: The swing leg magnetic release mechanism includes a second roller, a support, a second electromagnetic suction cup, a second push plate, and a second compression spring. The second roller is connected to the rope winding, the second roller is installed on the support by a screw, and the second electromagnetic suction cup is connected to the front end mounting surface of the support by a bolt; the second push plate is arranged parallel to the front of the support and is connected to the support through the second compression spring.

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