Legged mechanical structure and control method therefor

Abstract

Disclosed are a legged mechanical structure and a control method therefor. The legged mechanical structure comprises: a body (1); slider-crank linkages, wherein at least two slider-crank linkages are provided, and the slider-crank linkages are spaced on the body; and leg assemblies (4), wherein at least one leg assembly is disposed at each slider-crank linkage, each leg assembly is connected to a slider (22) of the corresponding slider-crank linkage by means of at least two rocker links (3), the leg assemblies and the rocker links are connected by means of first revolute joints and the sliders and the rocker links are connected by means of first revolute joints, the first revolute joints are parallel to each other, and the axes of the first revolute joints are arranged along the movement direction of the sliders. The legged mechanical structure can overcome the defects in the prior art of slow movement speeds of mechanical legs, low endurance, weak bearing capabilities and large vertical movement caused by the use of the joint direct drive technique in legged robots.

Description

A foot-walking mechanical structure and its control method Technical Field

[0001] This invention relates to the field of robotics, and in particular to a legged mechanical structure and its control method. Background Technology

[0002] Existing robots mainly include wheeled robots, tracked robots, and legged robots. Among them, legged robots can flexibly overcome obstacles with high ruggedness by contacting the ground through movable leg components, making them suitable for occasions with high requirements for obstacle-crossing ability. Currently, mainstream legged robots generally adopt a biomimetic design and include at least two mechanical legs. Each mechanical leg includes a thigh, a lower leg, and a foot. At least one set of servo motors are set between the thigh and the robot body, between the thigh and the lower leg, and between the lower leg and the foot. These motors drive the corresponding joints to rotate in at least one direction through joint direct drive. The entire mechanical leg often contains at least four degrees of freedom to complete various complex movements.

[0003] However, since legged robots require alternating extension and retraction of their legs, using direct-drive joints to move the legs has several drawbacks. First, the servo motors at each joint of the leg must constantly overcome the leg's inertia to accelerate, decelerate, and change direction, negatively impacting the leg's speed and endurance. Second, too many servo motors on the leg result in excessive mass and moment of inertia, further reducing the leg's speed and increasing manufacturing costs. Furthermore, existing legged robots suffer from excessive leg freedom, leading to weak leg rigidity and insufficient load-bearing capacity.

[0004] Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing legged robots that use joint direct drive technology, resulting in slow movement speed, low endurance, weak load-bearing capacity, and large vertical undulation, and to provide a legged mechanical structure and its control method.

[0006] In a first aspect, the present invention provides a foot-walking mechanical structure, comprising:

[0007] body;

[0008] The crank-slider mechanism has at least two crank-slider mechanisms, which are spaced apart on the fuselage.

[0009] At least one leg assembly is arranged at each crank slider mechanism, and the leg assembly is connected with the slider of the crank slider mechanism through at least two swing rods, and the leg assembly and the swing rod and the slider and the swing rod are connected through first rotary pairs, the first rotary pairs are parallel to each other, and the axes of the first rotary pairs are arranged along the movement direction of the slider.

[0010] The specific structure of the fuselage includes but is not limited to a plate structure, a seat structure, a truss structure, and a box structure.

[0011] The crank slider mechanism is a mechanism including at least one crank capable of rotating in a whole circle, at least one slider capable of reciprocating, corresponding sliding rails, and at least one crank connecting rod connecting the crank and the slider, so as to convert the rotary motion into reciprocating motion; according to whether there is an urgent return requirement, the crank slider mechanism can be biased or concentric.

[0012] The leg assembly and the slider are connected through at least two swing rods, for example, the leg assembly, the swing rod, and the slider are combined into a double rocker mechanism, a double crank mechanism, a parallelogram mechanism, or a crank rocker mechanism through the swing rod, so as to adjust the inclination angle and the overall height of the leg assembly through the swing of the swing rod.

[0013] The axes of the first rotary pairs are arranged along the movement direction of the slider, that is, the swing rod can drive the leg assembly to swing to the left and right sides of the slider; for example, if the slider can move along the X-axis direction in a rectangular coordinate system, and the axes of the first rotary pairs are completely parallel to the movement direction of the slider, the swing rod can drive the leg assembly to move and swing in the YOZ plane, that is, the present scheme can give the leg assembly at least three degrees of freedom of movement, and the rotational freedom is determined according to the specific structure of the connecting rod mechanism; the specific structure of the first rotary pair includes but is not limited to a hinge, a ball bearing, and other joints that can rotate.

[0014] The present scheme can drive the fuselage to move along the movement direction of the slider through the crank slider mechanism; for example, in the case of installing one crank slider mechanism on each side of the fuselage and needing to move forward along the movement direction of the slider, the angle of the swing rod can be adjusted to lift the leg assembly on one side, for example, the left leg assembly, and then the crank on the left side is rotated to move the slider forward by a distance; the angle of the swing rod is adjusted again to make the left leg assembly touch the ground again, and the right leg assembly is lifted upward; the crank on the left side is rotated again to move the slider back to the original position relative to the fuselage, that is, the crank slider mechanism on the left side can be used to drive the fuselage to move forward; the left and right sides are alternately lifted, moved, lowered, and reset, so as to continuously drive the fuselage to move forward.

[0015] The scheme can drive the body to move along the swing direction of the swing rod; one crank slider mechanism is installed on each of the left and right sides of the body, and taking the left side translation of the slider movement direction as an example, one side of the leg assembly, for example, the left leg assembly, can be translated or swung to the left side of the original position by adjusting the angle of the swing rod; after the left leg assembly is in place, the right leg assembly is lifted up; the angle of the swing rod is adjusted again to reset the left leg assembly to the right relative to the body, so that the left swing rod drives the body to move to the left; the left and right sides are alternately translated or swung, and the leg assembly is reset, so that the body is continuously driven to move to the left.

[0016] The scheme can drive the body to move obliquely through the combined action of the swing rod and the crank slider mechanism; one crank slider mechanism is installed on each of the left and right sides of the body, and taking the left front translation of the slider movement direction as an example, one side of the leg assembly, for example, the left leg assembly, can be moved to the left and up by adjusting the rotation angle of the swing rod and the crank; the angle of the swing rod is adjusted again to make the left leg assembly touch the ground again, and the touch position is located in the left front of the original position, and the right leg assembly is lifted up; the rotation angle of the left swing rod and the crank is adjusted again to reset the leg assembly to the right rear relative to the body, so that the left swing rod and the crank slider mechanism together drive the body to move to the left front; the left and right sides are alternately moved, the leg assembly is lowered, and the leg assembly is reset, so that the body is continuously driven to move forward.

[0017] The scheme can drive the body to move up and down through the swing rod; one crank slider mechanism is installed on each of the left and right sides of the body, and taking the body rising as an example, the angles of the left and right swing rods can be adjusted at the same time to make the leg assemblies on both sides move downward relative to the body at the same time, so that the swing rod pushes the body to rise upward.

[0018] The scheme can change the attitude of the body through the swing rod; one crank slider mechanism is installed on each of the left and right sides of the body, and taking the body tilting to the left side as an example, the angle of one side of the swing rod or the angles of the left and right swing rods can be adjusted to make the length of the left leg assembly extending relative to the body smaller than the corresponding length of the right leg assembly, so that the swing rod pushes the body to tilt to the left side.

[0019] As mentioned above, the foot movement mechanical structure of the present scheme has at least three degrees of freedom of movement by combining the crank slider mechanism and the swing rod, and the movement of the whole scheme in various directions can be realized by adjusting the angle of the crank and the swing rod. Compared with the prior art, the slider reciprocating motion required for movement is realized by the crank slider mechanism, which can keep the crank rotating in one direction at all times during movement, avoiding frequent acceleration, deceleration and direction change of the corresponding driving mechanism, thereby reducing the inertia to be overcome during movement, and further improving the endurance and movement speed of the present scheme. On the other hand, the load, such as the weight of the machine body and the load pressure, is transmitted to the slide rail through the slider, and the load direction is perpendicular to the rotation plane of the crank, so that the crank in the present scheme does not need to directly resist the weight of the machine body and the load pressure, but only needs to overcome the friction between the slider and the slide rail and in each first rotation pair. Therefore, the present scheme has much higher carrying capacity and movement speed than the prior art under the same driving mechanism.

[0020] The present scheme combines the slider, swing rod and leg assembly into a linkage mechanism to control the lifting, left-right translation and swinging of the leg assembly. Compared with the joint direct drive of the prior art, the present scheme can only set a driving mechanism at the connection between the swing rod and the slider, without setting a driving mechanism at each rotation pair. On the one hand, this can reduce the weight and inertia of the leg assembly, thereby further improving the movement speed of the present scheme and reducing the manufacturing cost of the present scheme. On the other hand, it can also reduce the degrees of freedom of the leg assembly, thereby improving the stiffness of the leg assembly and further improving the carrying capacity of the present scheme.

[0021] Further, for the prior art using joint direct drive, when it is placed on the ground, the rotation axes of the motors installed at each joint are all in the horizontal direction, so the rotation of any joint will drive the corresponding part of the leg assembly to swing in the vertical plane, thereby causing the height and inclination of the leg assembly to change, and further causing the height or inclination of the machine body to change. In the present scheme, on the one hand, the forward and backward movement of the machine body is mainly driven by the relative displacement of the slider and the slide rail, and only one clear degree of freedom is included between the slider and the slide rail. Therefore, when the machine body moves forward and backward, it will only translate in the direction parallel to the slide rail, and is not easy to jump in other directions. On the other hand, the machine body is supported by the leg assemblies alternately, so the height and inclination of the machine body are only affected by the leg assembly currently supporting the ground, and are not affected by the leg assemblies not in contact with the ground. As long as the height and inclination of the leg assembly are maintained constant when supporting the machine body, the height and inclination of the machine body can be guaranteed constant. In summary, the present scheme is more likely to suppress or even eliminate the up-and-down fluctuation of the machine body compared with the prior art, thereby realizing more stable operation.

[0022] Preferably, the leg assembly comprises a leg body and at least two leg links; the leg links are arranged in series, and each two adjacent leg links or the leg links at the two ends and the swing rod are connected through a second rotation pair, the axis of the second rotation pair is parallel to the axis of the first rotation pair; the leg body is arranged at at least one second rotation pair.

[0023] The scheme can combine the leg assembly, the swing rod and the sliding block into a five-link structure, and through the combination adjustment of the angles of the swing rods at the two ends, the relative positions and angles of the leg links can be changed to change the shape of the leg assembly as a whole, so that the operation of the scheme is more flexible.

[0024] Preferably, a joint bearing is arranged between the leg body and the second rotation pair.

[0025] The specific selection of the joint bearing is determined according to the movable requirements of the leg body, for example, if the leg body needs to have a single rotational degree of freedom, a common rolling bearing can be used; if the leg body needs to have three rotational degrees of freedom, a spherical sliding bearing comprising a convex spherical surface and a concave spherical surface in matching can be used; the joint bearing can be a passive structure without a driving mechanism or an active structure with a driving mechanism.

[0026] The scheme enables the leg body to have at least one rotational degree of freedom relative to the second rotation pair connected thereto, which is beneficial to keep the leg body at a correct angle, for example, along the vertical direction.

[0027] Preferably, a driving gear is rotationally connected to the sliding block, and the driving gear is used to drive the swing rod to swing; the driving gear is further connected to the fuselage through a ball spline, and the spline shaft of the ball spline is arranged parallel to the movement direction of the sliding block.

[0028] The scheme connects the driving gear to the fuselage through the ball spline, which can input torque to the driving gear through the spline shaft and realize the sliding of the driving gear along the axis of the spline shaft. In addition to the basic function of driving the swing rod to swing, the scheme can also drive the driving gear to move along the spline shaft through the ball spline, so as to keep the relative position of the driving gear and the sliding block unchanged, without the need to design a complex transmission structure between the driving gear and the sliding block to adapt to the sliding of the sliding block, thereby reducing the complexity and manufacturing cost of the scheme.

[0029] Preferably, a driving mechanism is connected to the fuselage, a transmission assembly is arranged between the driving mechanism and the swing rod, the transmission assembly comprises at least one of a gear and a synchronous belt, and the driving mechanism can drive the swing rod to swing through the transmission assembly.

[0030] The gear and / or synchronous belt drive mode is preferably used to drive the swing rod, which can accurately control the swing angle of the swing rod, thereby accurately controlling the movement and swing of the leg assembly.

[0031] Preferably, the number of crank slider mechanisms and the number of leg assemblies are both greater than or equal to four, and the leg assemblies are spaced apart in at least two directions relative to the body.

[0032] The leg assemblies are spaced apart in two directions, for example, in two perpendicular directions to form a chessboard array, or in radial and tangential directions to form a circular array.

[0033] Since the present scheme needs to alternately lift and lower the leg assemblies during movement, the present scheme preferably uses a number of crank slider mechanisms and leg assemblies, so that the present scheme has at least four independently controllable leg assemblies, which can always contact the ground during movement, thereby increasing the stability of the present scheme during walking and standing.

[0034] In a second aspect, the present application provides a control method of a foot-moving mechanical structure, which is applied to the foot-moving mechanical structure of the present application and includes the following steps:

[0035] S1, control the swing of the swing rod to make at least one leg assembly disengage from the ground; control the movement of the slider, and / or control the swing of the swing rod to make the leg assembly disengaged from the ground move towards a set direction;

[0036] S2, control the swing of the swing rod to make the leg assembly disengaged from the ground in step S1 re-contact the ground, and the leg assembly contacting the ground in step S1 disengage from the ground;

[0037] S3, control the movement of the slider, and / or control the swing of the swing rod to make the leg assembly contacting the ground reset relative to the body away from the set direction, thereby driving the body to move towards the set direction.

[0038] In step S1, the set direction is determined according to the movement requirement, for example, if the body needs to move forward along the movement direction of the slider, the set direction is the front of the movement direction of the slider; if the body needs to move left front along the movement direction of the slider, the set direction is the left front of the movement direction of the slider.

[0039] The control method of the foot-moving mechanical structure of the present application is applied to the foot-moving mechanical structure of the present application, which makes the leg assemblies alternately perform the actions of disengaging from the ground, moving, contacting the ground and resetting, thereby driving the body to move; this method is adapted to the crank slider mechanism in the foot-moving mechanical structure, which can make the crank keep directional rotation without frequent acceleration, deceleration and direction change, thereby improving the endurance and movement speed of the foot-moving mechanical structure.

[0040] Preferably, between step S2 and step S3, the method further comprises the following step:

[0041] Steps S1 to S2 are repeated until all the leg assemblies move towards the set direction.

[0042] The present scheme first makes the leg assemblies alternately perform the actions of disengaging from the ground, moving, and contacting the ground, so that all the leg assemblies move a distance towards the set direction, thereby enabling all the leg assemblies to be reset together relative to the fuselage away from the set direction in step S3, so as to maximize the use of all the leg assemblies to pull the fuselage to move, that is, to maximize the traction force when the fuselage moves.

[0043] Preferably, when the number of leg assemblies is greater than or equal to four, and it is necessary to control the foot walking mechanical structure to turn on the spot:

[0044] In step S1, at least two leg assemblies disengage from the ground, and the leg assemblies disengaging from the ground are centrally symmetrically distributed about the center of mass of the fuselage; the leg assemblies disengaging from the ground move along the clockwise tangential direction or the counterclockwise tangential direction relative to the center of mass of the fuselage;

[0045] In step S3, the leg assemblies contacting the ground are reset along the counterclockwise tangential direction or the clockwise tangential direction relative to the center of mass of the fuselage, thereby driving the fuselage to rotate in the clockwise direction or the counterclockwise direction.

[0046] The present scheme gives the specific control method of step S1 and step S3 for the case of needing the foot walking mechanical structure to rotate on the spot.

[0047] Preferably, when the leg assemblies comprise at least two continuously arranged leg links:

[0048] In step S1 or step S2, by making the swing rods on both sides of the leg assemblies swing away from each other, the length of the line connecting the end portions of the swing rods away from the slider is increased, thereby driving the leg assemblies to approach the slider until disengaging from the ground;

[0049] In step S2, by making the swing rods on both sides of the leg assemblies swing towards each other, the length of the line connecting the end portions of the swing rods away from the slider is reduced, thereby driving the leg assemblies to move away from the slider until contacting the ground.

[0050] The present scheme gives the specific method of controlling the action of disengaging from the ground and the action of contacting the ground for the case of the leg assemblies comprising at least two leg links.

[0051] Compared with the prior art, the present application has the following beneficial effects:

[0052] 1. The application provides a kind of foot walking mechanical structure, by combining slider-crank mechanism and swing bar, so that supporting leg assembly has at least three degrees of freedom, by combining the angle of adjusting crank and swing bar, the motion of the whole scheme in each direction can be realized;Compared with the prior art using servo motor direct drive joint, the reciprocating motion of the slider required for motion is realized by slider-crank mechanism, on the one hand, the crank can be kept rotating in one direction during motion, to avoid the corresponding driving mechanism frequent acceleration, deceleration and direction change, so as to reduce the inertia required in the process of motion, and further improve the endurance and motion speed of the scheme;On the other hand, slider-crank mechanism uses slide rail as bearing structure, which can obtain higher carrying capacity compared with servo motor direct drive joint;And compared with the prior art, the application can also inhibit or even eliminate the up and down of the body, so as to realize more stable operation.

[0053] Meanwhile, the scheme does not need to set driving mechanism at each rotary pair, on the one hand, the weight and inertia of supporting leg assembly can be reduced, so as to further improve the motion speed of the scheme, and reduce the manufacturing cost of the scheme;On the other hand, the freedom of supporting leg assembly can also be reduced, so as to improve the rigidity of supporting leg assembly, and further improve the carrying capacity of the scheme.

[0054] 2, The application provides a kind of control method of foot walking mechanical structure, applied to a kind of foot walking mechanical structure of the application, by making supporting leg assembly alternately perform the action of separating from ground, moving, contacting ground and resetting, to drive body to move;The method is adapted to the slider-crank mechanism in foot walking mechanical structure, can make the crank keep directional rotation, without frequent acceleration, deceleration and direction change, so as to improve the endurance and motion speed of foot walking mechanical structure, and also can inhibit or even eliminate the up and down of the body, so as to realize more stable operation. BRIEF DESCRIPTION OF DRAWINGS

[0055] Fig. 1 is a perspective view of a kind of foot walking mechanical structure of the application;

[0056] Fig. 2 is a bottom view of a kind of foot walking mechanical structure of the application;

[0057] Fig. 3 is a side view of a kind of foot walking mechanical structure of the application;

[0058] Fig. 4 is a bottom view of a single driving unit in a kind of foot walking mechanical structure of the application;

[0059] Fig. 5 is a perspective view of a single driving unit in a kind of foot walking mechanical structure of the application;

[0060] Fig. 6 is a schematic diagram of the motion state of a double rocker mechanism in a kind of foot walking mechanical structure of the application;

[0061] Fig. 7 is a schematic diagram of the motion state of a double rocker mechanism in a foot walking mechanical structure according to the present application;

[0062] Fig. 8 is a schematic diagram of the motion state of a double rocker mechanism in a foot walking mechanical structure according to the present application;

[0063] Fig. 9 is a schematic diagram of the motion state of a double rocker mechanism in a foot walking mechanical structure according to the present application;

[0064] Fig. 10 is a schematic diagram of the motion state of a crank rocker mechanism in a foot walking mechanical structure according to the present application;

[0065] Fig. 11 is a schematic diagram of the motion state of a crank rocker mechanism in a foot walking mechanical structure according to the present application;

[0066] Fig. 12 is a schematic diagram of the control flow of a control module in a foot walking mechanical structure according to the present application;

[0067] Fig. 13 is a schematic diagram of the control flow of a control module in a foot walking mechanical structure according to the present application; DETAILED DESCRIPTION

[0068] The present application will be further described in conjunction with test examples and specific embodiments. However, it should not be understood that the scope of the above-mentioned subject matter of the present application is limited to the following examples, and any technology realized based on the content of the present application falls within the scope of the present application.

[0069] In the description of the specific embodiments of the present application, the orientation or position relationship terms such as "up", "down", "left", "right", "center", "inner", "outer", and the like, are expressed based on the orientation or position relationship shown in the drawings, or the orientation or position relationship when the product / device / apparatus of the present application is normally used. These orientation or position relationship terms are only used to facilitate the description of the present application or to simplify the description in the specific embodiments, to facilitate the quick understanding of the scheme by the skilled person, and are not intended to indicate or imply that a specific device / component / element must have a specific orientation or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present application.

[0070] In addition, if the terms "horizontal", "vertical", "suspended", "parallel" and the like appear, it does not mean that the corresponding device / component / element is absolutely horizontal or vertical or suspended or parallel, but can be slightly inclined or deviated. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", not that the structure must be completely horizontal, but can be slightly inclined. Alternatively, it can be simplified to understand that the corresponding device / component / element is arranged in the direction of "horizontal", "vertical", "suspended", "parallel" and the like, and can have an error / deviation of ±10% relative to the corresponding direction, more preferably an error / deviation of ±8%, more preferably an error / deviation of ±6%, more preferably an error / deviation of ±5%, more preferably an error / deviation of ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the present application.

[0071] In addition, the terms "first", "second", "third", and the like in the terms are only used to distinguish the same or similar components, and should not be understood as emphasizing or implying the relative importance of the specific components.

[0072] In addition, in the description of the embodiments of the present application, "several", "a plurality of", "several" represent at least 2. It can be 2, 3, 4, 5, 6, 7, 8, 9, etc. in any case, and even more than 9.

[0073] In addition, in the description of the technical solutions of the present application, unless otherwise specified / limited / limited, the terms "arrangement", "installation", "connection", "connection", "provided with", "laid", "arrangement" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, which can be welding, riveting, bolting, screwing, etc. The connection means commonly used in the art. Such connection can be mechanical connection, electrical connection or communication connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication between two elements.

[0074] Embodiment 1

[0075] As shown in FIGS. 1-11, a foot walking mechanical structure includes a body 1, a crank slider mechanism, and a leg assembly 4. The number of crank slider mechanisms is at least two, and the crank slider mechanisms are distributed at intervals on the body 1. At least one leg assembly 4 is provided at each crank slider mechanism, and the leg assembly 4 and the slider 22 of the crank slider mechanism are connected by at least two swing rods 3. The leg assembly 4 and the swing rod 3, and the slider 22 and the swing rod 3 are connected by first rotation pairs. The first rotation pairs are parallel to each other, and the axes of the first rotation pairs are arranged along the movement direction of the slider 22.

[0076] It should be noted that, in order to help understand the relative position relationship of the components of the present scheme, the present scheme marks the rectangular coordinate system in FIGS. 2-4 and FIGS. 6-11, wherein the X axis is parallel to the length direction of the slide rail 23, used to indicate the front-rear direction of the fuselage 1; the Y axis is along the swing direction of the swing rod 3, used to indicate the left-right direction of the fuselage 1; and the Z axis is used to indicate the height direction of the fuselage 1.

[0077] Specifically, as shown in FIGS. 1-3, the fuselage 1 in the present embodiment adopts a plate-shaped structure to facilitate carrying goods; the crank slider mechanism includes a crank 21, a slider 22, a slide rail 23 and a crank connecting rod 24, one end of the crank 21 is connected with the driving mechanism 5, the other end is connected with one end of the crank connecting rod 24 through a revolute pair; the crank 21 connected with the other end away from the crank 21 is connected with the slider 22 through a revolute pair; the slider 22 is in sliding connection with the slide rail 23; in this way, by driving the crank 21 to rotate through the driving mechanism 5, the slider 22 can be driven to reciprocate along the slide rail 23; and further, the slide rails 23 in each crank slider mechanism in the present embodiment are parallel to each other, which can reduce the design difficulty of the control method, and the slide rail 23 is detachably connected with the fuselage 1, which can facilitate replacing the slide rail 23 of different sizes and models according to different load requirements; and the two swing rods 3 in the present embodiment are both rocker rods, i.e. they will not rotate a full circle, thereby combining with the slider 22 and the leg assembly 4 into a double rocker mechanism, which can adjust the position and swing of the leg assembly 4 with a smaller swing rod 3 rotation angle, and can also avoid the situation that the swing rod 3 rotation angle is too large to interfere with the fuselage 1.

[0078] In an optional embodiment, the leg assembly 4 includes a leg body 42 and at least two leg connecting rods 41; the leg connecting rods 41 are arranged in series, and each adjacent two leg connecting rods 41 and each leg connecting rod 41 located at the two ends and the swing rod 3 are connected through a second revolute pair, the axis of the second revolute pair is parallel to the axis of the first revolute pair; and the leg body 42 is arranged at at least one second revolute pair. As shown in FIGS. 5-9, the leg assembly 4 of the present embodiment specifically includes two leg connecting rods 41, thereby making the leg connecting rod 41, the swing rod 3 and the slider 22 jointly form a five-link mechanism, and the leg body 42 is connected at the second revolute pair between the two leg connecting rods 41, thereby as shown in FIGS. 6-7, the left-right deviation of the leg body 42 can be controlled, and as shown in FIGS. 8-9, the lifting of the leg body 42 can also be controlled.

[0079] In an optional embodiment, the number of crank slider mechanisms and the number of leg assemblies 4 are both greater than or equal to four; as shown in FIG. 1 and FIG. 2, four crank slider mechanisms are arranged on one side of the fuselage 1, and the four crank slider mechanisms are respectively located at the four corners of the fuselage 1; the four crank slider mechanisms are symmetrically distributed along the left-right and up-down directions of the fuselage 1 in FIG. 2, which can ensure that the leg assemblies 4 stably support the fuselage 1; and the crank 21 of the crank slider mechanism and the driving mechanism 5 are both located in the middle part of the fuselage 1, so that most of the movement space of the crank 21 is located inside the projection of the fuselage 1, which makes the overall structure of the scheme more compact and reduces the risk of interference and collision between the crank 21 and external objects.

[0080] In an optional embodiment, a joint bearing 43 is arranged between the leg body 42 and the second rotating arm; in this embodiment, a spherical sliding bearing is specifically selected; when the leg body 42 is inclined relative to the ground, the ground reaction force acting on the leg body 42 will drive the leg body 42 to rotate around the joint bearing 43 until it returns to the vertical state, thereby keeping the leg body 42 in the correct grounding state.

[0081] In an optional embodiment, an enlarged portion is arranged at the end of the leg assembly 4 away from the slider 22, so that the cross-sectional area of the end of the leg assembly 4 away from the slider 22 is greater than the cross-sectional area of the end of the leg assembly 4 close to the slider 22, thereby obtaining a larger grounding area and ensuring the stability of walking; and the size of the enlarged portion along the movement direction of the slider 22 is greater than the size of the enlarged portion along the swinging direction of the swing rod 3.

[0082] In an optional embodiment, the fuselage 1 is connected with a driving mechanism 5, and a transmission assembly is arranged between the driving mechanism 5 and the swing rod 3; the transmission assembly includes at least one of a gear and a synchronous belt 8; the driving mechanism 5 can drive the swing rod 3 to swing through the transmission assembly.

[0083] In an optional embodiment, the transmission assembly comprises a driving gear 61 connected to the body 1 through a ball spline, and the spline shaft 71 of the ball spline is arranged parallel to the movement direction of the slider 22. Specifically, as shown in FIGS. 4 and 5, since two swing rods 3 are connected to each leg assembly 4 in this embodiment, the transmission assembly comprises two driving gears 61 and two driven gears 62 for each leg assembly 4 in this embodiment, the driving gears 61 and the driven gears 62 are both rotationally connected to the slider 22, the driving gears 61 are in mesh with the driven gears 62, and the driving gears 61 are also connected to the spline sleeve on the ball spline, rotating the spline shaft 71 can make the spline sleeve move and rotate simultaneously, thereby driving the driving gears 61 to move and rotate simultaneously to synchronize the displacement of the slider 22 and drive the swing rods 3 to swing; more specifically, each spline shaft 71 is connected to an independent driving mechanism 5 through a synchronous belt 8, so as to accurately control the rotation angle of each spline shaft 71; further, the driving gears 61, the spline shafts 71 and the driven gears 62 are symmetrically arranged relative to the slide rail 23, so as to ensure that the slider 22 is balanced under force.

[0084] In an optional embodiment, a shock absorber 9 is arranged between the body 1 and the crank slider mechanism, for filtering the vibration transmitted from the crank slider mechanism to the body 1, so as to prevent the vibration from affecting and damaging the transported goods.

[0085] In an optional embodiment, a control module is further arranged on the body 1, and as shown in FIG. 12, the control module is configured to: take each crank slider mechanism and the swing rods 3 and the leg assemblies 4 connected thereto as a driving unit, control the system to directly control each driving unit, and realize the movement of the body 1 through the combined movement of each driving unit; each driving unit needs to control the corresponding driving mechanism 5 of the crank 21 and the swing rod 3, so as to make the leg assembly 4 reach the target position and swing angle at the target time; in order to supply power to the control module and the driving mechanisms 5, a system power supply module is further arranged in the body 1.

[0086] In an optional embodiment, a six-axis gyroscope sensor is further arranged on the body 1, and the six-axis gyroscope sensor is in communication connection with the control module, so as to help the control module to determine the current posture of the body 1, for controlling the balance of the body 1.

[0087] In an optional embodiment, a communication control interface is further arranged on the control module; according to actual needs, the communication control interface can comprise a wired control module and a wireless control module, such as a wired remote control module and a 2.4G wireless control module, for remote control or remote function expansion.

[0088] In an optional embodiment, the fuselage 1 is further provided with a laser radar and / or a visual sensor for detecting obstacles near the fuselage 1, and the laser radar and / or the visual sensor are in communication connection with the control module to help the control module avoid obstacles and prevent collision and scratching accidents.

[0089] In an optional embodiment, a laser range finder is arranged in the slider-crank mechanism for measuring the position of the slider 22, and an angle sensor is arranged in the driving mechanism 5 of the crank 21 and the swing rod 3; the laser range finder and the angle sensor are in communication connection with the control module, so that the control module can confirm the position and posture of the leg assembly 4 through the position of the slider 22, the rotation angle of the crank 21 and the swing angle of the swing rod 3, which is conducive to the control module coordinating the combined movement of each leg assembly 4.

[0090] Embodiment 2

[0091] A control method of a foot-moving mechanical structure, applied to the foot-moving mechanical structure of embodiment 1, comprising the following steps:

[0092] S1, controlling the swing rod 3 to swing so that at least one leg assembly 4 is separated from the ground; controlling the slider 22 to move, and / or, controlling the swing rod 3 to swing so that the leg assembly 4 separated from the ground moves towards a set direction;

[0093] S2, controlling the swing rod 3 to swing so that the leg assembly 4 separated from the ground in step S1 recontacts the ground, and the leg assembly 4 contacting the ground in step S1 is separated from the ground;

[0094] S3, controlling the slider 22 to move, and / or, controlling the swing rod 3 to swing so that the leg assembly 4 contacting the ground is reset away from the set direction relative to the fuselage 1, thereby driving the fuselage 1 to move towards the set direction.

[0095] In an optional embodiment, between step S2 and step S3, the following step is further included:

[0096] Steps S1 to S2 are repeated until all leg assemblies 4 move towards the set direction.

[0097] Taking the foot-moving mechanical structure including four slider-crank mechanisms and leg assemblies 4 in embodiment 1 as an example, if it is desired to control the foot-moving mechanical structure to move downwards along the X-axis direction in FIG. 2, the following steps can be performed:

[0098] A1, divide the four leg assemblies 4 into two groups, as shown, number the leg assemblies 4 in regions I, II, III, and IV as I, II, III, and IV respectively; wherein the leg assemblies 4 numbered I and III are a group, and the leg assemblies 4 numbered II and IV are a group, so as to ensure that in each group of leg assemblies 4, the connecting line of the two leg assemblies 4 passes through the center of mass of the fuselage 1, avoiding the situation that lifting a group of leg assemblies 4 causes the fuselage 1 to lose balance; then control the swing of the swing rod 3 to make the leg assemblies 4 in the group swing off the ground, for example, make the leg assemblies 4 numbered I and III swing off the ground; control the movement of the slider 22 by rotating the crank 21 to make the leg assemblies 4 numbered I and III move to the frontmost position of the slide rail 23, that is, the lowermost end of the slide rail 23 in FIG. 2;

[0099] A2, control the swing of the swing rod 3 to make the leg assemblies 4 numbered I and III re-contact the ground, while the leg assemblies 4 numbered II and IV swing off the ground;

[0100] A3, control the movement of the slider 22 by rotating the crank 21 to make the leg assemblies 4 numbered II and IV move to the frontmost position of the slide rail 23; control the swing of the swing rod 3 again to make the leg assemblies 4 numbered II and IV re-contact the ground;

[0101] A4, control the movement of the slider 22 by rotating the crank 21 to make the leg assemblies 4 numbered I, II, III, and IV reset relative to the fuselage 1 towards the rear of the slide rail 23, that is, the uppermost end of the slide rail 23 in FIG. 2, thereby driving the fuselage 1 to move towards the front of the slide rail 23.

[0102] In an optional embodiment, when it is necessary to make the fuselage 1 overcome an obstacle, the following steps can be taken:

[0103] B1, make the fuselage 1 approach the obstacle, such as a trench, by steps S1-S3 until the leg assemblies 4 on the side of the fuselage 1 close to the obstacle are as close to the obstacle as possible, and the leg assemblies 4 on the side of the fuselage 1 close to the obstacle are located at the end far from the obstacle relative to the slide rail 23, and this process can be positioned and guided using a visual sensor or a laser radar;

[0104] B2, control the swing of the swing rod 3 to make at least one leg assembly 4 on the side close to the obstacle lift up and swing off the ground; it should be noted that this process needs to keep at least one leg assembly 4 on the side of the fuselage 1 close to the obstacle in contact with the ground to avoid the fuselage 1 from overturning;

[0105] B3, control the slider 22 to move towards the obstacle until the leg assemblies 4 off the ground overcome the obstacle;

[0106] B4, control the swing of the swing rod 3 to make the leg assemblies 4 off the ground in step B2 re-contact the ground;

[0107] B5, repeat steps B2 to B4 until all the leg assemblies 4 on the side of the fuselage 1 close to the obstacle have passed the obstacle.

[0108] In optional embodiments, when the number of leg assemblies 4 is greater than or equal to four and it is necessary to control the foot locomotion mechanism to turn on the spot:

[0109] In step S1, at least two leg assemblies 4 are lifted off the ground, and the leg assemblies 4 lifted off the ground are symmetrically distributed about the center of mass of the fuselage 1; the leg assemblies 4 lifted off the ground move tangentially in a clockwise direction or a counterclockwise direction relative to the center of mass of the fuselage 1;

[0110] In step S3, the leg assemblies 4 in contact with the ground are reset in a counterclockwise direction or a clockwise direction relative to the center of mass of the fuselage 1, thereby causing the fuselage 1 to rotate in a clockwise direction or a counterclockwise direction.

[0111] Taking the foot locomotion mechanism including four crank-slider mechanisms and leg assemblies 4 in Example 1 as an example, if it is desired to control the foot locomotion mechanism to rotate in the clockwise direction in FIG. 2, the following steps can be performed:

[0112] C1, the four leg assemblies 4 are also divided into two groups, as shown in the figure, the leg assemblies 4 numbered I and III form one group, and the leg assemblies 4 numbered II and IV form another group, so that the line connecting the two leg assemblies 4 in each group passes through the center of mass of the fuselage 1, avoiding the situation that lifting one group of leg assemblies 4 causes the fuselage 1 to become unbalanced; then the swing rods 3 of one group of leg assemblies 4 are controlled to swing, so that the leg assemblies 4 in this group are lifted off the ground, for example, the leg assemblies 4 numbered I and III are lifted off the ground; the swing rods 3 are controlled to swing, so that the leg assemblies 4 numbered I and III move tangentially in the clockwise direction, i.e., the leg assembly 4 numbered I moves to the left in FIG. 2, and the leg assembly 4 numbered III moves to the right in FIG. 2;

[0113] C2, the swing rods 3 are controlled to swing, so that the leg assemblies 4 numbered I and III re-contact the ground, and the leg assemblies 4 numbered II and IV are lifted off the ground;

[0114] C3, the swing rods 3 are controlled to swing, so that the leg assemblies 4 numbered II and IV move tangentially in the clockwise direction, i.e., the leg assembly 4 numbered II moves to the right in FIG. 2, and the leg assembly 4 numbered IV moves to the left in FIG. 2; the swing rods 3 are controlled to swing again, so that the leg assemblies 4 numbered II and IV re-contact the ground;

[0115] C4, control swing pole 3 swing, make I, II, III, IV numbered leg assembly 4 relative to the body 1 to the counterclockwise direction of the tangent reset, namely the I, IV numbered leg assembly 4 relative to the body 1 to the right side in figure 2 reset, thereby generating a left traction force on the body 1 in figure 2; II, III numbered leg assembly 4 relative to the body 1 to the left side in figure 2 reset, thereby generating a right traction force on the body 1 in figure 2; the left traction force and the right traction force can be combined into a clockwise moment, and then drive the body 1 clockwise rotation.

[0116] In an optional embodiment, when the leg assembly 4 comprises at least two continuously arranged leg connecting rods 41:

[0117] As shown in figure 9, in step S1 or step S2, by making the swing pole 3 on both sides of the leg assembly 4 swing back, the length of the connecting line of the end of the swing pole 3 away from the slider 22 is increased, and then the leg assembly 4 is driven to approach the slider 22 until it is separated from the ground;

[0118] As shown in figure 8, in step S2, by making the swing pole 3 on both sides of the leg assembly 4 swing towards each other, the length of the connecting line of the end of the swing pole 3 away from the slider 22 is reduced, and then the leg assembly 4 is driven to move away from the slider 22 until it is in contact with the ground.

[0119] The above is only the preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A foot-walking mechanical structure, characterized in that, Include: Fuselage (1); A crank-slider mechanism, wherein the number of the crank-slider mechanism is at least two, and the crank-slider mechanism is spaced apart on the body (1); Support leg assembly (4), at least one support leg assembly (4) is provided at each of the crank-slider mechanisms, the support leg assembly (4) is connected to the slider (22) of the crank-slider mechanism through at least two rocker arms (3), the support leg assembly (4) is connected to the rocker arms (3) and the slider (22) is connected to the rocker arms (3) through a first rotating joint, the first rotating joints are parallel to each other, and the axis of the first rotating joint is set along the movement direction of the slider (22).

2. The foot-walking mechanical structure according to claim 1, characterized in that, The outrigger assembly (4) includes an outrigger body (42) and at least two outrigger connecting rods (41); the outrigger connecting rods (41) are arranged continuously, and the two adjacent outrigger connecting rods (41) and the outrigger connecting rods (41) located at the two ends are connected to the swing rod (3) through a second rotating joint, the axis of the second rotating joint is parallel to the axis of the first rotating joint; at least one outrigger body (42) is provided at the second rotating joint.

3. The foot-walking mechanical structure according to claim 2, characterized in that, A joint bearing (43) is provided between the outrigger body (42) and the second rotation amplitude.

4. A foot-walking mechanical structure according to any one of claims 1 to 3, characterized in that, A drive gear (61) is rotatably connected to the slider (22), and the drive gear (61) is used to drive the swing arm (3) to swing; the drive gear (61) is also connected to the body (1) through a ball spline, and the spline shaft (71) of the ball spline is set parallel to the movement direction of the slider (22).

5. A foot-walking mechanical structure according to any one of claims 1 to 3, characterized in that, A drive mechanism (5) is connected to the body (1). A transmission assembly is provided between the drive mechanism (5) and the swing arm (3). The transmission assembly includes at least one of gears and synchronous belts (8). The drive mechanism (5) can drive the swing arm (3) to swing through the transmission assembly.

6. A foot-walking mechanical structure according to any one of claims 1 to 3, characterized in that, The number of the crank-slider mechanism and the number of the support leg assembly (4) are both greater than or equal to four, and the support leg assembly (4) is distributed at intervals in at least two directions relative to the fuselage (1).

7. A control method for a foot-walking mechanical structure, characterized in that, An application to a foot-walking mechanical structure as described in any one of claims 1 to 6, comprising the following steps: S1. Control the swing arm (3) to swing so that at least one outrigger assembly (4) is off the ground; control the slider (22) to move, and / or control the swing arm (3) to swing so that the outrigger assembly (4) off the ground moves in a set direction; S2. Control the swing arm (3) to swing so that the outrigger assembly (4) that was removed from the ground in step S1 re-contacts the ground and the outrigger assembly (4) that was in contact with the ground in step S1 is removed from the ground. S3. Control the slider (22) to move, and / or control the swing arm (3) to swing, so that the outrigger assembly (4) in contact with the ground is reset relative to the body (1) away from the set direction, thereby driving the body (1) to move in the set direction.

8. The control method for a foot-walking mechanical structure according to claim 7, characterized in that, Between step S2 and step S3, the following steps are also included: Repeat steps S1 to S2 until all the outrigger assemblies (4) have moved in the set direction.

9. The control method for a foot-walking mechanical structure according to claim 7, characterized in that, When the number of the outrigger assemblies (4) is greater than or equal to four, and it is necessary to control the foot-mounted mechanical structure to turn in place: In step S1, at least two of the outrigger assemblies (4) are lifted off the ground. The outrigger assemblies (4) lifted off the ground are centrally symmetrical about the center of mass of the fuselage (1). The outrigger assemblies (4) lifted off the ground move tangentially clockwise or counterclockwise relative to the center of mass of the fuselage (1). In step S3, the outrigger assembly (4) in contact with the ground is aligned with the center of mass of the fuselage (1) along the reverse direction. The clockwise or tangential reset causes the body (1) to rotate clockwise or counterclockwise.

10. A control method for a foot-walking mechanical structure according to any one of claims 7 to 9, characterized in that, When the outrigger assembly (4) includes at least two consecutively arranged outrigger links (41): In step S1 or step S2, by swinging the swing rods (3) on both sides of the support leg assembly (4) in opposite directions, the length of the line connecting the ends of the swing rods (3) on both sides away from the slider (22) is increased, thereby driving the support leg assembly (4) closer to the slider (22) until it separates from the ground; In step S2, by swinging the swing rods (3) on both sides of the support leg assembly (4) toward each other, the length of the line connecting the ends of the swing rods (3) on both sides away from the slider (22) is reduced, thereby driving the support leg assembly (4) away from the slider (22) until it contacts the ground.

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