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Body type epistemic passive biped walking robot system

A walking robot and robot system technology, applied in the field of quasi-passive walking robots, can solve the problems of not conforming to the natural gait, poor system reliability, complex control, etc., to save installation space, low walking energy consumption, and low energy consumption. Effect

Active Publication Date: 2014-05-14
WUHU HIT ROBOT TECH RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention solves the problem that the existing passive robot does not meet the design requirements of natural gait and low energy consumption, and the control of the existing active robot is relatively complicated when the body is pulled by the motor to keep it in a vertical position, and the reliability of the system is poor. and other problems, and then provides a quasi-passive bipedal walking robot system with a body

Method used

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  • Body type epistemic passive biped walking robot system
  • Body type epistemic passive biped walking robot system
  • Body type epistemic passive biped walking robot system

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specific Embodiment approach 1

[0021] Specific implementation mode one: as Figure 1~4 As shown, 1. a body-type quasi-passive biped walking robot system described in this embodiment, the robot system includes a body, inner legs 3 and outer legs 4 and a motor 5, and the body includes an upper frame 1 and two The column 2, the lower frame of the upper frame 1 is connected to the upper ends of the two columns 2, the motor 5 is installed on the upper frame 1, and it is characterized in that: the robot system also includes a main shaft 6, an auxiliary shaft 7, and two first auxiliary wheels 8. Two second auxiliary wheels 9, motor drive wheel 10, two outer leg drive wheels 11, two inner leg drive wheels 12, two first steel wire ropes 13, two second steel wire ropes 14, two series elastic drives Unit 15 and four third steel wire ropes 16; inner leg 3 is made of cross brace 3-2 and two single inner legs 3-1, and cross brace 3-2 connects the thighs of two single inner legs 3-1 together, The outer leg 4 is composed ...

specific Embodiment approach 2

[0022] Specific implementation mode two: as Figure 1~4As shown, in this embodiment, each series elastic driving unit transmission mechanism 15 is composed of a spring 15-1, two screw rods 15-2 and two bolts 15-3, and the two ends of the spring 15-1 are connected with a screw rod 15 respectively. -2 threaded connection, the outer end of the screw rod 15-2 is screwed with a bolt 15-3; the bolts 15-3 at the upper and lower ends of the transmission mechanism 15 of each series elastic drive unit are respectively connected with one end of a third steel wire rope 16. The serial elastic drive unit with this structure can change the effective number of coils of the spring by adjusting the screw-in depth of the screw rod 15-2 in the spring 15-1, thereby adjusting the spring stiffness and then the stiffness of the entire serial elastic element. The utility model has the advantages of simple structure and easy adjustment. Other components and connections are the same as those in the fir...

specific Embodiment approach 3

[0023] Specific implementation mode three: as Figure 1~4 As shown, in the present embodiment, each single inner leg 3-1 and each single outer leg 4-1 all comprise upper leg 21, lower leg 22, electromagnet 23, electromagnet pin 24 and knee joint shaft 25, upper leg The lower end of 21 and the upper end of lower leg 22 are rotationally connected by knee joint shaft 25, the lower end of upper leg 21, the upper end of lower leg 22, knee joint shaft 25, electromagnet 23 and electromagnet pin 24 constitute a knee joint locking mechanism, and electromagnet 23 is installed At the lower end of the upper leg 21 , the upper end of the lower leg 22 is provided with a pin hole 26 for inserting the electromagnet pin 24 , and the lower end of the upper leg 21 is also provided with a positioning surface 27 . The positioning surface 27 can further limit the swing of the lower leg, enhancing positioning reliability. Other compositions and connections are the same as those in Embodiment 1 or 2...

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Abstract

The invention discloses a body type epistemic passive biped walking robot system and relates to the technical field of robots, solving the problem that the traditional robots do not conform to the requirements of natural gait and low energy consumption. According to the body type epistemic passive biped walking robot system, an upper end and a lower end of a transmission mechanism of a serial elastic drive unit are respectively connected with one end of a third steel wire rope, and the other ends of two steel wire ropes at the lower end are respectively connected with a motor transmission chain to jointly form two groups of serial elastic drive units; a first auxiliary wheel and an inner leg transmission wheel right below the first auxiliary wheel are connected through first steel wire ropes, the winding mode of the first steel wire ropes is of a C shape, and the winding directions of the two first steel wire ropes are opposite; and a second auxiliary wheel and an outer leg transmission wheel right below the second auxiliary wheel are connected through second steel wire ropes, the winding mode of the second steel wire ropes is of an S shape, and the winding directions of the two second steel wire ropes are opposite. The self natural dynamics characteristics can be sufficiently utilized by the epistemic passive robot, so that the characteristic of natural gait can be represented in a walking process of the epistemic passive robot, and the walking energy consumption is low.

Description

technical field [0001] The invention relates to a quasi-passive walking robot and relates to the technical field of robots. Background technique [0002] Passive biped walking robot is an important branch in the field of walking robot research, which has the characteristics of natural gait and low energy consumption. Passive robot is a walking robot that can use its own inertia to provide energy for walking to obtain stable walking. Compared with traditional active walking robots, it has the characteristics of simple structure, natural gait, and low energy consumption. Passive walking robots are divided into pure passive walking robots and quasi-passive walking robots: pure passive walking robots do not have any external force input and only rely on their own gravity to walk on slopes. Some joints are driven so that you can walk on flat ground, divided into body poses and bodyless poses. [0003] Traditional active robots use a purely rigid drive unit, that is, a motor con...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 赵杰臧希喆刘鑫宇
Owner WUHU HIT ROBOT TECH RES INST
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