A quasi-passive biped walking robot system with hip vibrator

A walking robot and robot system technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of poor system reliability, high energy consumption, unnatural gait of active robots, etc., and achieve stable three-dimensional walking, natural gait, The effect of low energy consumption

Active Publication Date: 2017-01-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problems of unnatural gait, high energy consumption, unstable coronal movement of the existing three-dimensional passive robot, and poor reliability of the system in the existing active robot, and further provides a quasi-passive dual robot with a hip vibrator. walking robot system

Method used

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  • A quasi-passive biped walking robot system with hip vibrator
  • A quasi-passive biped walking robot system with hip vibrator
  • A quasi-passive biped walking robot system with hip vibrator

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specific Embodiment approach 1

[0021] Specific implementation mode one: combine Figure 1-Figure 4 Explain that a quasi-passive biped walking robot system with a hip vibrator in this embodiment includes a hip assembly 1, two leg assemblies 2 and two foot assemblies 3, a hip assembly 1 and two A leg assembly 2 is arranged between the foot assemblies 3;

[0022] The robot system also includes a hip vibrator 4, and the hip vibrator 4 includes a reduction motor 4-1, a support 4-2, a bevel gear pair 4-3, a coupling 4-4 ​​and an output gear 4-5;

[0023] The hip assembly 1 includes a cylinder 1-1, a rack 1-2, a guide rail 1-3 and two annular connectors 1-4; the cylinder 1-1 is fixed along the length direction of the cylinder 1-1 There are guide rails 1-3 and racks 1-2, and two annular connectors 1-4 arranged side by side are installed on the outer surface of the cylinder 1-1 along the circumference of the cylinder 1-1, and the geared motor 4-1 is installed On the support 4-2, the support 4-2 is slidably install...

specific Embodiment approach 2

[0028] Specific implementation mode two: combination figure 1 with Figure 4 Note that the ring-shaped connector 1-4 in this embodiment is a threaded sleeve, and the threaded sleeve 1-4 is screwed on the outer surface of the cylinder 1-1. In this way, the threaded sleeve enables the leg assembly to be fixed in the circumferential direction of the hip. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0029] Specific implementation mode three: combination figure 1 with Figure 4 Note that the hip-leg connector 2-1 of this embodiment is a bearing sleeve, and the bearing sleeve is mounted on the outer surface of the threaded sleeve through bearing rotation. With such an arrangement, the straight leg can rotate around the bearing sleeve when swinging, which is beneficial to the swing of the straight leg and enables it to give full play to its passive performance. Others are the same as in the second embodiment.

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Abstract

The invention relates to a quasi-passive biped walking robot system with a hip vibrator, and aims at solving the problems that an existing active robot is unnatural in gait and high in energy consumption, coronal plane motion of an existing three-dimensional passive robot is unstable, and the reliability degree of a system is poor. The quasi-passive biped walking robot system comprises a hip assembly, two leg assemblies and two foot assemblies, and each leg assembly is arranged between the hip assembly and the corresponding foot assembly. The quasi-passive biped walking robot system further comprises the hip vibrator, and the hip vibrator comprises a speed reducer, a support, a bevel gear pair, a coupling and a gear shaft. The hip assembly comprises a barrel, a gear rack, a guide rail and two annular connecting pieces. Each foot assembly is mainly composed of a foot plate. Each leg assembly comprises a hip and leg connecting piece, a straight leg and a leg and foot connecting piece, and the upper ends of the straight legs are connected with the hip and leg connecting pieces. Stable three-dimension walking of the quasi-passive robot on a slope is achieved, and meanwhile the advantages of being natural in gait and low in power consumption are achieved.

Description

technical field [0001] The invention relates to a quasi-passive biped walking robot with a hip vibrator, which belongs to the technical field of robots. Background technique [0002] Passive biped walking robot is a research hotspot in the field of biped walking robot, which has the characteristics of natural gait and low energy consumption. Passive robot is a walking robot that can use its own gravity 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 can be divided into pure passive walking robots and quasi-passive walking robots according to whether they have driven joints. Quasi-passive robots drive some joints so they can walk on flat ground; Walking robot and 3D walking robot. [0003] Existing three-dimensional passive biped walking robots generally maintain the robot's movement balance in the coronal ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 臧希喆朱延河刘鑫宇白记锋刘义祥
Owner HARBIN INST OF TECH
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