Mechanical structure of three-dimensional human-simulated biped walking robot and walking method

A walking robot and mechanical structure technology, applied in the field of robots, can solve the problems of complex control principle and large energy consumption of the robot, and achieve the effect of avoiding yaw and reducing the degree of freedom of the system

Active Publication Date: 2015-09-09
HUAWEI TEHCHNOLOGIES CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Purpose of the invention: Aiming at the defects of traditional active humanoid bipedal walking robots, such as high energy consumption and complex control principle, this inve...

Method used

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  • Mechanical structure of three-dimensional human-simulated biped walking robot and walking method
  • Mechanical structure of three-dimensional human-simulated biped walking robot and walking method
  • Mechanical structure of three-dimensional human-simulated biped walking robot and walking method

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Embodiment Construction

[0042] Below in conjunction with accompanying drawing, further elaborate the present invention.

[0043] Such as figure 1 As shown, the structure of the mechanical body of the present invention can be divided into six parts according to functions: the trunk 1, the angle bisecting mechanism 2, the knee joint 3, the ankle joint 4, the sole 5, and the arm-thigh coupling mechanism 6.

[0044] Such as figure 2As shown, the trunk 1 is mainly composed of a bearing retaining ring 11, a semi-fixed ring 15, a connecting shaft 12, a slide block 14, a body 13, a connecting ring 17, a bolt 13, and a bearing 16. The slider 14 can slide on the body 13 and is connected by connecting the shaft 12 and the connecting rod 22 of the angle bisecting mechanism. The semi-fixed ring 15 fixes the body and the connecting ring by bolts, and the bearing retaining ring 11 is used to limit the axial movement of the bearing in the connecting ring 17 . Such structural design can allow the torso 1 to rotat...

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Abstract

The invention discloses a mechanical structure of a three-dimensional human-simulate biped walking robot. The mechanical structure comprises a trunk, two hip joints arranged in symmetry, an angle bisection mechanism, an arm-thigh coupling mechanism, and leg mechanisms arranged in symmetry in sequence from top to bottom, wherein the leg mechanism at each side comprises a thigh, a knee joint, a shank, an ankle joint, and a vola in sequence from top to bottom, and the trunk is provided with a master control chip. According to the mechanical structure, based on related principle of passive mechanics, the human-simulation degree is high, the problems of low energy efficiency and stiff gait of the conventional robot are effectively solved, the robot can serve as exoskeleton to help the disabled to realize walking and serve as walking equipment in future wars, and the individual combat ability is improved. The invention also discloses a waking method for the mechanical structure of the three-dimensional human-simulated biped walking robot.

Description

technical field [0001] The invention relates to a robot, and more specifically relates to a mechanical structure and a walking method of a three-dimensional humanoid biped walking robot based on passive dynamics. Background technique [0002] The invention relates to the design of a humanoid walking robot. As the name implies, a humanoid robot is defined from the perspective of the shape and function of the robot. Different from the concept of an industrial robot, a humanoid robot has a shape similar to that of a human body. In terms of the way of movement, humanoid robots are different from multi-legged walking and wheel-tracking and other composite chassis movement methods, and use the alternating movement of legs similar to human walking to achieve walking. Among all human-like behaviors, one of the biggest features that robots should have is the walking function. Therefore, the research on humanoid biped walking robots is of great importance for in-depth analysis of hum...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 刘芳华楼飞
Owner HUAWEI TEHCHNOLOGIES CO LTD
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