legged walking robot
A walking robot and walking mechanism technology, applied in the field of robots, can solve the problems of mechanical loss, large energy consumption, and large impact of the walking mechanism, and achieve the effects of extending the service life, reducing energy consumption, and reducing impact.
Inactive Publication Date: 2018-06-22
CHINA JILIANG UNIV
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Problems solved by technology
Therefore, the motor of the legged walking robot needs to overcome a large torque during the instant start process, which consumes a lot of energy
However, the robot has to reduce its speed during the instantaneous stop process, which not only wastes a lot of kinetic energy, but also because the walking mechanism of the legged walking robot is usually a rigid part, the impact on the walking mechanism is relatively large during the instantaneous stop process, which is likely to cause mechanical damage. Wear and tear, reducing the life of the robot
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[0022] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings.
[0023] The legged walking robot will present different postures during the walking process, please refer to Figure 1a and Figure 1b , is a structural schematic diagram of a legged walking robot disclosed in an embodiment of the present invention, wherein, Figure 1a is the posture of the legged walking robot at a certain moment in the walking process, Figure 1b is the attitude of the legged walking robot when it stops moving. Usually, the center of gravity of the robot when it stops moving is higher than the center of gravity of the moving process. The concept of the present invention is: the kinetic energy generated by the robot during walking and moving is converted into the potential energy when the robot stops standing; Potential energy is converted to kinetic energy to replenish the robot with the moment it needs to start...
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The invention provides a foot type walking robot. The foot type walking robot comprises an energy conversion device which can at least partly lock a walking mechanism after the walking mechanism stops moving so that kinetic energy can be converted into potential energy, and / or unlocking the walking mechanism after the walking mechanism starts moving so that stored potential energy can be converted into kinetic energy. Therefore, kinetic energy generated in the walking process of the foot type walking robot is effectively utilized, and impact of kinetic energy on parts of the robot can be reduced. After the walking mechanism starts moving, stored potential energy is converted into kinetic energy, and therefore part of energy is provided for the foot type walking robot in the starting process, energy consumption in the starting process of the foot type walking robot is lowered, the service life of a power source of the foot type walking robot is prolonged, and the service life of the foot type walking robot is prolonged. The invention further provides an energy conversion method of the foot type walking robot.
Description
technical field [0001] The invention relates to the field of robots, in particular to a legged walking robot. Background technique [0002] With the advancement of science and technology, robots are more and more widely used in industrial production, medical care, defense space, service industry and other fields. Footed walking robots have the advantages of flexible actions, strong environmental adaptability, and high robustness. Working in extreme environments that cannot be involved, it is used in field operations, disaster reduction and rescue, military reconnaissance, space exploration, polar scientific research and other fields, and has become an indispensable and important tool for human beings. [0003] In the prior art, the leg of a legged walking robot usually consists of a thigh arm and a calf arm, and both the knee joint and the hip joint of the robot bear relatively large loads. Therefore, the motor of the legged walking robot needs to overcome a large torque du...
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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 王斌锐任杰张清华代青浩金英连
Owner CHINA JILIANG UNIV