Pneumatic-electric combined driving flexible biped robot

A biped robot and hybrid drive technology, which is applied in the field of humanoid robots, can solve the problems of poor flexibility and dynamic response characteristics linkage, poor dynamic stability, and low robot walking efficiency, so as to improve terrain adaptability and buffer external impacts.

Active Publication Date: 2016-06-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problems of poor joint flexibility and dynamic response characteristics of existing flexible biped robots, low robot walking efficiency and poor dynamic stability, and further provides a flexible biped robot driven by a gas-electric hybrid

Method used

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  • Pneumatic-electric combined driving flexible biped robot
  • Pneumatic-electric combined driving flexible biped robot
  • Pneumatic-electric combined driving flexible biped robot

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specific Embodiment approach 1

[0016] Specific implementation mode one: combine Figure 1-Figure 8 Explain that a flexible biped robot driven by a gas-electric hybrid in this embodiment includes a left leg A, a right leg B and a pelvis C; the left leg A and the right leg B include a thigh 1, a calf 2, a foot 3, and a hip joint 4. Knee joint 5 and ankle joint 6; left leg A and right leg B are connected through pelvis C, pelvis 3 is rotationally connected with thigh 1 through hip joint 4, thigh 1 is rotationally connected with calf 2 through knee joint 5, and calf 2 is rotationally connected through ankle The joint 6 is rotationally connected with the foot 3;

[0017] The hip joint 4 includes a one-way series elastic driver D and a hip joint transmission mechanism;

[0018] The one-way series elastic driver D comprises a motor 11, a motor base 12, a torsion spring 13, a first hub 14, a second hub 15, a first snap ring 16, a second snap ring 17 and a hip drive shaft 18;

[0019] The output end of the motor 1...

specific Embodiment approach 2

[0035] Specific implementation mode two: combination Figure 8 To illustrate, the sole 41 of the present embodiment is a thermoplastic polyurethane elastomer rubber airbag. With such a setting, it is easy to obtain light materials and meet the design requirements and actual needs. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0036] Specific implementation mode three: combination Figure 5 and Figure 6 Note that the knee joint 5 in this embodiment also includes another sun gear 25 and another planetary gear 26; the two sun gears 25 are arranged on both sides of the pulley 31, and the other sun gear 25 is fixed on the thigh 1, and the two sun gears 25 are arranged on both sides of the pulley 31. One planetary gear 26 is arranged on both sides of the pulley 31, and the other planetary gear 26 is fixed on the shank 2, and the knee joint drive shaft 23 is installed on the other sun gear 25 through the rotation of the bearing 30, and the knee joint driven shaft 28 is passed through the bearing. 30 is rotatably mounted on another planetary gear 26, and another sun gear 25 meshes with another planetary gear 26. Such setting can reduce the clearance fit between the sun gear and the planetary gear, maintain balance, and ensure the stable and reliable operation of the knee joint. Others are the same as in...

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Abstract

The invention relates to a flexible biped robot, in particular to a pneumatic-electric combined driving flexible biped robot. The problems that linkage between joint flexibility and a dynamic response characteristic of existing flexible biped robots is poor, the walking efficiency of the robots is low and the dynamic stability of the robots is poor are solved. The pneumatic-electric combined driving flexible biped robot comprises a left leg, a right leg and a pelvis. The left leg and the right leg each comprise a thigh, a shank, a foot, a hip joint, a knee joint and an ankle joint. Each hip joint comprises a one-way series-connection elastic driver and a hip joint transmission mechanism. Each one-way series-connection elastic driver comprises a motor, a motor seat, a torsion spring, a first hub, a second hub, a first clamping ring, a second clamping ring and a hip joint driving shaft. Each hip joint transmission mechanism comprises a driving belt wheel, a driven belt wheel, a driving belt and a hip joint driven shaft. The driving belt wheels are mounted on the hip joint driving shafts correspondingly. Each knee joint comprises a knee joint driving mechanism and a knee joint transmission mechanism. The pneumatic-electric combined driving flexible biped robot belongs to the field of humanoid robots.

Description

technical field [0001] The invention relates to a flexible biped robot, which belongs to the field of humanoid robots. Background technique [0002] Human walking is a very energy-efficient, dynamic and stable process. Using robots to achieve efficient, dynamic and stable walking in anthropomorphic form is an important research content in the field of biped robots. At present, most biped robots use high-rigidity motors as driving components, and the system responds quickly, but on the other hand, it also increases the weight of the robot, making the energy efficiency of the robot walking very low; in addition, some biped robots use Pneumatic artificial muscle is used as the driving element. Pneumatic artificial muscle has the characteristics of suppleness, high power / mass ratio, and similar force / length characteristics to human muscles, which makes the joints of the robot flexible and the energy efficiency of the robot's walking is high. However, due to the Influenced by fa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 臧希喆刘义祥刘鑫宇赵杰
Owner HARBIN INST OF TECH
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