Semi-passive biped walking device based on link mechanism
The technology of a link mechanism and a walking device is applied in the field of semi-passive biped walking devices, which can solve the problems of complex structure and high difficulty in walking control, and achieve the effects of simple walking control and simple structure.
Active Publication Date: 2019-09-24
深圳市行者机器人技术有限公司
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Problems solved by technology
[0005] Although the existing biped walking robots based on passive dynamics can meet the technical purpose of imitating human walking to a certain extent, they have the disadvantages of complex structure and high difficulty in walking control.
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[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.
[0032] Such as figure 1 As shown, it is a structural schematic diagram of an embodiment of the semi-passive biped walking device based on the link mechanism of the present invention. This embodiment is based on the semi-passive biped walking device of the link mechanism, including hips and legs, the hips include a supporting balance frame 1, and the legs include two walking legs 2, and the two walking legs 2 are respectively located on the supporting balancing frame 1 The two sides of the two walking legs 2 and the supporting balance frame 1 are respectively provided with link mechanisms, and the two link mechanisms are respectively arranged on both sides of the supporting balance...
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The invention discloses a semi-passive double-foot walking device based on a link mechanism. The semi-passive double-foot walking device comprises a hip part and a leg part, wherein the hip part comprises a support balance rack; the leg part comprises two walking legs; the two walking legs are respectively positioned on two sides of the support balance rack; link mechanisms are respectively arranged between the two walking legs and the support balance rack, are respectively arranged on two sides of the support balance rack, and comprise long double-hinge connecting rods and short double-hinge connecting rods; the length of the long double-hinge connecting rod is greater than that of the short double-hinge connecting rod; the long double-hinge connecting rods are respectively connected with the support balance rack and the walking legs in a hinged manner; the short double-hinge connecting rods are respectively connected with the support balance rack and the walking legs in the hinged manner; a driving mechanism for driving two short double-hinge connecting rods of the two link mechanisms to rotate synchronously is arranged on the support balance rack. The semi-passive double-foot walking device based on the link mechanism has the advantages of simple structure and simplicity and convenience in walking control.
Description
technical field [0001] The invention relates to a walking device, in particular to a semi-passive biped walking device based on a link mechanism. Background technique [0002] Walking is a fundamental problem in the study of humanoid robots. At present, most robots in the world are driven in real time to imitate human walking patterns, which will lead to the disadvantages of slow robot walking and energy consumption ten times higher than that of humans, which seriously restricts the robot's battery life, operation, and load capacity. [0003] Passive dynamic walking is a method for studying bipedal (two-legged) walking systems, including humans or other bipedal animals, or bipedal walking robots that you want to build or control. Passive dynamic walking is one way of looking at bipedal walking. Rather than seeing it as a constant effort to maintain balance, bipedalism can be better understood as a constant passive fall interrupted by intermittent interruptions of foot cont...
Claims
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IPC IPC(8): B62D57/032
Inventor 李永李佳诺唐俊刁建周雪卿延明珠樊锁钟蔡浩刘国栋金雪亮刘娣熊诗琪周园朱朋冷洁唐春茂
Owner 深圳市行者机器人技术有限公司