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Elastic energy-saving upper body half-dividing passive walking device

A traveling device and driving device technology, applied in the direction of motor vehicles, transportation and packaging, can solve the problems of not fully considered, energy loss, etc., and achieve the effect of reducing energy loss, improving utilization rate, and exquisite design

Inactive Publication Date: 2015-05-27
CHONGQING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] These robots have achieved bipedal human walking, but they have not fully considered that the collision between the robot and the ground during the walking process will cause energy loss to a large extent. If this part of energy can be used, then it will Make passive walking robots more energy-saving

Method used

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  • Elastic energy-saving upper body half-dividing passive walking device

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Embodiment Construction

[0023] A non-limiting embodiment is given below in conjunction with the accompanying drawings to further illustrate the present invention. It should be understood, however, that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts of the present invention.

[0024] like figure 1 As shown, the whole device includes hip (7), legs, knees (9, 16), upper body (1), spring device (6, 19), driving device (3), data acquisition device (11, 14, 18) and the main control device (2); the hip is one of the cores of the present invention, and the bifurcated upper body structure of the device can be realized through the mechanical structure of the hip, and the specific realization method will be described in figure 2 described in;

[0025] 1. The upper body 1 is directly connected to the hip, a...

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Abstract

The invention relates to an elastic energy-saving upper body half-dividing passive walking device. The elastic energy-saving upper body half-dividing passive walking device comprises a hip, legs, knees, an upper body, a spring unit, a drive unit, a data acquisition unit and a main control unit. The upper body and the hip are directly connected to each other and fix the drive unit together. The drive unit is in transmission from driving transmission wheels, to driven transmission wheels and to thighs, the left belt transmission is backward transmission, and the right belt transmission is forward transmission. The thighs are respectively fixed to the left side and the right side of the lower end of a hip support and respectively connected to the driven transmission wheels L and R on both left and right sides through transmission shafts for achieving real-time equal back and forth swing amplitude of the thighs on both left and right sides. The spring unit connected to belts stores and releases energy all the time during the swing of the upper body. The elastic energy-saving upper body half-dividing passive walking device is a two-leg walking device being simple and compact in structure, ingenious in design and capable of saving energy.

Description

technical field [0001] The invention relates to the technical field of robot control, and particularly proposes a passive walking device that realizes a flexible half upper body with a brand-new mechanical mechanism. Background technique [0002] At present, the research of robot dynamics is a hot spot in all countries in the world. The traditional robot adopts the active control method of tracking preset joint trajectories. Although it can achieve human-like walking and running, the actual energy consumption is very high. E.g. The walking energy consumption of Honda's ASIMO bionic robot is more than ten times that of human walking. Then the passive walking robot appeared. The passive walking system only relies on gravity to passively rotate the joints of the robot, so the energy consumption is greatly reduced, and it has natural stability; there are many excellent bipedal walking based on passive dynamics. Robots have been designed, including the robot Leo of Delft Univer...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 王平李清都李永刁建唐俊胡文亚刘国栋
Owner CHONGQING UNIV OF POSTS & TELECOMM
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