CN105691482A - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN105691482A CN105691482A CN201511035388.XA CN201511035388A CN105691482A CN 105691482 A CN105691482 A CN 105691482A CN 201511035388 A CN201511035388 A CN 201511035388A CN 105691482 A CN105691482 A CN 105691482A
- Authority
- CN
- China
- Prior art keywords
- robot
- linear actuator
- leg
- free end
- present
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot. The robot comprises a hip part and two leg parts, wherein each leg part is a telescopic linear execution mechanism; one end of each linear execution mechanism is hinged to the hip part; and the other end of each telescopic linear execution mechanism forms a free end. According to the robot disclosed by the invention, lower energy consumption can be maintained in the walking process; and in addition, the robot has high balancing and flexible properties.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of walking robot with high balance performance and great motility。
Background technology
Current humanoid robot, its shortcoming is that balance is difficult to control to, it addition, adopt complicated articulation structure, it is impossible to reach to save the purpose of energy consumption in the process of walking。
For the problems referred to above, the present inventor devises a kind of robot, to solve the problems referred to above。
Summary of the invention
In view of this, it is an object of the invention to provide a kind of robot, this robot can maintain relatively low energy consumption in the process of walking, it addition, this robot has the balance quality of height and flexible performance。
The present invention solves the problems referred to above by techniques below means:
A kind of robot of the present invention, including a hip and at least two leg, each leg is a telescopic linear actuator, and one end of described linear actuator is hinged with hip, and the other end forms free end: also include the controller for controlling two linear actuators。
Further, each linear actuator being each provided with a set of Self-Balancing vehicle system, described Self-Balancing vehicle system includes wheel。
Further, described wheel is arranged on the end of free end。
Further, described Self-Balancing vehicle system also includes motor A and obliquity sensor, gyroscope, acceleration transducer；Described motor A is arranged on the end of free end, and is connected with described wheel drive。
Further, described linear actuator is hydraulic cylinder or electromagnetism telescoping cylinder。
Beneficial effects of the present invention: the robot of the present invention, including a hip and at least two leg, each leg is a telescopic linear actuator, and one end of described linear actuator is hinged with hip, and the other end forms free end。The robot of the present invention can maintain relatively low energy consumption in the process of walking, it addition, this robot has the balance quality of height and flexible performance。
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described。
Fig. 1 is the structural representation of robot of the present invention；
Fig. 2 is the structural representation of robot of the present invention, and Tu Zhong robot one leg makes retracted position；
Fig. 3 is the gait schematic diagram one that Lou Tishi steps in robot of the present invention；
Fig. 4 is the gait schematic diagram two that Lou Tishi steps in robot of the present invention。
Detailed description of the invention
Below with reference to accompanying drawing, the present invention is described in detail:
As Figure 1-4, a kind of robot of the present invention, including a hip 1 and at least two leg 2, each leg is a telescopic linear actuator, one end of described linear actuator is hinged with hip, and the hinged place of linear actuator and hip is provided with the motor B5 driving linear actuator to swing, the other end of described linear actuator forms free end；Also including the controller for controlling two linear actuators, described controller may be installed the upper body of robot。Described linear actuator is hydraulic cylinder or electromagnetism telescoping cylinder。
The robot of the present invention is when walking, the flexible of two linear actuator length is controlled by controller, achieve low energy consumption during walking, additionally, this leg structure of the robot of the present invention has higher flexibility ratio at climbing square mask, can make according to the power output size of linear actuator and meet intended high jump height in long-jump。
As the further improvement of technique scheme, each linear actuator being each provided with a set of Self-Balancing vehicle system, described Self-Balancing vehicle system includes motor A4 and obliquity sensor, gyroscope, acceleration transducer；Described motor A4 is arranged on the end of free end, and is connected with described wheel drive, and described wheel 3 is arranged on the end of free end。By respectively arranging a set of Self-Balancing vehicle system at each leg of robot so that the robot of the present invention has very high balance quality。
What finally illustrate is, above example is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail with reference to preferred embodiment, it will be understood by those within the art that, technical scheme can be modified or equivalent replacement, without deviating from objective and the scope of technical solution of the present invention, it all should be encompassed in the middle of scope of the presently claimed invention。
Claims (5)
1. a robot, it is characterised in that: including a hip and at least two leg, each leg is a telescopic linear actuator, and one end of described linear actuator is hinged with hip, and the other end forms free end；Also include the controller for controlling two linear actuators。
2. robot according to claim 1, it is characterised in that: being each provided with a set of Self-Balancing vehicle system on each linear actuator, described Self-Balancing vehicle system includes wheel。
3. robot according to claim 2, it is characterised in that: described wheel is arranged on the end of free end。
4. robot according to claim 3, it is characterised in that: described Self-Balancing vehicle system also includes motor A and obliquity sensor, gyroscope, acceleration transducer；Described motor A is arranged on the end of free end, and is connected with described wheel drive。
5. robot according to claim 3, it is characterised in that: described linear actuator is hydraulic cylinder or electromagnetism telescoping cylinder。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511035388.XA CN105691482A (en) | 2015-12-31 | 2015-12-31 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511035388.XA CN105691482A (en) | 2015-12-31 | 2015-12-31 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105691482A true CN105691482A (en) | 2016-06-22 |
Family
ID=56226884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511035388.XA Withdrawn CN105691482A (en) | 2015-12-31 | 2015-12-31 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105691482A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571931A (en) * | 2017-10-11 | 2018-01-12 | 深圳市普渡科技有限公司 | The robot that a kind of wheel leg combines |
| CN107651035A (en) * | 2017-09-20 | 2018-02-02 | 深圳市行者机器人技术有限公司 | A kind of variable topological spoke walking biped robot |
| CN107662661A (en) * | 2017-09-20 | 2018-02-06 | 深圳市行者机器人技术有限公司 | A kind of single rotary wing wheel Zu Shiduoqi robots |
| CN109823428A (en) * | 2019-02-22 | 2019-05-31 | 沈传普 | Robot moving method |
| CN113348129A (en) * | 2018-12-03 | 2021-09-03 | 昆士兰大学 | Gyro-stabilized leg type robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6564888B1 (en) * | 1999-08-30 | 2003-05-20 | Honda Giken Kogyo Kabushiki Kaisha | Biped mobile robot |
| CN202243769U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Leg buffer device for robot |
| CN102991602A (en) * | 2012-12-07 | 2013-03-27 | 浙江大学 | Automatically telescopic robot leg |
| CN104228993A (en) * | 2014-10-17 | 2014-12-24 | 浙江大学 | Biped robot capable of walking rapidly |
| CN104369790A (en) * | 2014-09-04 | 2015-02-25 | 中国科学院合肥物质科学研究院 | Double-foot robot walking mechanism |
| CN104494725A (en) * | 2014-12-18 | 2015-04-08 | 重庆花金王科技开发有限公司璧山分公司 | Robot |
| CN104512493A (en) * | 2014-12-12 | 2015-04-15 | 重庆邮电大学 | Gear transmission halving upper body energy-saving passive walking device and control method thereof |
-
2015
- 2015-12-31 CN CN201511035388.XA patent/CN105691482A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6564888B1 (en) * | 1999-08-30 | 2003-05-20 | Honda Giken Kogyo Kabushiki Kaisha | Biped mobile robot |
| CN202243769U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Leg buffer device for robot |
| CN102991602A (en) * | 2012-12-07 | 2013-03-27 | 浙江大学 | Automatically telescopic robot leg |
| CN104369790A (en) * | 2014-09-04 | 2015-02-25 | 中国科学院合肥物质科学研究院 | Double-foot robot walking mechanism |
| CN104228993A (en) * | 2014-10-17 | 2014-12-24 | 浙江大学 | Biped robot capable of walking rapidly |
| CN104512493A (en) * | 2014-12-12 | 2015-04-15 | 重庆邮电大学 | Gear transmission halving upper body energy-saving passive walking device and control method thereof |
| CN104494725A (en) * | 2014-12-18 | 2015-04-08 | 重庆花金王科技开发有限公司璧山分公司 | Robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107651035A (en) * | 2017-09-20 | 2018-02-02 | 深圳市行者机器人技术有限公司 | A kind of variable topological spoke walking biped robot |
| CN107662661A (en) * | 2017-09-20 | 2018-02-06 | 深圳市行者机器人技术有限公司 | A kind of single rotary wing wheel Zu Shiduoqi robots |
| CN107571931A (en) * | 2017-10-11 | 2018-01-12 | 深圳市普渡科技有限公司 | The robot that a kind of wheel leg combines |
| CN113348129A (en) * | 2018-12-03 | 2021-09-03 | 昆士兰大学 | Gyro-stabilized leg type robot |
| CN113348129B (en) * | 2018-12-03 | 2023-10-20 | 昆士兰大学 | Gyroscope-stabilized leg type robot |
| CN109823428A (en) * | 2019-02-22 | 2019-05-31 | 沈传普 | Robot moving method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20160622 |
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| WW01 | Invention patent application withdrawn after publication |