ES2195792A1 - Actuador para movimiento de arranque -parada, principalmente en robotscaminantes, y el procedimiento para su control. - Google Patents
Actuador para movimiento de arranque -parada, principalmente en robotscaminantes, y el procedimiento para su control.Info
- Publication number
- ES2195792A1 ES2195792A1 ES200201197A ES200201197A ES2195792A1 ES 2195792 A1 ES2195792 A1 ES 2195792A1 ES 200201197 A ES200201197 A ES 200201197A ES 200201197 A ES200201197 A ES 200201197A ES 2195792 A1 ES2195792 A1 ES 2195792A1
- Authority
- ES
- Spain
- Prior art keywords
- actuator
- mobile link
- working element
- lever arm
- controlling
- 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.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H31/00—Gearing for toys
- A63H31/08—Gear-control mechanisms; Gears for imparting a reciprocating motion
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
- A63H11/18—Figure toys which perform a realistic walking motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/12—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying rotary motion
- F16H21/14—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying rotary motion by means of cranks, eccentrics, or like members fixed to one rotary member and guided along tracks on the other
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/40—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and oscillating motion
- F16H21/42—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and oscillating motion with adjustable throw
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T292/00—Closure fasteners
- Y10T292/08—Bolts
- Y10T292/1043—Swinging
- Y10T292/1075—Operating means
- Y10T292/1082—Motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18056—Rotary to or from reciprocating or oscillating
- Y10T74/18216—Crank, lever, and slide
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Sampling And Sample Adjustment (AREA)
- Numerical Control (AREA)
Abstract
Actuador para movimientos de arranque-parada, principalmente en robots caminantes, y el procedimiento para su control. Actuador para movimientos de arranque-parada, que se caracteriza porque la conexión cinemática entre el motor (2) y el elemento de trabajo (4) contiene un eslabón móvil (5) conectado a la base (1) y con posibilidad de rotación alrededor del punto de conexión, una corredera (6) que se desliza a lo largo del eslabón móvil (5), y una manivela (7) conectada cinemáticamente con el motor (2) y unida a charnela por medio del dedo (8) con la corredera (6). El procedimiento para su control se caracteriza porque el movimiento del elemento de trabajo (4) se realiza a través del eslabón móvil (5), rotando la manivela (7) con la ayuda del motor (2) y porque las posiciones de arranque y parada están determinadas por el ángulo formado entre la manivela (7) y el eslabón móvil (5).
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES200201197A ES2195792B1 (es) | 2002-05-24 | 2002-05-24 | Actuador para movimientos de arranque -parada, principalmente en robots caminantes, y el procedimiento para su control. |
DE60325591T DE60325591D1 (de) | 2002-05-24 | 2003-05-23 | Stellglied für ein arbeitselement, insbesondere einen schreitroboter, und verfahren zur steuerung des stellglieds |
JP2004507311A JP2005526629A (ja) | 2002-05-24 | 2003-05-23 | 作業部材のための、特に歩行ロボットのためのアクチュエータ、及びアクチュエータの制御方法 |
AT03725223T ATE419169T1 (de) | 2002-05-24 | 2003-05-23 | Stellglied für ein arbeitselement, insbesondere einen schreitroboter, und verfahren zur steuerung des stellglieds |
EP03725223A EP1514776B1 (en) | 2002-05-24 | 2003-05-23 | Actuator for a working element, particularly a walking robot, and the method of controlling said actuator |
AU2003231333A AU2003231333A1 (en) | 2002-05-24 | 2003-05-23 | Actuator for a working element, particularly a walking robot, and the method of controlling said actuator |
PCT/ES2003/000244 WO2003099641A1 (es) | 2002-05-24 | 2003-05-23 | El actuador del elemento de trabajo, principalmente de un robot caminante, y el método de control del actuador |
US10/996,338 US7341122B2 (en) | 2002-05-24 | 2004-11-23 | Actuator for a working element, particularly a walking robot and the method of controlling said actuator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES200201197A ES2195792B1 (es) | 2002-05-24 | 2002-05-24 | Actuador para movimientos de arranque -parada, principalmente en robots caminantes, y el procedimiento para su control. |
Publications (2)
Publication Number | Publication Date |
---|---|
ES2195792A1 true ES2195792A1 (es) | 2003-12-01 |
ES2195792B1 ES2195792B1 (es) | 2005-03-16 |
Family
ID=29558510
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES200201197A Expired - Fee Related ES2195792B1 (es) | 2002-05-24 | 2002-05-24 | Actuador para movimientos de arranque -parada, principalmente en robots caminantes, y el procedimiento para su control. |
Country Status (8)
Country | Link |
---|---|
US (1) | US7341122B2 (es) |
EP (1) | EP1514776B1 (es) |
JP (1) | JP2005526629A (es) |
AT (1) | ATE419169T1 (es) |
AU (1) | AU2003231333A1 (es) |
DE (1) | DE60325591D1 (es) |
ES (1) | ES2195792B1 (es) |
WO (1) | WO2003099641A1 (es) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108458075A (zh) * | 2018-04-18 | 2018-08-28 | 李仕奇 | 一种变速器 |
JP7028196B2 (ja) * | 2019-01-15 | 2022-03-02 | オムロン株式会社 | ロボット制御装置、ロボット制御方法、及びロボット制御プログラム |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2150451A (en) * | 1983-11-29 | 1985-07-03 | Nippon Sunrise Inc | Legs for a walking robot toy |
JPH01256991A (ja) * | 1988-04-08 | 1989-10-13 | Kunitaka Takemae | 摺行人形 |
ES1018896U (es) * | 1991-10-30 | 1992-02-01 | Fabricas Agrupadas De Munecas De Onil, S.A. | Muneca patinadora perfeccionada. |
JPH04256589A (ja) * | 1991-02-12 | 1992-09-11 | Shigeo Hirose | 壁面歩行ロボットの3次元運動機構 |
JPH07227482A (ja) * | 1994-02-21 | 1995-08-29 | Takara Co Ltd | 2足歩行ロボット |
US5739655A (en) * | 1994-09-09 | 1998-04-14 | Kabushiki Kaisha Komatsu Seisakusho | Ambulatory robot and ambulation control method for same |
WO2001017631A1 (en) * | 1999-09-09 | 2001-03-15 | Dsle System S.A. | Device for moving the limbs of a doll and simulating a walking action |
JP2002306858A (ja) * | 2001-04-13 | 2002-10-22 | Jenoido Proto Design:Kk | 歩行ロボット玩具 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS52149564A (en) * | 1976-06-09 | 1977-12-12 | Fuji Electric Co Ltd | Rotation transmitting device |
JPS57132848U (es) * | 1981-02-16 | 1982-08-19 | ||
FR2500560A1 (fr) * | 1981-02-23 | 1982-08-27 | Uriac Jean | Mouvement mecanique alternatif a rendement eleve |
JPS58125716U (ja) * | 1982-02-19 | 1983-08-26 | 松下電器産業株式会社 | 偏心軸装置 |
JPS59133297U (ja) * | 1983-02-26 | 1984-09-06 | 株式会社トミー | 首振り歩行動物玩具 |
US4511011A (en) * | 1983-03-18 | 1985-04-16 | Odetics, Inc. | Leg mechanism for walking machine |
US4503924A (en) * | 1983-03-18 | 1985-03-12 | Odetics, Inc. | Horizontal actuator mechanism for the legs of a walking machine |
US4629440A (en) * | 1985-07-08 | 1986-12-16 | Mattel, Inc. | Animated toy |
JPS63150176A (ja) | 1986-12-15 | 1988-06-22 | 工業技術院長 | 動的歩行ロボツトの歩行制御方法 |
JP2592340B2 (ja) | 1989-12-14 | 1997-03-19 | 本田技研工業株式会社 | 脚式歩行ロボットの関節構造 |
US5253541A (en) * | 1990-03-16 | 1993-10-19 | Regents Of The University Of Minnesota | Oil well pumping mechanism |
US5158493A (en) * | 1991-05-30 | 1992-10-27 | Richard Morgrey | Remote controlled, multi-legged, walking robot |
US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
JP3674778B2 (ja) * | 2001-09-27 | 2005-07-20 | 本田技研工業株式会社 | 脚式移動ロボットの脚体関節アシスト装置 |
-
2002
- 2002-05-24 ES ES200201197A patent/ES2195792B1/es not_active Expired - Fee Related
-
2003
- 2003-05-23 JP JP2004507311A patent/JP2005526629A/ja active Pending
- 2003-05-23 EP EP03725223A patent/EP1514776B1/en not_active Expired - Lifetime
- 2003-05-23 AU AU2003231333A patent/AU2003231333A1/en not_active Abandoned
- 2003-05-23 DE DE60325591T patent/DE60325591D1/de not_active Expired - Fee Related
- 2003-05-23 AT AT03725223T patent/ATE419169T1/de not_active IP Right Cessation
- 2003-05-23 WO PCT/ES2003/000244 patent/WO2003099641A1/es active Application Filing
-
2004
- 2004-11-23 US US10/996,338 patent/US7341122B2/en not_active Expired - Fee Related
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2150451A (en) * | 1983-11-29 | 1985-07-03 | Nippon Sunrise Inc | Legs for a walking robot toy |
JPH01256991A (ja) * | 1988-04-08 | 1989-10-13 | Kunitaka Takemae | 摺行人形 |
JPH04256589A (ja) * | 1991-02-12 | 1992-09-11 | Shigeo Hirose | 壁面歩行ロボットの3次元運動機構 |
ES1018896U (es) * | 1991-10-30 | 1992-02-01 | Fabricas Agrupadas De Munecas De Onil, S.A. | Muneca patinadora perfeccionada. |
JPH07227482A (ja) * | 1994-02-21 | 1995-08-29 | Takara Co Ltd | 2足歩行ロボット |
US5739655A (en) * | 1994-09-09 | 1998-04-14 | Kabushiki Kaisha Komatsu Seisakusho | Ambulatory robot and ambulation control method for same |
WO2001017631A1 (en) * | 1999-09-09 | 2001-03-15 | Dsle System S.A. | Device for moving the limbs of a doll and simulating a walking action |
JP2002306858A (ja) * | 2001-04-13 | 2002-10-22 | Jenoido Proto Design:Kk | 歩行ロボット玩具 |
Also Published As
Publication number | Publication date |
---|---|
EP1514776B1 (en) | 2008-12-31 |
US7341122B2 (en) | 2008-03-11 |
AU2003231333A1 (en) | 2003-12-12 |
DE60325591D1 (de) | 2009-02-12 |
ATE419169T1 (de) | 2009-01-15 |
US20050127686A1 (en) | 2005-06-16 |
WO2003099641A1 (es) | 2003-12-04 |
EP1514776A1 (en) | 2005-03-16 |
ES2195792B1 (es) | 2005-03-16 |
JP2005526629A (ja) | 2005-09-08 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
FG2A | Definitive protection |
Ref document number: 2195792B1 Country of ref document: ES |
|
FD2A | Announcement of lapse in spain |
Effective date: 20180808 |