ES2195792B1 - Actuador para movimientos de arranque -parada, principalmente en robots caminantes, y el procedimiento para su control. - Google Patents

Actuador para movimientos de arranque -parada, principalmente en robots caminantes, y el procedimiento para su control.

Info

Publication number
ES2195792B1
ES2195792B1 ES200201197A ES200201197A ES2195792B1 ES 2195792 B1 ES2195792 B1 ES 2195792B1 ES 200201197 A ES200201197 A ES 200201197A ES 200201197 A ES200201197 A ES 200201197A ES 2195792 B1 ES2195792 B1 ES 2195792B1
Authority
ES
Spain
Prior art keywords
actuator
mobile link
lever arm
procedure
mainly
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.)
Expired - Fee Related
Application number
ES200201197A
Other languages
English (en)
Other versions
ES2195792A1 (es
Inventor
Teodor Akinfiev
Manuel Angel Armada Rodriguez
Roemi Emilia Fernandez Saavedra
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Consejo Superior de Investigaciones Cientificas CSIC
Original Assignee
Consejo Superior de Investigaciones Cientificas CSIC
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to ES200201197A priority Critical patent/ES2195792B1/es
Application filed by Consejo Superior de Investigaciones Cientificas CSIC filed Critical Consejo Superior de Investigaciones Cientificas CSIC
Priority to DE60325591T priority patent/DE60325591D1/de
Priority to EP03725223A priority patent/EP1514776B1/en
Priority to JP2004507311A priority patent/JP2005526629A/ja
Priority to PCT/ES2003/000244 priority patent/WO2003099641A1/es
Priority to AT03725223T priority patent/ATE419169T1/de
Priority to AU2003231333A priority patent/AU2003231333A1/en
Publication of ES2195792A1 publication Critical patent/ES2195792A1/es
Priority to US10/996,338 priority patent/US7341122B2/en
Application granted granted Critical
Publication of ES2195792B1 publication Critical patent/ES2195792B1/es
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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).
ES200201197A 2002-05-24 2002-05-24 Actuador para movimientos de arranque -parada, principalmente en robots caminantes, y el procedimiento para su control. Expired - Fee Related ES2195792B1 (es)

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.
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
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
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
DE60325591T DE60325591D1 (de) 2002-05-24 2003-05-23 Stellglied für ein arbeitselement, insbesondere einen schreitroboter, und verfahren zur steuerung des stellglieds
AT03725223T ATE419169T1 (de) 2002-05-24 2003-05-23 Stellglied für ein arbeitselement, insbesondere einen schreitroboter, und verfahren zur steuerung des stellglieds
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
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 ES2195792A1 (es) 2003-12-01
ES2195792B1 true 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)

* Cited by examiner, † Cited by third party
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

Family Cites Families (22)

* Cited by examiner, † Cited by third party
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
US4503924A (en) * 1983-03-18 1985-03-12 Odetics, Inc. Horizontal actuator mechanism for the legs of a walking machine
US4511011A (en) * 1983-03-18 1985-04-16 Odetics, Inc. Leg mechanism for walking machine
JPS60116388A (ja) * 1983-11-29 1985-06-22 株式会社サンライズ ロボツト玩具の歩行脚
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
JP2649689B2 (ja) * 1988-04-08 1997-09-03 邦隆 竹前 摺行人形
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
JP2892165B2 (ja) * 1991-02-12 1999-05-17 茂男 広瀬 壁面歩行ロボットの３次元運動機構
US5158493A (en) * 1991-05-30 1992-10-27 Richard Morgrey Remote controlled, multi-legged, walking robot
ES1018896Y (es) * 1991-10-30 1993-03-01 Fabricas Agrupadas De Munecas De Onil, S.A. Muneca patinadora perfeccionada.
JP2957881B2 (ja) * 1994-02-21 1999-10-06 株式会社タカラ ２足歩行ロボット
US5423708A (en) * 1994-08-15 1995-06-13 Allen; Roger D. Multi-legged, walking toy robot
JP3277076B2 (ja) * 1994-09-09 2002-04-22 株式会社小松製作所 歩行ロボットの歩行制御装置および歩行制御方法
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
JP3683508B2 (ja) * 2001-04-13 2005-08-17 有限会社ジェノイド・プロトデザイン 歩行ロボット玩具
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

Also Published As

Publication number Publication date
JP2005526629A (ja) 2005-09-08
US20050127686A1 (en) 2005-06-16
US7341122B2 (en) 2008-03-11
AU2003231333A1 (en) 2003-12-12
ES2195792A1 (es) 2003-12-01
WO2003099641A1 (es) 2003-12-04
EP1514776B1 (en) 2008-12-31
EP1514776A1 (en) 2005-03-16
DE60325591D1 (de) 2009-02-12
ATE419169T1 (de) 2009-01-15

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