KR101077116B1 - 보행로봇용 발 모듈 - Google Patents
보행로봇용 발 모듈 Download PDFInfo
- Publication number
- KR101077116B1 KR101077116B1 KR1020090004628A KR20090004628A KR101077116B1 KR 101077116 B1 KR101077116 B1 KR 101077116B1 KR 1020090004628 A KR1020090004628 A KR 1020090004628A KR 20090004628 A KR20090004628 A KR 20090004628A KR 101077116 B1 KR101077116 B1 KR 101077116B1
- Authority
- KR
- South Korea
- Prior art keywords
- robot
- shock absorber
- foot
- coupled
- walking
- Prior art date
Links
- 230000035939 shock Effects 0.000 claims abstract description 66
- 239000006096 absorbing agent Substances 0.000 claims abstract description 47
- 238000006073 displacement reaction Methods 0.000 claims abstract description 8
- 230000003139 buffering effect Effects 0.000 claims abstract description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
Images
Classifications
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (4)
- 보행로봇용 발 모듈에 있어서,로봇의 발 부분을 형성하는 하부구조체와;상기 하부구조체의 상부에 슬라이딩 가능하게 결합되는 상부구조체와;상기 하부구조체와 상부구조체 사이에 지지되며 완충작용을 수행하는 쇽업소버(200)와;상기 상부구조체의 일 측에 수직방향으로 길게 형성된 가이드홀(432)과;상기 가이드홀(432) 내에 수평방향으로 삽입되어 하부구조체에 결합되는 샤프트(450)를 포함하여 이루어지되,상기 쇽업소버(200)에 의한 상,하부구조체의 완충 작용시 상기 가이드홀(432)과 샤프트(450) 사이의 간섭작용에 의해 상기 하부구조체의 수평회전이 구속되도록 형성하며,상기 상부구조체는,내측 상단에 상기 쇽업소버(200)의 상단이 지지되는 원통형의 링크부(100)와;상기 링크부(100)의 하단에 결합되며, 상기 가이드홀(432)이 외주면을 따라 복수 개 배열된 가이드부(430)를 포함하며,상기 하부구조체 내에는 상기 쇽업소버(200)의 길이방향 변위를 제한할 수 있는 완충스프링(420)이 설치되며,상기 하부구조체는,지면과 접촉되는 발판(300)과;하부면에 상기 발판(300)이 결합되고, 상부는 상기 가이드부(430)의 하단에 슬라이딩 가능하게 끼워지며, 외주면에 상기 가이드홀(432)을 통해 삽입된 샤프트(450)가 결합되는 발 지지부(440)와;발 지지부(440)의 내측에 결합되며 상기 완충스프링(420)과 함께 상기 쇽업소버(200)의 하단을 지지하는 지지체(410)를 포함하여 구성되는 것을 특징으로 하는 보행로봇용 발 모듈.
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Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020090004628A KR101077116B1 (ko) | 2009-01-20 | 2009-01-20 | 보행로봇용 발 모듈 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020090004628A KR101077116B1 (ko) | 2009-01-20 | 2009-01-20 | 보행로봇용 발 모듈 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20100085376A KR20100085376A (ko) | 2010-07-29 |
KR101077116B1 true KR101077116B1 (ko) | 2011-10-26 |
Family
ID=42644297
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020090004628A KR101077116B1 (ko) | 2009-01-20 | 2009-01-20 | 보행로봇용 발 모듈 |
Country Status (1)
Country | Link |
---|---|
KR (1) | KR101077116B1 (ko) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20130073591A (ko) | 2011-12-23 | 2013-07-03 | 삼성전자주식회사 | 지지모듈 및 이를 포함하는 로봇 |
CN108656124B (zh) * | 2018-04-08 | 2021-11-02 | 谢娟 | 一种机器人 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003191181A (ja) * | 2001-12-25 | 2003-07-08 | Honda Motor Co Ltd | 脚式移動ロボットの着床衝撃緩衝装置 |
-
2009
- 2009-01-20 KR KR1020090004628A patent/KR101077116B1/ko active IP Right Grant
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003191181A (ja) * | 2001-12-25 | 2003-07-08 | Honda Motor Co Ltd | 脚式移動ロボットの着床衝撃緩衝装置 |
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Publication number | Publication date |
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KR20100085376A (ko) | 2010-07-29 |
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