-
公开(公告)号：EP1808276A4
公开(公告)日：2008-03-26
申请号：EP05768955
申请日：2005-08-05
申请人： HONDA MOTOR CO LTD , SHOWA CORP
CPC分类号： B62D57/032 , B25J19/0091
摘要： While a solenoid valve (23) of a gas passage (22) communicating with gas chambers (16, 17) is closed, an assist device (12) produces an assisting drive force by compression/expansion of a gas when a leg (3) flexes/stretches at a knee joint (specific joint) (8) and acts the force on the knee joint (8). While the solenoid valve (23) is open, no assisting drive force is produced. The solenoid valve (23) has a self-holding function. The solenoid valve (23) is so provided in the gas passage (22) that the difference between the pressures in the gas chambers (16, 17) acts so that the valve is closed during a predetermined period during which the solenoid valve (23) is closed. With this, the power consumption of the solenoid valve can be effectively reduced through a simple structure.
-
公开(公告)号：EP1820612A4
公开(公告)日：2008-05-21
申请号：EP05780369
申请日：2005-08-17
申请人： HONDA MOTOR CO LTD , SHOWA CORP
发明人： TAKENAKA TORU , GOMI HIROSHI , HAMAYA KAZUSHI , AKIMOTO KAZUSHI , SHIROKURA SHINYA , ASATANI MINAMI , TANAKA KATSUSHI
CPC分类号： B62D57/032 , B25J19/0012 , Y10T403/32606
摘要： A leg joint assist device (11) of a legged mobile robot, comprising a spring means (21)(gas spring). A piston (24) in a cylinder (23) is vertically moved according to the relative displacement motion (bending and stretching motion) of a femoral region (4) and a crural region (5) at the knee joint (8) of the leg (3) of the robot. A gas is filled in gas chambers (25) and (26) on the upper and lower sides of the piston (24). When the degree of the bending of the leg body at the knee joint (8) is equal to or less than a specified value, the gas chambers (25) and (26) are allowed to communicate with each other through grooves (28) in the cylinder (23), and the spring means (21) does not produce an elastic force. When the degree of the bending exceeds the specified value, the gas chambers (25) and (26) are brought into a sealed state with each other, and the spring means (21) produces an elastic force which acts on the knee joint (8) as an auxiliary drive force. Thus, a burden on the joint actuator of the leg can be reduced while reducing the energy consumption of the robot by a compact and simple structure. Also, a variation in the characteristics of the auxiliary drive force of the spring means (21) against the degree of the bending of the knee joint (8) can be suppressed.
-
搜索结果
2 条记录 (耗时 0.009 秒)
