公开(公告)号：EP1459854B1

公开(公告)日：2009-03-18

申请号：EP02788801.5

申请日：2002-12-11

申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

发明人： Takenaka, Toru ,  GOMI, Hiroshi ,  HAMAYA, Kazushi ,  TAKEMURA, Yoshinari ,  MATSUMOTO, Takashi ,  YOSHIIKE, Takahide ,  NISHIMURA, Yoichi ,  AKIMOTO, Kazushi ,  YOKOYAMA, Taro

IPC分类号： B25J5/00

CPC分类号： B62D57/032 ,  B25J19/0091 ,  F16F9/0481

摘要： A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the foot mechanism (6). The bag-like member (19) is formed of an elastic material such as rubber and has a restoration capability. The inside of the bag-like member (19) is open to the atmosphere through a passage (20). W hen the leg lands on the floor, the bag-like member (19) touches the ground and is compressed, causing air in the bag-like member to flow out into the atmosphere through the passage (20), which produces an outflow resistance. This reduces floor-landing shock. While the leg body is off the floor, the bag-like member (19) is inflated by the restoring capability of the member as air flows into it. The shock load in floor-landing of the leg body of a legged mobile robot can be reduced smoothly by a light-weighted structure.

公开(公告)号：EP1459854A1

公开(公告)日：2004-09-22

申请号：EP02788801.5

申请日：2002-12-11

申请人： Honda Giken Kogyo Kabushiki Kaisha

发明人： Takenaka, Toru ,  GOMI, Hiroshi ,  HAMAYA, Kazushi ,  TAKEMURA, Yoshinari ,  MATSUMOTO, Takashi ,  YOSHIIKE, Takahide ,  NISHIMURA, Yoichi ,  AKIMOTO, Kazushi ,  YOKOYAMA, Taro

IPC分类号： B25J5/00

CPC分类号： B62D57/032 ,  B25J19/0091 ,  F16F9/0481

摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (a variable capacity element) is provided at a ground-contacting face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like member 19 is communicated with the atmosphere side through a flow passage 20. During a landing motion of the leg, the bag-like member 19 makes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passage 20, so that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like member 19 allows the bag-like member 19 to be inflated while the air flows into the interior portion thereof. An impact load during the landing of the leg of the legged mobile robot may smoothly be reduced in a light-weight configuration.

摘要翻译： 设置在机器人腿部的脚部机构6中的着陆减震装置18，其中，在脚部机构6的接地面侧设置有可膨胀的袋状构件19（可变容量元件）。袋 类似构件19由诸如橡胶的弹性材料构成并且具有恢复力。 袋状构件19的内部通过流路20与大气侧连通。在腿部的着陆运动期间，袋状构件19与地面接触以被压缩，并且空气在 其内部通过流路20流入大气，从而产生其流出阻力。 因此，降落着陆冲击。 在腿的提升状态下，袋状构件19的恢复力允许袋状构件19在空气流入其内部部分时被充气。 腿型移动式机器人的腿部着陆期间的冲击负荷可以在重量轻的结构中平滑地减少。