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    LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT
    2.
    发明公开
    LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT 有权
    SCH TER UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG UNG

    公开(公告)号：EP1808276A1

    公开(公告)日：2007-07-18

    申请号：EP05768955.6

    申请日：2005-08-05

    申请人： HONDA MOTOR CO., Ltd. ,  SHOWA CORPORATION

    发明人： TAKENAKA, Toru, c/o K.K. HONDA, GIJUTSU KENKYUSHO ,  GOMI, Hiroshi, c/o K.K. HONDA, GIJUTSU KENKYUSHO ,  HAMAYA, Kazushi, c/o K.K. HONDA, GIJUTSU KENKYUSHO ,  AKIMOTO, Kazushi, K.K. HONDA, GIJUTSU KENKYUSHU ,  TANAKA, Katsushi, c/o SHOWA CORPORATION

    IPC分类号： B25J17/00 ,  B25J5/00 ,  B25J19/00 ,  A63H11/18

    CPC分类号： B62D57/032 ,  B25J19/0091

    摘要： In a state wherein a solenoid switching valve 23 in a gas passage 22 in communication with air chambers 16 and 17 is closed, an assist device 12 produces an assisting driving force by compression or expansion of a gas as a knee joint (specific joint) 8 of a leg 3 bends or stretches, and applies the produced assisting driving force to the knee joint 8. In a valve-open state of the solenoid switching valve 23, no assisting driving force is produced. The solenoid switching valve 23 is constructed of a solenoid switching valve having a self-holding feature, and installed in the gas passage 22 such that a pressure difference between air chambers 16 and 17 acts in a valve closing direction of a valve element in a predetermined period during which the solenoid switching valve 23 is closed. This arrangement effectively reduces the power consumption of the solenoid switching valve by a simple construction.

    摘要翻译： 在与气室16和17连通的气体通道22中的电磁切换阀23关闭的状态下，辅助装置12通过作为膝关节（特定接头）8的气体的压缩或膨胀产生辅助驱动力 腿部3弯曲或拉伸，并将产生的辅助驱动力施加到膝关节8.在电磁切换阀23的阀打开状态下，不产生辅助驱动力。 电磁切换阀23由具有自保持特征的电磁换向阀构成，并且安装在气体通道22中，使得空气室16和17之间的压力差以预定的方式作用在阀元件的关闭方向上 螺线管切换阀23关闭的期间。 这种布置通过简单的结构有效地降低了电磁开关阀的功耗。