[go: up one dir, main page]

WO2018117633A1 - Suspension apparatus for robot foot - Google Patents

Suspension apparatus for robot foot Download PDF

Info

Publication number
WO2018117633A1
WO2018117633A1 PCT/KR2017/015114 KR2017015114W WO2018117633A1 WO 2018117633 A1 WO2018117633 A1 WO 2018117633A1 KR 2017015114 W KR2017015114 W KR 2017015114W WO 2018117633 A1 WO2018117633 A1 WO 2018117633A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot foot
robot
connecting rod
suspension device
foot
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.)
Ceased
Application number
PCT/KR2017/015114
Other languages
French (fr)
Korean (ko)
Inventor
임현국
손병규
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.)
Hankook Mirae Technology Co Ltd
Original Assignee
Hankook Mirae Technology Co Ltd
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
Application filed by Hankook Mirae Technology Co Ltd filed Critical Hankook Mirae Technology Co Ltd
Publication of WO2018117633A1 publication Critical patent/WO2018117633A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers

Definitions

  • the present invention is a suspension device installed on the robot foot of a large-sized heavy-duty robot, absorbs the load applied to the robot foot sufficiently to protect the equipment, reduce impact noise, and reduce the noise of the measured value measured by the sensor It relates to a suspension device of the robot foot that can be reduced.
  • the toe part is placed on the sole of the foot and the front of the sole, and a damper is connected between the toe part and the sole of the foot to walk naturally and absorb shock when walking. Due to the difficult to support the toe part is easy to lose the center, accordingly there was a difficult problem to control.
  • the manufacturing of the sole of the robot to a single plate is very advantageous to maintain the balance in the control, but the disadvantage is that it does not absorb the shock transmitted from the ground, it is transmitted to the robot and the noise is very large.
  • the foot of the robot is also equipped with a sensor for measuring the load, when the impact of walking was transmitted to the sensor to act as a noise, it was also necessary to improve this.
  • the related art is KR 10-1630927 B1.
  • the present invention has been proposed to solve this problem, and is a suspension device installed on the robot foot of a large-sized heavy-duty robot, absorbs the load applied to the robot foot sufficiently to protect the instruments and reduce impact noise
  • Another object of the present invention is to provide a suspension device for a robot foot that can reduce noise of a measured value measured by a sensor.
  • the support pad provided on the bottom surface of the robot foot in contact with the ground;
  • a connecting rod penetrating the robot foot in the vertical direction and sliding in the vertical direction and having a lower end connected to the support pad; It is provided on the upper part of the robot foot, connected to the robot foot in a pivot structure to perform a rotational movement, one end of the pivot portion connected to the upper end of the connecting rod;
  • a damper having one end pivoted to the robot foot and the other end pivoted to the other end of the rotating part, wherein an impact applied from the ground during walking of the robot raises the connecting rod through the support pad, and the rotating part rotates.
  • the shock applied from the ground can be alleviated by shrinking the damper.
  • the support pad is made of urethane and may be positioned lower than the bottom of the robot foot.
  • a plurality of corner points are formed on the bottom surface of the robot foot, and the suspension device may be installed at each of the plurality of corner points.
  • a support panel is coupled to the upper portion of the support pad, and a buffer pad is coupled to the upper portion of the support panel, and the support pad may have greater hardness than the buffer pad.
  • the support panel is coupled to the upper portion of the support pad, and a buffer pad may be disposed between the upper portion of the support panel and the base of the robot foot.
  • a cylinder is disposed above the shock absorber pad, and the transfer rod is inserted into the cylinder to slide up and down, and the lower end of the transfer rod is fixed to the support pad and the upper end thereof is connected to the connecting rod.
  • the cylinder is fixed to the base of the robot foot, and the lower end of the connecting rod and the upper end of the transfer rod may be connected through a cap.
  • a plurality of cylinders and transmission rods are provided spaced apart from each other, the lower end of the connecting rod is pivotally connected to the center of the cap, the cap may be connected to the plurality of transmission rod upper end along the periphery.
  • the rotating part has a triangular shape, the upper end of the connecting rod, the robot foot, the other end of the damper may be pivotally connected to each corner of the triangular shape.
  • the rotating part has a triangular shape, the long side is disposed facing the opposite direction of the robot ankle, the edge portion facing the long side may be connected to the robot foot in a pivot structure.
  • the remaining corner portions of the rotating part may be pivotally connected to the upper end of the connecting rod and the other end of the damper, respectively.
  • the connecting rod is slid in the vertical direction, and the damper is disposed in the transverse direction can be contracted or extended in the transverse direction.
  • the suspension device of the robot foot of the present invention is installed on the robot foot of a large-sized heavy-duty robot, absorbing the load applied to the robot foot sufficiently to protect the mechanisms and reduce impact noise, in the sensor The noise of the measured measurement value can be reduced.
  • FIG. 1 is a perspective view of a suspension device of a robot foot according to an embodiment of the present invention.
  • Figure 6 is a cross-sectional view of the suspension device of the robot foot according to an embodiment of the present invention.
  • FIG. 1 is a perspective view of a robot foot suspension device according to an embodiment of the present invention
  • Figures 2 to 5 is a view showing the components of the robot foot suspension device according to an embodiment of the present invention
  • Figure 6 is a view of the present invention 1 is a cross-sectional view of a suspension device of the robot foot 100 according to one embodiment.
  • Suspension device of the robot foot 100 the support pad 200 provided on the bottom surface of the robot foot 100 in contact with the ground;
  • a connecting rod 720 penetrating the robot foot 100 in the vertical direction and sliding in the vertical direction and having a lower end connected to the support pad 200;
  • a rotating part 800 provided at an upper portion of the robot foot 100 and connected to the robot foot 100 by a pivot structure H3 and rotating, and having one end pivoted with an upper end of the connection rod 720 (H2);
  • a damper 900 having one end pivoted to the robot foot 100 and the other end pivoted to the other end of the rotating part 800 (H4), which is applied from the ground when the robot walks.
  • the impact raises the connection rod 720 through the support pad 200, the rotation part 800 is rotated, and the damper 900 may be contracted to alleviate the impact applied from the ground.
  • the robot foot suspension device of the present invention is first provided with a support pad 200 on the bottom surface of the robot foot 100 in contact with the ground.
  • the support pad 200 is made of urethane and may be located lower than the bottom surface of the robot foot 100. Accordingly, when the robot walks, the support pad 200 comes into contact with the ground before the sole of the foot to absorb the shock.
  • the suspension device may be installed for each of the plurality of corner points. That is, as shown in FIG. 1, the sole of the robot may be formed in a rectangular frame shape, and a suspension device may be installed at each corner of the rectangle to install a total of four suspension devices 1000. In all directions, the suspension device 1000 first touches the ground and absorbs shock in each direction. Therefore, stable walking control of the robot becomes possible in any direction of walking.
  • the connecting rod 720 vertically penetrates the robot foot 100 and vertically slides, and a lower end of the connecting rod 720 is connected to the support pad 200. Therefore, the support pad 200 and the connecting rod 720 are raised in the vertical direction when they touch the ground together.
  • the rotating portion 800 is provided on the upper portion of the robot foot 100, the rotating portion 800 is connected to the robot foot 100 in the center portion pivot structure is rotated relative to the center portion, one end of the rotating portion 800 It is pivotally connected to the upper end of the additional connection rod 720. Therefore, when the support pad 200 is raised together with the connecting rod 720, the vertical motion is converted into the rotational motion by the rotation part 800.
  • the damper 900 has one end pivoted to the ankle connection point 120 of the robot foot 100, and the other end pivoted to the other end of the rotating part 800. Accordingly, the impact applied from the ground during walking of the robot raises the connecting rod 720 through the support pad 200, and the rotating part 800 is rotated to contract the damper 900 to mitigate the impact applied from the ground. It becomes possible. In addition, before the damper 900 is contracted, the support pad 200 also reduces vibration or noise to some extent. In addition, in converting the vertical motion to the rotational motion, each of the connecting elements is connected to the pivot structure (H1, H2, H3, H4, H5) it is possible to implement a natural motion.
  • the support panel 300 is coupled to the upper portion of the support pad 200 of FIG. 2, as shown in FIG. 3, and the buffer pad 400 is coupled to the upper portion of the support panel 300 as illustrated in FIG. 4.
  • the hardness may be greater than that of the buffer pad 400. That is, the pads are coupled to the sandwich structure, the support pad 200 with a large hardness directly touches the ground, and the buffer pad 400 with a small hardness is coupled to the upper part of the lower part of the center support panel 300.
  • the shock is absorbed in the buffer pad 400. Since the sole of the robot is made of metal, a noise that hits the ground when walking is generated. The noise reduces the noise generated when walking by allowing the support pad 200 of urethane to touch the ground first, and the support pad 200 is hard.
  • the shock absorbing pad is primarily absorbed by the shock absorbing pad 400, and the damper 900 is absorbed by the secondary structure.
  • the shock absorbing pad 400 is provided between the support panel 300 and the base 100 to block the noise generated by the direct contact between the support panel 300 and the base 100.
  • the cylinder 500 is disposed above the buffer pad 400, the transfer rod 600 is inserted into the cylinder 500 and slides up and down, the lower end of the transfer rod 600, the support pad It is fixed to the 200 and the upper end may be connected to the connection rod 720. And the cylinder is fixed to the base of the robot foot 100, the lower end of the connecting rod 720 and the upper end of the transfer rod 600 may be connected via the cap 700.
  • the transfer rod 600 is coupled to the support pad 200 through the buffer pad 400 and the support panel 300.
  • the support pad 200 is first pressed upward.
  • the transfer rod 600 rises inside the cylinder 500, and thus the connection rod 720 connected to the cap 700 rises and is converted into rotational force to pressurize the damper 900.
  • a plurality of cylinders 500 and transmission rods 600 are provided to be spaced apart from each other, and the lower end of the connection rod 720 pivotally connects to the center of the cap 700.
  • the cap 700 may be connected to the upper end of the plurality of transfer rod 600 along the periphery. Accordingly, the cap 700 is raised in a balanced manner in various directions, and the cap 700 is rotated through the pivot H1 even if the cap 700 is unevenly raised so that there is no problem in the raising of the connecting rod 720.
  • the rotating part 800 is a right triangle shape, the hypotenuse is disposed so as to face the opposite direction of the neck of the robot foot 100, the center portion of the right angle can be connected to the robot foot 100 in a pivot structure.
  • the remaining corner portions of the rotating part 800 may be pivotally connected to the upper end of the connecting rod 720 and the other end of the damper 900, respectively.
  • the rotating part 800 may be formed in the shape of a general triangle instead of a right angle, and the robot foot, the connecting rod 720 and the damper 900 are coupled to each corner to convert the vertical motion in the horizontal direction.
  • the connecting rod 720 may slide in the vertical direction, and the damper 900 may be horizontally disposed to contract or extend in the horizontal direction.
  • the connecting rod 720 and the rotating portion 800 and the damper 900 is pivotally connected based on an axis perpendicular to the front-back direction in which the robot walks, and the damper 900 is disposed in the front-back direction in which the robot walks. Can be.
  • the robot walks mainly in the front-back direction. Therefore, the front heel of the robot foot 100 first touches the ground or the heel first touches the ground.
  • the suspension device effectively transmits the impact force to the damper 900 when walking back and forth first. To absorb the shock.
  • the robot foot 100 is a cylinder 500 is fixed to the base portion, and thus the transmission rod 600 moves up and down relative to the cylinder 500 and the connecting rod 720, the rotating portion 800, the damper It is to deliver a shock to (900).
  • robot foot 1000 suspension device of the robot foot

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a suspension apparatus for a robot foot comprising: a support pad provided on a floor surface of a robot foot contacting the ground; a connecting rod having a lower end connected to the support pad; a rotating part which is connected to the robot foot in a pivotal manner to perform a rotational movement and is pivotally connected to an upper end of the connection rod at one end thereof; and a damper having one end that is pivotally connected to the other end of the rotating part, wherein an impact applied from the ground when a robot walks raises the connecting rod through the supporting pad, and the rotating part is rotated causing the damper to contract, thereby cushioning the impact applied from the ground.

Description

로봇 발의 서스펜션 장치Robot Foot Suspension Device

본 발명은 중량이 많이 나가는 탑승형 대형 로봇의 로봇 발에 설치되는 서스펜션 장치로서, 로봇 발에 작용하는 하중을 충분히 흡수하여 기구물들을 보호하고 충격 소음을 감소시키며, 센서에서 계측되는 측정값의 노이즈를 줄일 수 있도록 하는 로봇 발의 서스펜션 장치에 관한 것이다.The present invention is a suspension device installed on the robot foot of a large-sized heavy-duty robot, absorbs the load applied to the robot foot sufficiently to protect the equipment, reduce impact noise, and reduce the noise of the measured value measured by the sensor It relates to a suspension device of the robot foot that can be reduced.

탑승형 대형 로봇의 경우 중량이 매우 크다. 따라서, 로봇이 보행을 하는 경우 지면과 닿게 되는데, 이때 발을 통해 지면으로부터 전달되는 충력량도 매우 크다.Riding large robots are very heavy. Therefore, when the robot walks, it comes into contact with the ground, and the amount of force transmitted from the ground through the foot is also very large.

종래에는 로봇 발의 경우 발바닥과 그 발바닥의 앞 부분에 발가락부를 두고 그 발가락부와 발바닥의 사이에 댐퍼를 연결하여 보행시 보행이 자연스럽고 충격을 흡수하도록 설계되었지만, 중량이 큰 탑승형 로봇의 경우 중량으로 인하여 발가락부의 지지가 어려워 중심을 잃기 쉬웠고, 그에 따라 제어도 어려운 문제가 있었다.Conventionally, in the case of a robot foot, the toe part is placed on the sole of the foot and the front of the sole, and a damper is connected between the toe part and the sole of the foot to walk naturally and absorb shock when walking. Due to the difficult to support the toe part is easy to lose the center, accordingly there was a difficult problem to control.

따라서, 로봇의 발바닥을 하나의 평판으로 제조하는 것이 제어시 균형을 유지하기에 매우 유리하지만, 단점으로는 지면으로부터 전달되는 충격을 흡수하지 못하고 로봇에 전달되고 소음이 매우 큰 문제가 있었다.Therefore, the manufacturing of the sole of the robot to a single plate is very advantageous to maintain the balance in the control, but the disadvantage is that it does not absorb the shock transmitted from the ground, it is transmitted to the robot and the noise is very large.

아울러, 로봇의 발에는 하중을 계측하는 센서도 장착되는데, 보행에 의한 충격시 그 충격이 센서에 전달되어 노이즈로 작용함에 따라 이에 대한 개선도 필요하였다.In addition, the foot of the robot is also equipped with a sensor for measuring the load, when the impact of walking was transmitted to the sensor to act as a noise, it was also necessary to improve this.

상기의 배경기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.The matters described as the background art are only for the purpose of improving the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the related art already known to those skilled in the art.

이에 관한 종래기술로는 KR 10-1630927 B1 이 있다.The related art is KR 10-1630927 B1.

본 발명은 이러한 문제점을 해결하기 위하여 제안된 것으로, 중량이 많이 나가는 탑승형 대형 로봇의 로봇 발에 설치되는 서스펜션 장치로서, 로봇 발에 작용하는 하중을 충분히 흡수하여 기구물들을 보호하고 충격 소음을 감소시키며, 센서에서 계측되는 측정값의 노이즈를 줄일 수 있도록 하는 로봇 발의 서스펜션 장치를 제공하고자 함이다.The present invention has been proposed to solve this problem, and is a suspension device installed on the robot foot of a large-sized heavy-duty robot, absorbs the load applied to the robot foot sufficiently to protect the instruments and reduce impact noise Another object of the present invention is to provide a suspension device for a robot foot that can reduce noise of a measured value measured by a sensor.

상기의 목적을 달성하기 위한 본 발명에 따른 로봇 발의 서스펜션 장치는, 지면과 닿는 로봇 발의 바닥면에 마련된 지지패드; 로봇 발을 상하방향으로 관통하며 상하방향으로 슬라이딩되고 하단부가 지지패드에 연결된 연결로드; 로봇 발의 상부에 마련되며, 피봇구조로 로봇 발에 연결되어 회전운동을 하고, 일단부가 연결로드의 상단부와 피봇 연결된 회전부; 및 일단부가 로봇 발에 피봇 연결되고, 타단부가 회전부의 타단부와 피봇연결된 댐퍼;를 포함하고, 로봇의 보행시 지면으로부터 가해지는 충격이 지지패드를 통해 연결로드를 상승시키고, 회전부가 회전되며 댐퍼를 수축시킴으로써 지면으로부터 가해지는 충격을 완화할 수 있다.Suspension device of the robot foot according to the present invention for achieving the above object, the support pad provided on the bottom surface of the robot foot in contact with the ground; A connecting rod penetrating the robot foot in the vertical direction and sliding in the vertical direction and having a lower end connected to the support pad; It is provided on the upper part of the robot foot, connected to the robot foot in a pivot structure to perform a rotational movement, one end of the pivot portion connected to the upper end of the connecting rod; And a damper having one end pivoted to the robot foot and the other end pivoted to the other end of the rotating part, wherein an impact applied from the ground during walking of the robot raises the connecting rod through the support pad, and the rotating part rotates. The shock applied from the ground can be alleviated by shrinking the damper.

지지패드는 우레탄 재질이며 로봇 발의 바닥면보다 더 낮게 위치될 수 있다.The support pad is made of urethane and may be positioned lower than the bottom of the robot foot.

로봇 발의 바닥면에는 복수의 모서리 지점이 형성되고, 서스펜션 장치는 복수의 모서리 지점마다 각각 설치될 수 있다.A plurality of corner points are formed on the bottom surface of the robot foot, and the suspension device may be installed at each of the plurality of corner points.

지지패드 상부에는 지지패널이 결합되고, 지지패널 상부에는 완충패드가 결합되며, 지지패드는 완충패드보다 경도가 더 클 수 있다.A support panel is coupled to the upper portion of the support pad, and a buffer pad is coupled to the upper portion of the support panel, and the support pad may have greater hardness than the buffer pad.

지지패드 상부에는 지지패널이 결합되고, 지지패널 상부와 로봇 발의 베이스 사이에는 완충패드가 배치될 수 있다.The support panel is coupled to the upper portion of the support pad, and a buffer pad may be disposed between the upper portion of the support panel and the base of the robot foot.

완충패드 상부에는 실린더가 배치되고, 실린더에는 전달로드가 삽입되어 상하로 슬라이딩되며, 전달로드의 하단부는 지지패드와 고정되며 상단부는 연결로드와 연결될 수 있다.A cylinder is disposed above the shock absorber pad, and the transfer rod is inserted into the cylinder to slide up and down, and the lower end of the transfer rod is fixed to the support pad and the upper end thereof is connected to the connecting rod.

실린더는 로봇 발의 베이스에 고정되고, 연결로드의 하단부와 전달로드의 상단부는 캡을 통해 연결될 수 있다.The cylinder is fixed to the base of the robot foot, and the lower end of the connecting rod and the upper end of the transfer rod may be connected through a cap.

실린더 및 전달로드는 복수개가 서로 이격되어 마련되며, 연결로드의 하단부는 캡의 중앙부에 피봇 연결되고, 캡은 주변을 따라 복수의 전달로드 상단부와 연결될 수 있다.A plurality of cylinders and transmission rods are provided spaced apart from each other, the lower end of the connecting rod is pivotally connected to the center of the cap, the cap may be connected to the plurality of transmission rod upper end along the periphery.

회전부는 삼각형 형상이고, 삼각형 형상의 각 모서리에 연결로드의 상단부, 로봇 발, 댐퍼의 타단부가 피봇 연결될 수 있다.The rotating part has a triangular shape, the upper end of the connecting rod, the robot foot, the other end of the damper may be pivotally connected to each corner of the triangular shape.

회전부는 삼각형 형상이고, 장변이 로봇 발목의 반대방향을 향하도록 배치되며, 장변을 마주보는 모서리 부분이 피봇구조로 로봇 발에 연결될 수 있다.The rotating part has a triangular shape, the long side is disposed facing the opposite direction of the robot ankle, the edge portion facing the long side may be connected to the robot foot in a pivot structure.

회전부의 나머지 모서리 부분은 각각 연결로드의 상단부 및 댐퍼의 타단부와 피봇 연결될 수 있다.The remaining corner portions of the rotating part may be pivotally connected to the upper end of the connecting rod and the other end of the damper, respectively.

연결로드는 상하방향으로 슬라이딩 운동을 하고, 댐퍼는 횡방향으로 배치되어 횡방향으로 수축 또는 신장될 수 있다.The connecting rod is slid in the vertical direction, and the damper is disposed in the transverse direction can be contracted or extended in the transverse direction.

본 발명의 로봇 발의 서스펜션 장치에 따르면, 중량이 많이 나가는 탑승형 대형 로봇의 로봇 발에 설치되는 서스펜션 장치로서, 로봇 발에 작용하는 하중을 충분히 흡수하여 기구물들을 보호하고 충격 소음을 감소시키며, 센서에서 계측되는 측정값의 노이즈를 줄일 수 있게 된다.According to the suspension device of the robot foot of the present invention, the suspension device is installed on the robot foot of a large-sized heavy-duty robot, absorbing the load applied to the robot foot sufficiently to protect the mechanisms and reduce impact noise, in the sensor The noise of the measured measurement value can be reduced.

도 1은 본 발명의 일 실시예에 따른 로봇 발의 서스펜션 장치의 사시도.1 is a perspective view of a suspension device of a robot foot according to an embodiment of the present invention.

도 2 내지 5는 본 발명의 일 실시예에 따른 로봇 발의 서스펜션 장치의 구성요소를 나타낸 도면.2 to 5 show the components of the robot foot suspension device according to an embodiment of the present invention.

도 6은 본 발명의 일 실시예에 따른 로봇 발의 서스펜션 장치의 단면도.Figure 6 is a cross-sectional view of the suspension device of the robot foot according to an embodiment of the present invention.

도 1은 본 발명의 일 실시예에 따른 로봇 발의 서스펜션 장치의 사시도이고, 도 2 내지 5는 본 발명의 일 실시예에 따른 로봇 발의 서스펜션 장치의 구성요소를 나타낸 도면이며, 도 6은 본 발명의 일 실시예에 따른 로봇 발(100)의 서스펜션 장치의 단면도이다.1 is a perspective view of a robot foot suspension device according to an embodiment of the present invention, Figures 2 to 5 is a view showing the components of the robot foot suspension device according to an embodiment of the present invention, Figure 6 is a view of the present invention 1 is a cross-sectional view of a suspension device of the robot foot 100 according to one embodiment.

본 발명에 따른 로봇 발(100)의 서스펜션 장치는, 지면과 닿는 로봇 발(100)의 바닥면에 마련된 지지패드(200); 로봇 발(100)을 상하방향으로 관통하며 상하방향으로 슬라이딩되고 하단부가 지지패드(200)에 연결된 연결로드(720); 로봇 발(100)의 상부에 마련되며, 피봇구조(H3)로 로봇 발(100)에 연결되어 회전운동 하고, 일단부가 연결로드(720)의 상단부와 피봇 연결(H2)된 회전부(800); 및 일단부가 로봇 발(100)에 피봇 연결(H5)되고, 타단부가 회전부(800)의 타단부와 피봇 연결(H4)된 댐퍼(900);를 포함하고, 로봇의 보행시 지면으로부터 가해지는 충격이 지지패드(200)를 통해 연결로드(720)를 상승시키고, 회전부(800)가 회전되며 댐퍼(900)를 수축시킴으로써 지면으로부터 가해지는 충격을 완화할 수 있다.Suspension device of the robot foot 100 according to the present invention, the support pad 200 provided on the bottom surface of the robot foot 100 in contact with the ground; A connecting rod 720 penetrating the robot foot 100 in the vertical direction and sliding in the vertical direction and having a lower end connected to the support pad 200; A rotating part 800 provided at an upper portion of the robot foot 100 and connected to the robot foot 100 by a pivot structure H3 and rotating, and having one end pivoted with an upper end of the connection rod 720 (H2); And a damper 900 having one end pivoted to the robot foot 100 and the other end pivoted to the other end of the rotating part 800 (H4), which is applied from the ground when the robot walks. The impact raises the connection rod 720 through the support pad 200, the rotation part 800 is rotated, and the damper 900 may be contracted to alleviate the impact applied from the ground.

본 발명의 로봇발 서스펜션 장치는 먼저 지면과 닿는 로봇 발(100)의 바닥면에 지지패드(200)가 마련된다. 지지패드(200)는 우레탄 재질이며 로봇 발(100)의 바닥면보다 더 낮게 위치될 수 있다. 그에 따라 로봇의 보행시에는 발바닥보다도 지지패드(200)가 먼저 지면에 닿아 충격을 흡수하도록 하는 것이다.The robot foot suspension device of the present invention is first provided with a support pad 200 on the bottom surface of the robot foot 100 in contact with the ground. The support pad 200 is made of urethane and may be located lower than the bottom surface of the robot foot 100. Accordingly, when the robot walks, the support pad 200 comes into contact with the ground before the sole of the foot to absorb the shock.

한편, 이러한 로봇 발(100)의 바닥면에는 복수의 모서리 지점이 형성되고, 서스펜션 장치는 복수의 모서리 지점마다 각각 설치될 수 있다. 즉, 도 1과 같이 로봇의 발바닥을 사각형의 프레임 형식으로 형성하고, 그 사각형의 각 모서리마다 서스펜션 장치를 설치하여 총 4개의 서스펜션장치(1000)를 설치할 수 있으며, 이에 따라 로봇의 전후 보행 및 좌우보행시 모두 각 방향에서 서스펜션 장치(1000)가 지면에 먼저 닿으며 충격을 흡수하도록 하는 것이다. 따라서, 어느 방향으로의 보행이든 로봇의 안정적인 보행 제어가 가능해진다.On the other hand, a plurality of corner points are formed on the bottom surface of the robot foot 100, the suspension device may be installed for each of the plurality of corner points. That is, as shown in FIG. 1, the sole of the robot may be formed in a rectangular frame shape, and a suspension device may be installed at each corner of the rectangle to install a total of four suspension devices 1000. In all directions, the suspension device 1000 first touches the ground and absorbs shock in each direction. Therefore, stable walking control of the robot becomes possible in any direction of walking.

그리고, 연결로드(720)는 로봇 발(100)을 수직으로 관통하여 수직으로 슬라이딩되고, 연결로드(720)의 하단부가 지지패드(200)에 연결된다. 따라서, 지지패드(200)와 연결로드(720)는 함께 지면에 닿을 경우 수직방향으로 상승된다.The connecting rod 720 vertically penetrates the robot foot 100 and vertically slides, and a lower end of the connecting rod 720 is connected to the support pad 200. Therefore, the support pad 200 and the connecting rod 720 are raised in the vertical direction when they touch the ground together.

또한, 로봇 발(100)의 상부에 회전부(800)가 마련되며, 회전부(800)는 중앙부가 피봇구조로 로봇 발(100)에 연결되어 중앙부를 기준으로 회전운동 하고, 회전부(800)의 일단부가 연결로드(720)의 상단부와 피봇 연결된다. 따라서, 지지패드(200)가 연결로드(720)와 함께 상승될 경우 회전부(800)에 의해 수직운동이 회전운동으로 변환된다.In addition, the rotating portion 800 is provided on the upper portion of the robot foot 100, the rotating portion 800 is connected to the robot foot 100 in the center portion pivot structure is rotated relative to the center portion, one end of the rotating portion 800 It is pivotally connected to the upper end of the additional connection rod 720. Therefore, when the support pad 200 is raised together with the connecting rod 720, the vertical motion is converted into the rotational motion by the rotation part 800.

그리고 댐퍼(900)는 일단부가 로봇 발(100)의 발목 연결 지점(120)에 피봇 연결되고, 타단부가 회전부(800)의 타단부와 피봇연결된다. 따라서, 로봇의 보행시 지면으로부터 가해지는 충격이 지지패드(200)를 통해 연결로드(720)를 상승시키고, 회전부(800)가 회전되며 댐퍼(900)를 수축시킴으로써 지면으로부터 가해지는 충격을 완화할 수 있게 된다. 그리고 댐퍼(900)가 수축되는 시점 이전에는 지지패드(200)에서도 어느 정도 진동이나 소음을 감소시키게 된다. 또한, 수직운동을 회전운동으로 변환함에 있어 각각의 연결요소들이 피봇 구조(H1,H2,H3,H4,H5)로 연결되어 자연스러운 모션의 구현이 가능해지는 것이다.The damper 900 has one end pivoted to the ankle connection point 120 of the robot foot 100, and the other end pivoted to the other end of the rotating part 800. Accordingly, the impact applied from the ground during walking of the robot raises the connecting rod 720 through the support pad 200, and the rotating part 800 is rotated to contract the damper 900 to mitigate the impact applied from the ground. It becomes possible. In addition, before the damper 900 is contracted, the support pad 200 also reduces vibration or noise to some extent. In addition, in converting the vertical motion to the rotational motion, each of the connecting elements is connected to the pivot structure (H1, H2, H3, H4, H5) it is possible to implement a natural motion.

한편, 도 2의 지지패드(200) 상부에는 도 3과 같이 지지패널(300)이 결합되고, 도 4와 같이 지지패널(300) 상부에는 완충패드(400)가 결합되며, 지지패드(200)는 완충패드(400)보다 경도가 더 클 수 있다. 즉, 샌드위치 구조로 패드들이 결합되는데, 가운데 지지패널(300)을 기준으로 그 하부에는 경도가 큰 지지패드(200)가 지면과 직접 닿으며 상부에는 경도가 작은 완충패드(400)가 결합되어 실제 충격을 완충패드(400)에서 흡수하도록 한다. 로봇의 발바닥은 금속 재질이기 때문에 보행시 지면을 때리는 소음이 발생하는데, 그 소음은 우레탄의 지지패드(200)가 지면에 먼저 닿도록 함으로써 보행시 발생되는 소음을 줄이고, 지지패드(200)는 경도가 큰 재질을 사용함으로써 마찰에 의한 내구성의 저하를 최소화하는 것이다. 그리고 그 위에 있는 완충패드(400)에서 1차적으로 충격을 흡수하며, 2차적으로 댐퍼(900)에서 충격을 흡수하는 구조이다. 또한, 완충패드(400)는 지지패널(300)과 베이스(100) 사이에 마련되어 지지패널(300)과 베이스(100)가 직접 접촉되며 발생되는 소음을 차단하는 역할을 수행한다.Meanwhile, the support panel 300 is coupled to the upper portion of the support pad 200 of FIG. 2, as shown in FIG. 3, and the buffer pad 400 is coupled to the upper portion of the support panel 300 as illustrated in FIG. 4. The hardness may be greater than that of the buffer pad 400. That is, the pads are coupled to the sandwich structure, the support pad 200 with a large hardness directly touches the ground, and the buffer pad 400 with a small hardness is coupled to the upper part of the lower part of the center support panel 300. The shock is absorbed in the buffer pad 400. Since the sole of the robot is made of metal, a noise that hits the ground when walking is generated. The noise reduces the noise generated when walking by allowing the support pad 200 of urethane to touch the ground first, and the support pad 200 is hard. By using a large material to minimize the degradation of durability by friction. In addition, the shock absorbing pad is primarily absorbed by the shock absorbing pad 400, and the damper 900 is absorbed by the secondary structure. In addition, the shock absorbing pad 400 is provided between the support panel 300 and the base 100 to block the noise generated by the direct contact between the support panel 300 and the base 100.

한편, 도 6과 같이, 완충패드(400) 상부에는 실린더(500)가 배치되고, 실린더(500)에는 전달로드(600)가 삽입되어 상하로 슬라이딩되며, 전달로드(600)의 하단부는 지지패드(200)와 고정되며 상단부는 연결로드(720)와 연결될 수 있다. 그리고 실린더는 로봇 발(100)의 베이스에 고정되고, 연결로드(720)의 하단부와 전달로드(600)의 상단부는 캡(700)을 통해 연결될 수 있다. 전달로드(600)는 완충패드(400)와 지지패널(300)을 관통하여 지지패드(200)에 결합된다.On the other hand, as shown in Figure 6, the cylinder 500 is disposed above the buffer pad 400, the transfer rod 600 is inserted into the cylinder 500 and slides up and down, the lower end of the transfer rod 600, the support pad It is fixed to the 200 and the upper end may be connected to the connection rod 720. And the cylinder is fixed to the base of the robot foot 100, the lower end of the connecting rod 720 and the upper end of the transfer rod 600 may be connected via the cap 700. The transfer rod 600 is coupled to the support pad 200 through the buffer pad 400 and the support panel 300.

따라서, 로봇 발(100)이 지면에 닿는 경우 가장 먼저 지지패드(200)가 상방으로 가압된다. 그리고 지지패드(200)에서 전달로드(600)가 실린더(500) 내부에서 상승하고 그에 따라 캡(700)과 연결된 연결로드(720)가 상승하며 회전력으로 변환되어 댐퍼(900)를 가압하는 것이다.Therefore, when the robot foot 100 touches the ground, the support pad 200 is first pressed upward. In the support pad 200, the transfer rod 600 rises inside the cylinder 500, and thus the connection rod 720 connected to the cap 700 rises and is converted into rotational force to pressurize the damper 900.

한편, 하나의 서스펜션 장치에서도 도 5와 같이 실린더(500) 및 전달로드(600)는 복수개가 서로 이격되어 마련되며, 연결로드(720)의 하단부는 캡(700)의 중앙부에 피봇 연결(H1)되고, 캡(700)은 주변을 따라 복수의 전달로드(600) 상단부와 연결될 수 있다. 그에 따라 다양한 방향에서 균형을 이루며 캡(700)이 상승하도록 하고, 캡(700)이 불균일하게 상승되더라도 피봇(H1)를 통해 회전되도록 함으로써 연결로드(720)의 상승에는 문제가 없도록 한다.Meanwhile, even in one suspension device, as shown in FIG. 5, a plurality of cylinders 500 and transmission rods 600 are provided to be spaced apart from each other, and the lower end of the connection rod 720 pivotally connects to the center of the cap 700. And, the cap 700 may be connected to the upper end of the plurality of transfer rod 600 along the periphery. Accordingly, the cap 700 is raised in a balanced manner in various directions, and the cap 700 is rotated through the pivot H1 even if the cap 700 is unevenly raised so that there is no problem in the raising of the connecting rod 720.

아울러, 회전부(800)는 직각 삼각형 형상이고, 빗변이 로봇 발(100)목의 반대방향을 향하도록 배치되며, 직각을 이루는 모서리 부분인 중앙부가 피봇구조로 로봇 발(100)에 연결될 수 있다. 또한, 회전부(800)의 나머지 모서리 부분은 각각 연결로드(720)의 상단부 및 댐퍼(900)의 타단부와 피봇 연결될 수 있다. 물론 회전부(800)는 직각이 아닌 일반 삼각형의 형상도 가능하고, 각 모서리에 로봇 발, 연결로드(720), 댐퍼(900)가 결합되도록 함으로써 상하방향의 운동을 횡방향으로 변환시키는 것이다.In addition, the rotating part 800 is a right triangle shape, the hypotenuse is disposed so as to face the opposite direction of the neck of the robot foot 100, the center portion of the right angle can be connected to the robot foot 100 in a pivot structure. In addition, the remaining corner portions of the rotating part 800 may be pivotally connected to the upper end of the connecting rod 720 and the other end of the damper 900, respectively. Of course, the rotating part 800 may be formed in the shape of a general triangle instead of a right angle, and the robot foot, the connecting rod 720 and the damper 900 are coupled to each corner to convert the vertical motion in the horizontal direction.

그에 따라 연결로드(720)는 상하방향으로 슬라이딩 운동을 하고, 댐퍼(900)는 수평으로 배치되어 수평방향으로 수축 또는 신장될 수 있다. 또한, 연결로드(720)와 회전부(800) 및 댐퍼(900)는 로봇이 보행하는 전후방향과 수직인 방향의 축을 기준으로 피봇 연결되고, 댐퍼(900)는 로봇이 보행하는 전후방향으로 배치될 수 있다.Accordingly, the connecting rod 720 may slide in the vertical direction, and the damper 900 may be horizontally disposed to contract or extend in the horizontal direction. In addition, the connecting rod 720 and the rotating portion 800 and the damper 900 is pivotally connected based on an axis perpendicular to the front-back direction in which the robot walks, and the damper 900 is disposed in the front-back direction in which the robot walks. Can be.

로봇의 보행은 주로 전후 방향으로 이루어진다. 따라서, 로봇 발(100)의 앞꿈치가 먼저 지면에 닿거나 또는 뒷꿈치가 지면에 먼저 닿는바, 이러한 피봇 회전축의 방향 설정을 통해 서스펜션 장치가 전후 보행시 댐퍼(900)에 충격력을 효과적으로 전달하여 가장 먼저 충격을 흡수하도록 하는 것이다.The robot walks mainly in the front-back direction. Therefore, the front heel of the robot foot 100 first touches the ground or the heel first touches the ground. Through the setting of the orientation of the pivot axis, the suspension device effectively transmits the impact force to the damper 900 when walking back and forth first. To absorb the shock.

한편, 로봇 발(100)은 베이스 부분에 실린더(500)가 고정되어 있고, 따라서 전달로드(600)는 실린더(500)를 기준으로 상하운동을 하며 연결로드(720), 회전부(800), 댐퍼(900)로 충격을 전달하는 것이다.On the other hand, the robot foot 100 is a cylinder 500 is fixed to the base portion, and thus the transmission rod 600 moves up and down relative to the cylinder 500 and the connecting rod 720, the rotating portion 800, the damper It is to deliver a shock to (900).

본 발명의 특정한 실시예에 관련하여 도시하고 설명하였지만, 이하의 특허청구범위에 의해 제공되는 본 발명의 기술적 사상을 벗어나지 않는 한도 내에서, 본 발명이 다양하게 개량 및 변화될 수 있다는 것은 당 업계에서 통상의 지식을 가진 자에게 있어서 자명할 것이다.While shown and described in connection with specific embodiments of the present invention, it is within the skill of the art that various changes and modifications can be made therein without departing from the spirit of the invention provided by the following claims. It will be self-evident for those of ordinary knowledge.

[부호의 설명][Description of the code]

100 : 로봇 발 1000 : 로봇 발의 서스펜션 장치 100: robot foot 1000: suspension device of the robot foot

2000 : 로봇 발목2000: robot ankle

Claims (12)

지면과 닿는 로봇 발의 바닥면에 마련된 지지패드;A support pad provided on the bottom surface of the robot foot in contact with the ground; 로봇 발을 상하방향으로 관통하며 상하방향으로 슬라이딩되고 하단부가 지지패드에 연결된 연결로드;A connecting rod penetrating the robot foot in the vertical direction and sliding in the vertical direction and having a lower end connected to the support pad; 로봇 발의 상부에 마련되며, 피봇구조로 로봇 발에 연결되어 회전운동을 하고, 일단부가 연결로드의 상단부와 피봇 연결된 회전부; 및It is provided on the upper part of the robot foot, connected to the robot foot in a pivot structure to perform a rotational movement, one end of the pivot portion connected to the upper end of the connecting rod; And 일단부가 로봇 발에 피봇 연결되고, 타단부가 회전부의 타단부와 피봇연결된 댐퍼;를 포함하고,A damper having one end pivoted to the robot foot and the other end pivoted to the other end of the rotating part; 로봇의 보행시 지면으로부터 가해지는 충격이 지지패드를 통해 연결로드를 상승시키고, 회전부가 회전되며 댐퍼를 수축시킴으로써 지면으로부터 가해지는 충격을 완화하는 것을 특징으로 하는 로봇 발의 서스펜션 장치.The robot foot suspension device, characterized in that the impact applied from the ground during walking of the robot raises the connecting rod through the support pad, and the rotating part rotates to alleviate the impact from the ground by contracting the damper. 청구항 1에 있어서,The method according to claim 1, 지지패드는 우레탄 재질이며 로봇 발의 바닥면보다 더 낮게 위치된 것을 특징으로 하는 로봇 발의 서스펜션 장치.The support pad is a urethane material and the suspension device of the robot foot, characterized in that located lower than the bottom surface of the robot foot. 청구항 1에 있어서,The method according to claim 1, 로봇 발의 바닥면에는 복수의 모서리 지점이 형성되고, 서스펜션 장치는 복수의 모서리 지점마다 각각 설치된 것을 특징으로 하는 로봇 발의 서스펜션 장치.A plurality of corner points are formed on the bottom surface of the robot foot, and the suspension device is a robot foot suspension device, characterized in that each installed in each of the plurality of corner points. 청구항 1에 있어서,The method according to claim 1, 지지패드 상부에는 지지패널이 결합되고, 지지패널 상부에는 완충패드가 결합되며, 지지패드는 완충패드보다 경도가 더 큰 것을 특징으로 하는 로봇 발의 서스펜션 장치.A support panel is coupled to an upper support pad, a cushion pad is coupled to an upper support panel, and the support pad has a hardness greater than that of the buffer pad. 청구항 1에 있어서,The method according to claim 1, 지지패드 상부에는 지지패널이 결합되고, 지지패널 상부와 로봇 발의 베이스 사이에는 완충패드가 배치된 것을 특징으로 하는 로봇 발의 서스펜션 장치.The support panel is coupled to the upper support pad, the suspension device of the robot foot, characterized in that the buffer pad is disposed between the upper support panel and the base of the robot foot. 청구항 4에 있어서,The method according to claim 4, 완충패드 상부에는 실린더가 배치되고, 실린더에는 전달로드가 삽입되어 상하로 슬라이딩되며, 전달로드의 하단부는 지지패드와 고정되며 상단부는 연결로드와 연결된 것을 특징으로 하는 로봇 발의 서스펜션 장치.A cylinder is disposed above the shock absorber pad, and the transfer rod is inserted into the cylinder to slide up and down, and the lower end of the transfer rod is fixed to the support pad, and the upper end is connected to the connecting rod. 청구항 6에 있어서,The method according to claim 6, 실린더는 로봇 발의 베이스에 고정되고, 연결로드의 하단부와 전달로드의 상단부는 캡을 통해 연결된 것을 특징으로 하는 로봇 발의 서스펜션 장치.The cylinder is fixed to the base of the robot foot, the lower end of the connecting rod and the upper end of the transfer rod is a robot foot suspension device, characterized in that connected via a cap. 청구항 7에 있어서,The method according to claim 7, 실린더 및 전달로드는 복수개가 서로 이격되어 마련되며, 연결로드의 하단부는 캡의 중앙부에 피봇 연결되고, 캡은 주변을 따라 복수의 전달로드 상단부와 연결된 것을 특징으로 하는 로봇 발의 서스펜션 장치.A plurality of cylinders and transmission rods are provided spaced apart from each other, the lower end of the connecting rod is pivotally connected to the central portion of the cap, the cap is a suspension device of the robot foot, characterized in that connected to the upper end of the plurality of transmission rods along the periphery. 청구항 1에 있어서,The method according to claim 1, 회전부는 삼각형 형상이고, 삼각형 형상의 각 모서리에 연결로드의 상단부, 로봇 발, 댐퍼의 타단부가 피봇 연결된 것을 특징으로 하는 로봇 발의 서스펜션 장치.The rotating part has a triangular shape, the robot foot suspension apparatus, characterized in that the upper end of the connecting rod, the robot foot, the other end of the damper is pivotally connected to each corner of the triangular shape. 청구항 1에 있어서,The method according to claim 1, 회전부는 삼각형 형상이고, 장변이 로봇 발목의 반대방향을 향하도록 배치되며, 장변을 마주보는 모서리 부분이 피봇구조로 로봇 발에 연결된 것을 특징으로 하는 로봇 발의 서스펜션 장치.The rotating part has a triangular shape, the long side is disposed facing the opposite direction of the robot ankle, the suspension portion of the robot foot, characterized in that the edge portion facing the long side is connected to the robot foot in a pivot structure. 청구항 10에 있어서,The method according to claim 10, 회전부의 나머지 모서리 부분은 각각 연결로드의 상단부 및 댐퍼의 타단부와 피봇 연결된 것을 특징으로 하는 로봇 발의 서스펜션 장치.The remaining corner portion of the rotating part is a robot foot suspension device, characterized in that the pivoting connection with the other end of the upper end and the damper, respectively. 청구항 1에 있어서,The method according to claim 1, 연결로드는 상하방향으로 슬라이딩 운동을 하고, 댐퍼는 횡방향으로 배치되어 횡방향으로 수축 또는 신장되는 것을 특징으로 하는 로봇 발의 서스펜션 장치.The connecting rod is a sliding movement in the vertical direction, the damper is disposed in the transverse direction, the suspension device of the robot foot, characterized in that the contracted or extended in the transverse direction.
PCT/KR2017/015114 2016-12-20 2017-12-20 Suspension apparatus for robot foot Ceased WO2018117633A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020160174733A KR101911286B1 (en) 2016-12-20 2016-12-20 Suspension unit for foot of robot
KR10-2016-0174733 2016-12-20

Publications (1)

Publication Number Publication Date
WO2018117633A1 true WO2018117633A1 (en) 2018-06-28

Family

ID=62627693

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2017/015114 Ceased WO2018117633A1 (en) 2016-12-20 2017-12-20 Suspension apparatus for robot foot

Country Status (2)

Country Link
KR (1) KR101911286B1 (en)
WO (1) WO2018117633A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114435505A (en) * 2021-12-21 2022-05-06 之江实验室 Flexible foot of robot

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116079788B (en) * 2022-12-14 2024-08-06 杭州云深处科技有限公司 Leg testing device and method for four-foot robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5455497A (en) * 1992-04-20 1995-10-03 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot and a system for controlling the same
JP2008207321A (en) * 2007-02-02 2008-09-11 Honda Motor Co Ltd Legged mobile robot
KR20110059507A (en) * 2009-11-27 2011-06-02 삼성테크윈 주식회사 Suspension system and armwheel type robot vehicle provided with the same
KR101477068B1 (en) * 2013-06-21 2014-12-30 성균관대학교산학협력단 Device for absorbing landing shock for legged walking robot
US20160242938A1 (en) * 2011-11-11 2016-08-25 Springactive, Inc. Prosthetic Device and Method with Compliant Linking Member and Actuating Linking Member

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101630927B1 (en) 2014-08-06 2016-06-16 주식회사 포스코 Apparatus of wearing lower body and assist muscular robot having thereof

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5455497A (en) * 1992-04-20 1995-10-03 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot and a system for controlling the same
JP2008207321A (en) * 2007-02-02 2008-09-11 Honda Motor Co Ltd Legged mobile robot
KR20110059507A (en) * 2009-11-27 2011-06-02 삼성테크윈 주식회사 Suspension system and armwheel type robot vehicle provided with the same
US20160242938A1 (en) * 2011-11-11 2016-08-25 Springactive, Inc. Prosthetic Device and Method with Compliant Linking Member and Actuating Linking Member
KR101477068B1 (en) * 2013-06-21 2014-12-30 성균관대학교산학협력단 Device for absorbing landing shock for legged walking robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114435505A (en) * 2021-12-21 2022-05-06 之江实验室 Flexible foot of robot

Also Published As

Publication number Publication date
KR20180071745A (en) 2018-06-28
KR101911286B1 (en) 2018-12-28

Similar Documents

Publication Publication Date Title
WO2018117633A1 (en) Suspension apparatus for robot foot
WO2014129697A1 (en) Motion simulator
CN106999759B (en) Tennis training instrument
CN104971469A (en) Virtual reality human body omnidirectional moving input platform
US20150224359A1 (en) Adjustable Motion Control Arm Pads for Bench Press and Other Weight Lifting Systems
WO2012115343A1 (en) Shoe sole for absorbing multiple types of shocks by means of the varying hardness thereof
CN206934563U (en) A kind of treadmill runway with shock-absorbing function
WO2014061862A1 (en) Shock absorption footwear comprising triangular shock absorption portion
WO2011096667A2 (en) X-spring walking board
CN213868401U (en) A antidetonation device for structural design
CN214099860U (en) Geological radar antenna lifting device suitable for tunnel primary support detection
WO2023003258A1 (en) Device for posture correction and kegel exercise
CN205472071U (en) Safe type elevator
KR20170035816A (en) Conveyor line and carrier for poultry used in said conveyor line
WO2024019252A1 (en) Seismic isolation device provided with ball-type motion parts
CN208963201U (en) Foot structure of a crawling robot imitating human ankle
WO2020162666A1 (en) Upper limb exercise apparatus using flywheel
JP4039171B2 (en) Suspended cage
CN211651768U (en) Analytical balance is used in laboratory
CN208265578U (en) A kind of express elevator damped noise reduction device
CN208805276U (en) A kind of protection mounting structure of bellows weighing sensor
CN207458439U (en) A kind of anti-seismic structure for architectural design
CN114435505A (en) Flexible foot of robot
CN119929015B (en) Mechanical legs and humanoid robots
SU941270A1 (en) Guide roller support for mine lift vessels

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17883941

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17883941

Country of ref document: EP

Kind code of ref document: A1