公开(公告)号：KR101477068B1

公开(公告)日：2014-12-30

申请号：KR1020130071804

申请日：2013-06-21

Applicant: 성균관대학교산학협력단

Inventor： 최혁렬 ,  이윤행 ,  현재호 ,  석창성

IPC: B25J19/06 ,  B25J17/00

Abstract: The present invention relates to a sound absorbing device for a legged walking robot. The sound absorbing device for a legged walking robot according to the present invention, which has first and second joint links for forming the joints of a legged walking robot, comprises: a sound absorbing body which has an inner space; a first link part of which one end is coupled to the sound absorbing body and the other end is rotationally coupled to the first joint link; a second link part of which one end is located inside the sound absorbing body and the other end protrudes from the outside of the sound absorbing body and is rotationally coupled to the second joint link; a first elastic part which is located inside the sound absorbing body, has both ends elastically supported on the facing surfaces of the first and second link parts, and is installed while being compressed with a preset pressure; and a second elastic part which is installed to be elastically compressed according to the longitudinal movement of the second link part. Thereby, the sound absorbing device for a legged walking robot can prevent mechanical damage and accurately contrive the track of the legs of the legged walking robot since shock absorption does not occur even when a shock caused by walking is transferred.

Abstract translation: 本发明涉及一种用于腿式步行机器人的吸音装置。 根据本发明的腿式步行机器人的吸音装置，具有用于形成腿式步行机器人的关节的第一和第二关节，包括：具有内部空间的吸声体; 第一连杆部分的一端联接到吸声体，另一端旋转地联接到第一接头连杆; 其一端位于吸声体内的第二连杆部分，另一端从吸声体的外侧突出，并且旋转地联接到第二接头连杆; 位于吸音体内的第一弹性部件具有弹性地支撑在第一和第二连杆部件的相对表面上的两端，并且以预定的压力被压缩安装; 以及第二弹性部，其被安装成根据所述第二连杆部的纵向运动而被弹性地压缩。 因此，腿式行走机器人的吸音装置能够防止机械损伤，并且即使在移动时产生冲击的情况下也不会发生减震，因此能够精确地设计腿式步行机器人的腿部的轨迹。