Robot simulated jump aid

A technology of robots and mounting holes, applied in the field of robots, can solve the problem of not exerting the bionic function of the feet and so on

Inactive Publication Date: 2010-10-20
南通恒力重工机械有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the simplification and rigid treatment of the fee

Method used

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Examples

Experimental program
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Example Embodiment

[0037] This embodiment is a bionic jumping assist device, which is mainly composed of a structure-changing planar linkage mechanism to prolong the contact time between the foot and the ground during the take-off process, obtain a larger ground clearance speed, and improve the bionic effect of jumping performance.

[0038] Such as Figure 1 ~ Figure 2 As shown, this embodiment includes a parallelogram linkage mechanism composed of the leg connecting rod 1, the rocker 2, the linkage 3 and the support 19, and the ratio of the long side to the short side of the parallelogram linkage mechanism is 4: 3; In the linkage mechanism, one end of the rocker 2 is hinged to the connecting rod 3 through the rocker shaft 22, and the other end is hinged to the support 19 through the ankle joint shaft 20; one end of the leg connecting rod 1 passes The support shaft 17 is hinged with the support 19, and the middle part of the leg connecting rod 1 is hinged with the connecting rod 3 through the connec...

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PUM

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Abstract

The invention relates to a robot simulated jump aid. Both ends of a rocker rod are respectively hinged with a connecting rod and a support seat, a leg connecting rod is respectively hinged with the support seat and the connecting rod for forming a parallelogrammic connecting rod mechanism, the ratio of the long edge to the short edge of the connecting rod mechanism is 4/3, one side of the support seat is provided with a sole connecting rod parallel to the support seat, an electromagnet control mechanism is fixed at a hinging part of the rocker rod and the support seat, a toe plate is hinged with one end of the sole connecting rod through a toe joint rotating shaft, a torsional spring is sheathed and arranged on the toe joint rotating shaft, a connecting body is fixed at the shaft end of a telescopic shaft of an electromagnet, and one surface of the connecting body is matched with the outer arc surface of a baffle block. In the jumping process of the invention, the support seat, the sole connecting rod and the toe plate sequentially leave the ground, the acting time of the foot and the ground is prolonged, the ground leaving speed of the mass center is accelerated, and the jump acid function is realized. The landing process is opposite to the jumping process. The jumping performance of a jumping robot fixedly connected with the device can be improved through simulating the functions of the hamstring tendon and the feet in the animal jumping process.

Description

technical field [0001] The invention relates to the field of robots, in particular to a bionic jump-assisting device for a robot. Background technique [0002] Robots that move by jumping can cross obstacles that are several times or even tens of times their own size, and are especially suitable for complex environments with obstacles such as terrain survey, rescue, and anti-terrorism, and have become a research hotspot in the field of robotics. [0003] The earliest jumping robot used an inverted pendulum as a principle model to realize a simple bouncing function, such as the continuous jumping robot in a single-degree-of-freedom plane of MIT. Later, people got inspiration from bionics, and developed jumping robots with bionic functions according to the movement mechanism and structural characteristics of animals, such as the frog-like intermittent jumping robot jointly developed by NASA and the California Institute of Technology, which realized the jumping process. The bi...

Claims

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Application Information

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IPC IPC(8): A63H11/06A63H13/02A63H3/36A63H3/46
Inventor 柴辉葛文杰魏敦文吴金香樊重庆陈鹏威
Owner 南通恒力重工机械有限公司
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