Modular driving device of elastic joints of multi-joint hopping robot

An elastic joint, modular technology, applied in the field of elastic joint modular drive device of small multi-joint jumping robot

Inactive Publication Date: 2011-05-11
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In this way, there is a pair of contradictions, which require higher jumping performance and high-power

Method used

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  • Modular driving device of elastic joints of multi-joint hopping robot
  • Modular driving device of elastic joints of multi-joint hopping robot
  • Modular driving device of elastic joints of multi-joint hopping robot

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Embodiment Construction

[0015] Below in conjunction with accompanying drawing, the present invention will be described in more detail:

[0016] combine figure 1 and figure 2 , The jumping robot elastic joint modular drive device is composed of a motor module, an electromagnetic clutch module, a worm gear module, an elastic joint shaft module, and a timing belt module. The motor module includes: a motor mounting frame 7 and a motor 8; the motor 8 is fixed on the motor mounting frame 7. Described electromagnetic clutch module comprises: electromagnetic clutch 9, electromagnetic clutch installation frame 10, electromagnetic clutch fixed frame 21; The worm gear module includes: worm gear mounting frame 17, worm 26, worm shaft 15, worm fixing pin 25, worm support small bearing 11, worm support large bearing 16, worm support large bearing end cover 24, worm gear shaft 12, The worm wheel supports the large bearing 13, the worm wheel supports the large bearing end cover 14, and the worm wheel supports th...

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PUM

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Abstract

The invention provides a modular driving device of elastic joints of a hopping robot. The device comprises a joint shaft bracket, a joint shaft, a joint shaft fixing pin, a joint torsion spring, a joint bearing, a joint bearing support, a motor mounting rack, a motor, an electromagnetic clutch, an electromagnetic clutch mounting rack, a worm small support bearing, a worm-wheel shaft, a worm gear support large bearing, a worm gear support large bearing end cover, a worm shaft, a worm support large bearing, a worm gear mounting rack, a worm gear support small bearing, a synchronous toothed belt, a synchronous pulley, an electromagnetic clutch bracket, a tension wheel mounting rack, a tension wheel, a worm support large bearing end cover, a worm fixing pin and a worm. The modular driving device is suitable for driving the joints of the hopping robot, and has the characteristics of low power demand for the motor, and high hopping performance; and the motor performance is played fully.

Description

technical field [0001] The invention relates to a modular driving device for elastic joints of a small multi-joint jumping robot, which is suitable for driving the joints of a small jumping robot. Background technique [0002] The current small multi-joint jumping robot uses a motor to drive the joint shaft to rotate, so as to realize the overall jumping motion of the robot. In the document "Back Handspring Robot-Target Dynamics-Based Control", Sang-Ho Hyon discusses a humanoid jumping robot, which has 3 joints in total, and uses 3 motors to control the motion of the joints independently, using motors, v-belts, and ordinary joint axes. The transmission and jumping motion of the whole machine have higher requirements on the power of the motor. [0003] The suddenness and explosiveness of the jumping motion requires high power of the drive motor, and at the same time, the characteristics of the jumping motion require the light weight of the whole machine. In this way, there ...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 胡胜海谭向全姚建均杨奇何蕾李永辉金锦花邓坤秀徐鹏富威
Owner HARBIN ENG UNIV
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