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A Jumping Mechanism of Single-legged Robot with Connecting Rod Transmission

A connecting rod transmission and robot technology, applied in the field of robots, can solve the problems of only jumping in place and weak energy storage effect, and achieve the effects of improving stability and agility, reducing energy consumption, and reducing moment of inertia

Active Publication Date: 2015-11-25
HANGZHOU YUNSHENCHU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Solve the problem that the energy storage effect of the existing technology is weak and can only jump in place

Method used

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  • A Jumping Mechanism of Single-legged Robot with Connecting Rod Transmission
  • A Jumping Mechanism of Single-legged Robot with Connecting Rod Transmission
  • A Jumping Mechanism of Single-legged Robot with Connecting Rod Transmission

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Embodiment Construction

[0045] Such as Figure 1~4 As shown, a link-driven single-leg robot jumping mechanism includes a fuselage 1, a thigh 2 and a calf 3 that are hinged in sequence. The thigh is provided with a jumping drive device that drives the leg to rotate and a directional drive device that drives the thigh to rotate.

[0046] Such as figure 2 As shown, the fuselage 1 includes a base 20, a balance flywheel 16 connected to the base and a gyroscope 23 fixed on the base, and a flywheel motor 19 and a flywheel reducer 18 that cooperate with each other are also fixed on the base, The output shaft of the flywheel reducer drives the balance flywheel to rotate through the synchronous belt 17. The base 20 is also provided with two side splints 22 arranged symmetrically. The side splints are fixed as a whole through the clamping tube 21. Each side splint includes an adapter plate hinged with the thigh. The two adapter plates are directly fixed with First series elastic drive 6 .

[0047] Such as ...

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Abstract

The invention discloses a single-leg robot jumping mechanism driven through a connecting rod. The single-leg robot jumping mechanism comprises a machine body, a thigh and a shank which are hinged in sequence. The thigh is provided with a jumping drive device for driving the shank to rotate. The hinged position of the machine body and the thigh is provided with a direction drive device for driving the thigh to rotate. The upper end of the shank is provided with a shank ejector plate hinged to the lower end of the thigh. A drive rod is arranged between the shank ejector rod and the jumping drive device. The drive device and the shank ejector rod are hinged to the two ends of the drive rod respectively, and an elastic energy storing piece is arranged between the thigh and the shank ejector plate. The direction drive device can drive the thigh to rotate to achieve the direction control. The jumping drive device and the direction drive device are close to the machine body, the rotational inertia of the thigh relative to the machine body is reduced, the energy consumption of a first drive motor can be reduced, and the moving stability and agility of robot movement are improved. The stability of a robot is improved through balancing fly wheels. The energy can be stored and buffering can be achieved through the elastic energy storing piece and balancing pieces.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a single-leg robot jumping mechanism driven by a connecting rod. Background technique [0002] In recent years, robot technology has developed rapidly, and people have put forward higher requirements for the speed and efficiency of robot operations. There are three main ways for robots to move, one is wheeled or tracked, the other is walking or crawling, and the third is bouncing. For legged robots, how to realize the rapid jumping and running of the robot has become a research hotspot in the field of robotics. At present, most of the legged robots in our country have been able to realize the functions of walking and crawling, but the speed of movement is limited by factors such as their own weight and motor power. Compared with foreign advanced robots, there is an obvious gap. [0003] The single-leg robot is the robot with the simplest structure in the legged robot, and the de...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 赵逸栋朱秋国熊蓉
Owner HANGZHOU YUNSHENCHU TECH CO LTD
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