Four-footed bio-robot single leg capable of achieving jumping function

A bionic robot and functional technology, applied in the field of robotics, can solve problems such as large volume, complex hydraulic drive structure and control, etc.

Inactive Publication Date: 2016-01-13
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The structure and control of the hydraulic drive are complicated, and the volume is large, so there are many shortcomings in the use of walking robots

Method used

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  • Four-footed bio-robot single leg capable of achieving jumping function
  • Four-footed bio-robot single leg capable of achieving jumping function
  • Four-footed bio-robot single leg capable of achieving jumping function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] Example 1, such as Figure 1~4 As shown, the present invention provides a single leg of a quadruped bionic robot capable of jumping, comprising a fuselage 1, a thigh module 4, a calf module 6, an ankle 8 and an energy storage unit, and the fuselage 1 passes through a hip joint 9 It is hinged with the thigh module 4, and a hip joint energy storage unit 3 is arranged between the fuselage 1 and the thigh module 4; the calf module 6 is hinged with the thigh module 4 through the knee joint connector 16, and a The knee joint energy storage unit 5; the ankle 8 is hinged with the calf module 6 through the ankle joint connector 8-1, an ankle joint energy storage unit 7 is arranged between the ankle 8 and the calf module 6, and a motion control unit is arranged on the fuselage 1 twenty two.

[0023] Preferably, the fuselage 1 is fixedly connected with the energy storage unit connecting bracket 2 and the hip joint connecting piece 9 . The thigh module 4 includes two thigh side p...

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Abstract

The invention discloses a four-footed bio-robot single leg capable of achieving a jumping function. The four-footed bio-robot single leg is of a modular structure. The four-footed bio-robot single leg capable of achieving the jumping function comprises a machine body, a thigh module, a crus module, an ankle and an energy storage unit. The machine body is hinged to the thigh module through a hip joint connecting piece, and a hip joint energy storage unit is arranged between the machine body and the thigh module. The crus module is hinged to the thigh module through a knee joint connecting piece, and a knee joint energy storage unit is arranged between the crus module and the knee joint. The ankle is hinged to the crus module through an ankle connecting piece, and an ankle joint energy storage unit is arranged between the ankle and the crus module. The modular structure is adopted, energy is instantly released through the energy storage units arranged between all the joints, the motion position relation between two structures connected with the energy storage units can be fast changed, the changes of body muscles of bionic mammals are imitated, and the bio-robot single leg can achieve the jumping function.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a single-leg structure of a quadruped bionic robot capable of realizing a jumping function. Background technique [0002] Compared with wheeled and tracked mobile robots, bionic legged robots have become robots due to their unique motion forms and control methods, good ground adaptability on rough roads, and application potential in complex outdoor environments. Hotspots in the research field. [0003] However, the current multi-legged bionic walking robots have poor maneuverability, insufficient adaptability to the environment, weak ability to overcome obstacles, and limited movement gait patterns. Typically, it is more difficult for bionic walking robots to jump ravines and obstacles. In order to improve the motion performance of bionic walking robots, scholars at home and abroad have carried out research on bionic robots with bouncing performance. The research on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 王新杰王良文王才东杜文辽谢贵重孟凡念李安生张德海宋康康李宏伟
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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